diff --git a/cpp_bridge/CMakeLists.txt b/deploy/dds_bridge/CMakeLists.txt
similarity index 100%
rename from cpp_bridge/CMakeLists.txt
rename to deploy/dds_bridge/CMakeLists.txt
diff --git a/cpp_bridge/include/go2py/Imu.cpp b/deploy/dds_bridge/include/go2py/Imu.cpp
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rename from cpp_bridge/include/go2py/Imu.cpp
rename to deploy/dds_bridge/include/go2py/Imu.cpp
diff --git a/cpp_bridge/include/go2py/Imu.hpp b/deploy/dds_bridge/include/go2py/Imu.hpp
similarity index 100%
rename from cpp_bridge/include/go2py/Imu.hpp
rename to deploy/dds_bridge/include/go2py/Imu.hpp
diff --git a/cpp_bridge/include/go2py/LowCmd.cpp b/deploy/dds_bridge/include/go2py/LowCmd.cpp
similarity index 100%
rename from cpp_bridge/include/go2py/LowCmd.cpp
rename to deploy/dds_bridge/include/go2py/LowCmd.cpp
diff --git a/cpp_bridge/include/go2py/LowCmd.hpp b/deploy/dds_bridge/include/go2py/LowCmd.hpp
similarity index 100%
rename from cpp_bridge/include/go2py/LowCmd.hpp
rename to deploy/dds_bridge/include/go2py/LowCmd.hpp
diff --git a/cpp_bridge/include/go2py/LowState.cpp b/deploy/dds_bridge/include/go2py/LowState.cpp
similarity index 100%
rename from cpp_bridge/include/go2py/LowState.cpp
rename to deploy/dds_bridge/include/go2py/LowState.cpp
diff --git a/cpp_bridge/include/go2py/LowState.hpp b/deploy/dds_bridge/include/go2py/LowState.hpp
similarity index 100%
rename from cpp_bridge/include/go2py/LowState.hpp
rename to deploy/dds_bridge/include/go2py/LowState.hpp
diff --git a/cpp_bridge/include/unitree/common/any.hpp b/deploy/dds_bridge/include/unitree/common/any.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/any.hpp
rename to deploy/dds_bridge/include/unitree/common/any.hpp
diff --git a/cpp_bridge/include/unitree/common/assert.hpp b/deploy/dds_bridge/include/unitree/common/assert.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/assert.hpp
rename to deploy/dds_bridge/include/unitree/common/assert.hpp
diff --git a/cpp_bridge/include/unitree/common/block_queue.hpp b/deploy/dds_bridge/include/unitree/common/block_queue.hpp
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rename from cpp_bridge/include/unitree/common/block_queue.hpp
rename to deploy/dds_bridge/include/unitree/common/block_queue.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_callback.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_callback.hpp
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rename from cpp_bridge/include/unitree/common/dds/dds_callback.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_callback.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_easy_model.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_easy_model.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_easy_model.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_easy_model.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_entity.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_entity.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_entity.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_entity.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_error.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_error.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_error.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_error.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_exception.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_exception.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_exception.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_exception.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_factory_model.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_factory_model.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_factory_model.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_factory_model.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_native.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_native.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_native.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_native.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_parameter.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_parameter.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_parameter.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_parameter.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_qos.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_qos.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_qos.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_qos.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_qos_parameter.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_qos_parameter.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_qos_parameter.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_qos_parameter.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_qos_policy.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_qos_policy.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_qos_policy.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_qos_policy.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_qos_policy_parameter.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_qos_policy_parameter.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_qos_policy_parameter.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_qos_policy_parameter.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_qos_realize.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_qos_realize.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_qos_realize.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_qos_realize.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_topic_channel.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_topic_channel.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_topic_channel.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_topic_channel.hpp
diff --git a/cpp_bridge/include/unitree/common/dds/dds_traits.hpp b/deploy/dds_bridge/include/unitree/common/dds/dds_traits.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/dds/dds_traits.hpp
rename to deploy/dds_bridge/include/unitree/common/dds/dds_traits.hpp
diff --git a/cpp_bridge/include/unitree/common/decl.hpp b/deploy/dds_bridge/include/unitree/common/decl.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/decl.hpp
rename to deploy/dds_bridge/include/unitree/common/decl.hpp
diff --git a/cpp_bridge/include/unitree/common/error.hpp b/deploy/dds_bridge/include/unitree/common/error.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/error.hpp
rename to deploy/dds_bridge/include/unitree/common/error.hpp
diff --git a/cpp_bridge/include/unitree/common/exception.hpp b/deploy/dds_bridge/include/unitree/common/exception.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/exception.hpp
rename to deploy/dds_bridge/include/unitree/common/exception.hpp
diff --git a/cpp_bridge/include/unitree/common/filesystem/directory.hpp b/deploy/dds_bridge/include/unitree/common/filesystem/directory.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/filesystem/directory.hpp
rename to deploy/dds_bridge/include/unitree/common/filesystem/directory.hpp
diff --git a/cpp_bridge/include/unitree/common/filesystem/file.hpp b/deploy/dds_bridge/include/unitree/common/filesystem/file.hpp
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rename from cpp_bridge/include/unitree/common/filesystem/file.hpp
rename to deploy/dds_bridge/include/unitree/common/filesystem/file.hpp
diff --git a/cpp_bridge/include/unitree/common/filesystem/filesystem.hpp b/deploy/dds_bridge/include/unitree/common/filesystem/filesystem.hpp
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rename from cpp_bridge/include/unitree/common/filesystem/filesystem.hpp
rename to deploy/dds_bridge/include/unitree/common/filesystem/filesystem.hpp
diff --git a/cpp_bridge/include/unitree/common/json/json.hpp b/deploy/dds_bridge/include/unitree/common/json/json.hpp
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rename from cpp_bridge/include/unitree/common/json/json.hpp
rename to deploy/dds_bridge/include/unitree/common/json/json.hpp
diff --git a/cpp_bridge/include/unitree/common/json/json_config.hpp b/deploy/dds_bridge/include/unitree/common/json/json_config.hpp
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rename from cpp_bridge/include/unitree/common/json/json_config.hpp
rename to deploy/dds_bridge/include/unitree/common/json/json_config.hpp
diff --git a/cpp_bridge/include/unitree/common/json/jsonize.hpp b/deploy/dds_bridge/include/unitree/common/json/jsonize.hpp
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rename from cpp_bridge/include/unitree/common/json/jsonize.hpp
rename to deploy/dds_bridge/include/unitree/common/json/jsonize.hpp
diff --git a/cpp_bridge/include/unitree/common/lock/lock.hpp b/deploy/dds_bridge/include/unitree/common/lock/lock.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/lock/lock.hpp
rename to deploy/dds_bridge/include/unitree/common/lock/lock.hpp
diff --git a/cpp_bridge/include/unitree/common/log/log.hpp b/deploy/dds_bridge/include/unitree/common/log/log.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/log/log.hpp
rename to deploy/dds_bridge/include/unitree/common/log/log.hpp
diff --git a/cpp_bridge/include/unitree/common/log/log_buffer.hpp b/deploy/dds_bridge/include/unitree/common/log/log_buffer.hpp
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rename from cpp_bridge/include/unitree/common/log/log_buffer.hpp
rename to deploy/dds_bridge/include/unitree/common/log/log_buffer.hpp
diff --git a/cpp_bridge/include/unitree/common/log/log_decl.hpp b/deploy/dds_bridge/include/unitree/common/log/log_decl.hpp
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rename from cpp_bridge/include/unitree/common/log/log_decl.hpp
rename to deploy/dds_bridge/include/unitree/common/log/log_decl.hpp
diff --git a/cpp_bridge/include/unitree/common/log/log_initor.hpp b/deploy/dds_bridge/include/unitree/common/log/log_initor.hpp
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rename from cpp_bridge/include/unitree/common/log/log_initor.hpp
rename to deploy/dds_bridge/include/unitree/common/log/log_initor.hpp
diff --git a/cpp_bridge/include/unitree/common/log/log_keeper.hpp b/deploy/dds_bridge/include/unitree/common/log/log_keeper.hpp
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rename from cpp_bridge/include/unitree/common/log/log_keeper.hpp
rename to deploy/dds_bridge/include/unitree/common/log/log_keeper.hpp
diff --git a/cpp_bridge/include/unitree/common/log/log_logger.hpp b/deploy/dds_bridge/include/unitree/common/log/log_logger.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/log/log_logger.hpp
rename to deploy/dds_bridge/include/unitree/common/log/log_logger.hpp
diff --git a/cpp_bridge/include/unitree/common/log/log_policy.hpp b/deploy/dds_bridge/include/unitree/common/log/log_policy.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/common/log/log_policy.hpp
rename to deploy/dds_bridge/include/unitree/common/log/log_policy.hpp
diff --git a/cpp_bridge/include/unitree/common/log/log_store.hpp b/deploy/dds_bridge/include/unitree/common/log/log_store.hpp
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rename from cpp_bridge/include/unitree/common/log/log_store.hpp
rename to deploy/dds_bridge/include/unitree/common/log/log_store.hpp
diff --git a/cpp_bridge/include/unitree/common/log/log_writer.hpp b/deploy/dds_bridge/include/unitree/common/log/log_writer.hpp
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rename from cpp_bridge/include/unitree/common/log/log_writer.hpp
rename to deploy/dds_bridge/include/unitree/common/log/log_writer.hpp
diff --git a/cpp_bridge/include/unitree/common/os.hpp b/deploy/dds_bridge/include/unitree/common/os.hpp
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rename from cpp_bridge/include/unitree/common/os.hpp
rename to deploy/dds_bridge/include/unitree/common/os.hpp
diff --git a/cpp_bridge/include/unitree/common/service/base/service_application.hpp b/deploy/dds_bridge/include/unitree/common/service/base/service_application.hpp
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rename from cpp_bridge/include/unitree/common/service/base/service_application.hpp
rename to deploy/dds_bridge/include/unitree/common/service/base/service_application.hpp
diff --git a/cpp_bridge/include/unitree/common/service/base/service_base.hpp b/deploy/dds_bridge/include/unitree/common/service/base/service_base.hpp
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rename from cpp_bridge/include/unitree/common/service/base/service_base.hpp
rename to deploy/dds_bridge/include/unitree/common/service/base/service_base.hpp
diff --git a/cpp_bridge/include/unitree/common/service/base/service_config.hpp b/deploy/dds_bridge/include/unitree/common/service/base/service_config.hpp
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rename from cpp_bridge/include/unitree/common/service/base/service_config.hpp
rename to deploy/dds_bridge/include/unitree/common/service/base/service_config.hpp
diff --git a/cpp_bridge/include/unitree/common/service/base/service_decl.hpp b/deploy/dds_bridge/include/unitree/common/service/base/service_decl.hpp
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rename from cpp_bridge/include/unitree/common/service/base/service_decl.hpp
rename to deploy/dds_bridge/include/unitree/common/service/base/service_decl.hpp
diff --git a/cpp_bridge/include/unitree/common/service/dds_service.hpp b/deploy/dds_bridge/include/unitree/common/service/dds_service.hpp
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rename from cpp_bridge/include/unitree/common/service/dds_service.hpp
rename to deploy/dds_bridge/include/unitree/common/service/dds_service.hpp
diff --git a/cpp_bridge/include/unitree/common/socket/domain_socket.hpp b/deploy/dds_bridge/include/unitree/common/socket/domain_socket.hpp
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rename from cpp_bridge/include/unitree/common/socket/domain_socket.hpp
rename to deploy/dds_bridge/include/unitree/common/socket/domain_socket.hpp
diff --git a/cpp_bridge/include/unitree/common/socket/socket.hpp b/deploy/dds_bridge/include/unitree/common/socket/socket.hpp
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rename from cpp_bridge/include/unitree/common/socket/socket.hpp
rename to deploy/dds_bridge/include/unitree/common/socket/socket.hpp
diff --git a/cpp_bridge/include/unitree/common/string_tool.hpp b/deploy/dds_bridge/include/unitree/common/string_tool.hpp
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rename from cpp_bridge/include/unitree/common/string_tool.hpp
rename to deploy/dds_bridge/include/unitree/common/string_tool.hpp
diff --git a/cpp_bridge/include/unitree/common/thread/future.hpp b/deploy/dds_bridge/include/unitree/common/thread/future.hpp
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rename from cpp_bridge/include/unitree/common/thread/future.hpp
rename to deploy/dds_bridge/include/unitree/common/thread/future.hpp
diff --git a/cpp_bridge/include/unitree/common/thread/recurrent_thread.hpp b/deploy/dds_bridge/include/unitree/common/thread/recurrent_thread.hpp
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rename from cpp_bridge/include/unitree/common/thread/recurrent_thread.hpp
rename to deploy/dds_bridge/include/unitree/common/thread/recurrent_thread.hpp
diff --git a/cpp_bridge/include/unitree/common/thread/thread.hpp b/deploy/dds_bridge/include/unitree/common/thread/thread.hpp
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rename from cpp_bridge/include/unitree/common/thread/thread.hpp
rename to deploy/dds_bridge/include/unitree/common/thread/thread.hpp
diff --git a/cpp_bridge/include/unitree/common/thread/thread_decl.hpp b/deploy/dds_bridge/include/unitree/common/thread/thread_decl.hpp
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rename from cpp_bridge/include/unitree/common/thread/thread_decl.hpp
rename to deploy/dds_bridge/include/unitree/common/thread/thread_decl.hpp
diff --git a/cpp_bridge/include/unitree/common/thread/thread_pool.hpp b/deploy/dds_bridge/include/unitree/common/thread/thread_pool.hpp
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rename from cpp_bridge/include/unitree/common/thread/thread_pool.hpp
rename to deploy/dds_bridge/include/unitree/common/thread/thread_pool.hpp
diff --git a/cpp_bridge/include/unitree/common/thread/thread_task.hpp b/deploy/dds_bridge/include/unitree/common/thread/thread_task.hpp
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rename from cpp_bridge/include/unitree/common/thread/thread_task.hpp
rename to deploy/dds_bridge/include/unitree/common/thread/thread_task.hpp
diff --git a/cpp_bridge/include/unitree/common/time/sleep.hpp b/deploy/dds_bridge/include/unitree/common/time/sleep.hpp
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rename from cpp_bridge/include/unitree/common/time/sleep.hpp
rename to deploy/dds_bridge/include/unitree/common/time/sleep.hpp
diff --git a/cpp_bridge/include/unitree/common/time/time_tool.hpp b/deploy/dds_bridge/include/unitree/common/time/time_tool.hpp
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rename from cpp_bridge/include/unitree/common/time/time_tool.hpp
rename to deploy/dds_bridge/include/unitree/common/time/time_tool.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/AudioData_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/AudioData_.hpp
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rename from cpp_bridge/include/unitree/idl/go2/AudioData_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/AudioData_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/BmsCmd_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/BmsCmd_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/BmsCmd_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/BmsCmd_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/BmsState_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/BmsState_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/BmsState_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/BmsState_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/ConfigChangeStatus_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/ConfigChangeStatus_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/ConfigChangeStatus_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/ConfigChangeStatus_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/Error_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/Error_.hpp
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rename from cpp_bridge/include/unitree/idl/go2/Error_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/Error_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/Go2FrontVideoData_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/Go2FrontVideoData_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/Go2FrontVideoData_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/Go2FrontVideoData_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/HeightMap_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/HeightMap_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/HeightMap_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/HeightMap_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/IMUState_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/IMUState_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/IMUState_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/IMUState_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/InterfaceConfig_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/InterfaceConfig_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/InterfaceConfig_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/InterfaceConfig_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/LidarState_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/LidarState_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/LidarState_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/LidarState_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/LowCmd_.cpp b/deploy/dds_bridge/include/unitree/idl/go2/LowCmd_.cpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/LowCmd_.cpp
rename to deploy/dds_bridge/include/unitree/idl/go2/LowCmd_.cpp
diff --git a/cpp_bridge/include/unitree/idl/go2/LowCmd_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/LowCmd_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/LowCmd_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/LowCmd_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/LowState_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/LowState_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/LowState_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/LowState_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/MotorCmd_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/MotorCmd_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/MotorCmd_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/MotorCmd_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/MotorState_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/MotorState_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/MotorState_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/MotorState_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/PathPoint_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/PathPoint_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/PathPoint_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/PathPoint_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/Req_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/Req_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/Req_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/Req_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/Res_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/Res_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/Res_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/Res_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/SportModeCmd_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/SportModeCmd_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/SportModeCmd_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/SportModeCmd_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/SportModeState_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/SportModeState_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/SportModeState_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/SportModeState_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/TimeSpec_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/TimeSpec_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/TimeSpec_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/TimeSpec_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/UwbState_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/UwbState_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/UwbState_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/UwbState_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/UwbSwitch_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/UwbSwitch_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/UwbSwitch_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/UwbSwitch_.hpp
diff --git a/cpp_bridge/include/unitree/idl/go2/WirelessController_.hpp b/deploy/dds_bridge/include/unitree/idl/go2/WirelessController_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/go2/WirelessController_.hpp
rename to deploy/dds_bridge/include/unitree/idl/go2/WirelessController_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/Header_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/Header_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/Header_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/Header_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/MapMetaData_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/MapMetaData_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/MapMetaData_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/MapMetaData_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/OccupancyGrid_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/OccupancyGrid_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/OccupancyGrid_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/OccupancyGrid_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/Odometry_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/Odometry_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/Odometry_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/Odometry_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/Point32_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/Point32_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/Point32_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/Point32_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/PointCloud2_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/PointCloud2_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/PointCloud2_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/PointCloud2_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/PointField_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/PointField_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/PointField_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/PointField_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/PointStamped_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/PointStamped_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/PointStamped_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/PointStamped_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/Point_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/Point_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/Point_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/Point_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/Pose2D_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/Pose2D_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/Pose2D_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/Pose2D_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/PoseStamped_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/PoseStamped_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/PoseStamped_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/PoseStamped_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/PoseWithCovarianceStamped_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/PoseWithCovarianceStamped_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/PoseWithCovarianceStamped_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/PoseWithCovarianceStamped_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/PoseWithCovariance_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/PoseWithCovariance_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/PoseWithCovariance_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/PoseWithCovariance_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/Pose_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/Pose_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/Pose_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/Pose_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/QuaternionStamped_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/QuaternionStamped_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/QuaternionStamped_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/QuaternionStamped_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/Quaternion_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/Quaternion_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/Quaternion_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/Quaternion_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/String_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/String_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/String_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/String_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/Time_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/Time_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/Time_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/Time_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/TwistStamped_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/TwistStamped_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/TwistStamped_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/TwistStamped_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/TwistWithCovarianceStamped_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/TwistWithCovarianceStamped_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/TwistWithCovarianceStamped_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/TwistWithCovarianceStamped_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/TwistWithCovariance_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/TwistWithCovariance_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/TwistWithCovariance_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/TwistWithCovariance_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/Twist_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/Twist_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/Twist_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/Twist_.hpp
diff --git a/cpp_bridge/include/unitree/idl/ros2/Vector3_.hpp b/deploy/dds_bridge/include/unitree/idl/ros2/Vector3_.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/idl/ros2/Vector3_.hpp
rename to deploy/dds_bridge/include/unitree/idl/ros2/Vector3_.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/back_video/back_video_api.hpp b/deploy/dds_bridge/include/unitree/robot/b2/back_video/back_video_api.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/back_video/back_video_api.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/back_video/back_video_api.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/back_video/back_video_client.hpp b/deploy/dds_bridge/include/unitree/robot/b2/back_video/back_video_client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/back_video/back_video_client.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/back_video/back_video_client.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/back_video/back_video_error.hpp b/deploy/dds_bridge/include/unitree/robot/b2/back_video/back_video_error.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/back_video/back_video_error.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/back_video/back_video_error.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/config/config_api.hpp b/deploy/dds_bridge/include/unitree/robot/b2/config/config_api.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/config/config_api.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/config/config_api.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/config/config_client.hpp b/deploy/dds_bridge/include/unitree/robot/b2/config/config_client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/config/config_client.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/config/config_client.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/config/config_error.hpp b/deploy/dds_bridge/include/unitree/robot/b2/config/config_error.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/config/config_error.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/config/config_error.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/front_video/front_video_api.hpp b/deploy/dds_bridge/include/unitree/robot/b2/front_video/front_video_api.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/front_video/front_video_api.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/front_video/front_video_api.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/front_video/front_video_client.hpp b/deploy/dds_bridge/include/unitree/robot/b2/front_video/front_video_client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/front_video/front_video_client.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/front_video/front_video_client.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/front_video/front_video_error.hpp b/deploy/dds_bridge/include/unitree/robot/b2/front_video/front_video_error.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/front_video/front_video_error.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/front_video/front_video_error.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_api.hpp b/deploy/dds_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_api.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_api.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_api.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_client.hpp b/deploy/dds_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_client.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_client.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_error.hpp b/deploy/dds_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_error.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_error.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/motion_switcher/motion_switcher_error.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/robot_state/robot_state_api.hpp b/deploy/dds_bridge/include/unitree/robot/b2/robot_state/robot_state_api.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/robot_state/robot_state_api.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/robot_state/robot_state_api.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/robot_state/robot_state_client.hpp b/deploy/dds_bridge/include/unitree/robot/b2/robot_state/robot_state_client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/robot_state/robot_state_client.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/robot_state/robot_state_client.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/robot_state/robot_state_error.hpp b/deploy/dds_bridge/include/unitree/robot/b2/robot_state/robot_state_error.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/robot_state/robot_state_error.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/robot_state/robot_state_error.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/sport/sport_api.hpp b/deploy/dds_bridge/include/unitree/robot/b2/sport/sport_api.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/sport/sport_api.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/sport/sport_api.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/sport/sport_client.hpp b/deploy/dds_bridge/include/unitree/robot/b2/sport/sport_client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/sport/sport_client.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/sport/sport_client.hpp
diff --git a/cpp_bridge/include/unitree/robot/b2/sport/sport_error.hpp b/deploy/dds_bridge/include/unitree/robot/b2/sport/sport_error.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/b2/sport/sport_error.hpp
rename to deploy/dds_bridge/include/unitree/robot/b2/sport/sport_error.hpp
diff --git a/cpp_bridge/include/unitree/robot/channel/channel_factory.hpp b/deploy/dds_bridge/include/unitree/robot/channel/channel_factory.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/channel/channel_factory.hpp
rename to deploy/dds_bridge/include/unitree/robot/channel/channel_factory.hpp
diff --git a/cpp_bridge/include/unitree/robot/channel/channel_labor.hpp b/deploy/dds_bridge/include/unitree/robot/channel/channel_labor.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/channel/channel_labor.hpp
rename to deploy/dds_bridge/include/unitree/robot/channel/channel_labor.hpp
diff --git a/cpp_bridge/include/unitree/robot/channel/channel_namer.hpp b/deploy/dds_bridge/include/unitree/robot/channel/channel_namer.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/channel/channel_namer.hpp
rename to deploy/dds_bridge/include/unitree/robot/channel/channel_namer.hpp
diff --git a/cpp_bridge/include/unitree/robot/channel/channel_publisher.hpp b/deploy/dds_bridge/include/unitree/robot/channel/channel_publisher.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/channel/channel_publisher.hpp
rename to deploy/dds_bridge/include/unitree/robot/channel/channel_publisher.hpp
diff --git a/cpp_bridge/include/unitree/robot/channel/channel_subscriber.hpp b/deploy/dds_bridge/include/unitree/robot/channel/channel_subscriber.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/channel/channel_subscriber.hpp
rename to deploy/dds_bridge/include/unitree/robot/channel/channel_subscriber.hpp
diff --git a/cpp_bridge/include/unitree/robot/client/client.hpp b/deploy/dds_bridge/include/unitree/robot/client/client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/client/client.hpp
rename to deploy/dds_bridge/include/unitree/robot/client/client.hpp
diff --git a/cpp_bridge/include/unitree/robot/client/client_base.hpp b/deploy/dds_bridge/include/unitree/robot/client/client_base.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/client/client_base.hpp
rename to deploy/dds_bridge/include/unitree/robot/client/client_base.hpp
diff --git a/cpp_bridge/include/unitree/robot/client/client_stub.hpp b/deploy/dds_bridge/include/unitree/robot/client/client_stub.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/client/client_stub.hpp
rename to deploy/dds_bridge/include/unitree/robot/client/client_stub.hpp
diff --git a/cpp_bridge/include/unitree/robot/client/lease_client.hpp b/deploy/dds_bridge/include/unitree/robot/client/lease_client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/client/lease_client.hpp
rename to deploy/dds_bridge/include/unitree/robot/client/lease_client.hpp
diff --git a/cpp_bridge/include/unitree/robot/future/request_future.hpp b/deploy/dds_bridge/include/unitree/robot/future/request_future.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/future/request_future.hpp
rename to deploy/dds_bridge/include/unitree/robot/future/request_future.hpp
diff --git a/cpp_bridge/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_api.hpp b/deploy/dds_bridge/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_api.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_api.hpp
rename to deploy/dds_bridge/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_api.hpp
diff --git a/cpp_bridge/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp b/deploy/dds_bridge/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp
rename to deploy/dds_bridge/include/unitree/robot/go2/obstacles_avoid/obstacles_avoid_client.hpp
diff --git a/cpp_bridge/include/unitree/robot/go2/public/jsonize_type.hpp b/deploy/dds_bridge/include/unitree/robot/go2/public/jsonize_type.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/go2/public/jsonize_type.hpp
rename to deploy/dds_bridge/include/unitree/robot/go2/public/jsonize_type.hpp
diff --git a/cpp_bridge/include/unitree/robot/go2/robot_state/robot_state_api.hpp b/deploy/dds_bridge/include/unitree/robot/go2/robot_state/robot_state_api.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/go2/robot_state/robot_state_api.hpp
rename to deploy/dds_bridge/include/unitree/robot/go2/robot_state/robot_state_api.hpp
diff --git a/cpp_bridge/include/unitree/robot/go2/robot_state/robot_state_client.hpp b/deploy/dds_bridge/include/unitree/robot/go2/robot_state/robot_state_client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/go2/robot_state/robot_state_client.hpp
rename to deploy/dds_bridge/include/unitree/robot/go2/robot_state/robot_state_client.hpp
diff --git a/cpp_bridge/include/unitree/robot/go2/robot_state/robot_state_error.hpp b/deploy/dds_bridge/include/unitree/robot/go2/robot_state/robot_state_error.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/go2/robot_state/robot_state_error.hpp
rename to deploy/dds_bridge/include/unitree/robot/go2/robot_state/robot_state_error.hpp
diff --git a/cpp_bridge/include/unitree/robot/go2/sport/sport_api.hpp b/deploy/dds_bridge/include/unitree/robot/go2/sport/sport_api.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/go2/sport/sport_api.hpp
rename to deploy/dds_bridge/include/unitree/robot/go2/sport/sport_api.hpp
diff --git a/cpp_bridge/include/unitree/robot/go2/sport/sport_client.hpp b/deploy/dds_bridge/include/unitree/robot/go2/sport/sport_client.hpp
similarity index 100%
rename from cpp_bridge/include/unitree/robot/go2/sport/sport_client.hpp
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diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_iid.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_iid.h
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rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_iid.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_iid.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_ipaddr.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_ipaddr.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_ipaddr.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_ipaddr.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_keyhash.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_keyhash.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_keyhash.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_keyhash.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_lifespan.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_lifespan.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_lifespan.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_lifespan.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_list_genptr.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_list_genptr.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_list_genptr.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_list_genptr.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_list_tmpl.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_list_tmpl.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_list_tmpl.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_list_tmpl.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_locator.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_locator.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_locator.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_locator.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_mcgroup.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_mcgroup.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_mcgroup.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_mcgroup.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_ownip.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_ownip.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_ownip.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_ownip.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_participant.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_participant.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_participant.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_participant.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_plist.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_plist.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_plist.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_plist.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_plist_generic.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_plist_generic.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_plist_generic.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_plist_generic.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_pmd.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_pmd.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_pmd.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_pmd.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_portmapping.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_portmapping.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_portmapping.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_portmapping.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_proxy_endpoint.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_proxy_endpoint.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_proxy_endpoint.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_proxy_endpoint.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_proxy_participant.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_proxy_participant.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_proxy_participant.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_proxy_participant.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_raweth.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_raweth.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_raweth.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_raweth.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_rhc.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_rhc.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_rhc.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_rhc.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_security_exchange.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_security_exchange.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_security_exchange.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_security_exchange.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_security_msg.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_security_msg.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_security_msg.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_security_msg.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_security_omg.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_security_omg.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_security_omg.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_security_omg.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_security_util.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_security_util.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_security_util.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_security_util.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_serdata.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_serdata.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_serdata.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_serdata.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_default.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_default.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_default.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_default.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_plist.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_plist.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_plist.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_plist.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_pserop.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_pserop.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_pserop.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_serdata_pserop.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_sertopic.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_sertopic.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_sertopic.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_sertopic.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_sertype.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_sertype.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_sertype.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_sertype.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_shm_transport.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_shm_transport.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_shm_transport.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_shm_transport.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_ssl.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_ssl.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_ssl.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_ssl.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_statistics.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_statistics.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_statistics.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_statistics.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_tcp.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_tcp.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_tcp.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_tcp.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_threadmon.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_threadmon.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_threadmon.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_threadmon.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_time.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_time.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_time.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_time.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_tkmap.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_tkmap.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_tkmap.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_tkmap.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_topic.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_topic.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_topic.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_topic.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_tran.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_tran.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_tran.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_tran.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_typebuilder.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_typebuilder.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_typebuilder.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_typebuilder.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_typelib.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_typelib.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_typelib.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_typelib.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_typelookup.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_typelookup.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_typelookup.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_typelookup.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_typewrap.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_typewrap.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_typewrap.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_typewrap.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_udp.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_udp.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_udp.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_udp.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_vendor.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_vendor.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_vendor.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_vendor.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_vnet.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_vnet.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_vnet.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_vnet.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_wraddrset.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_wraddrset.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_wraddrset.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_wraddrset.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xqos.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xqos.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xqos.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xqos.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_impl.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_impl.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_impl.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_impl.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typeinfo.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typeinfo.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typeinfo.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typeinfo.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typeinfo.idl b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typeinfo.idl
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typeinfo.idl
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typeinfo.idl
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typelookup.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typelookup.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typelookup.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typelookup.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typelookup.idl b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typelookup.idl
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typelookup.idl
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typelookup.idl
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typemap.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typemap.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typemap.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typemap.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typemap.idl b/deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typemap.idl
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typemap.idl
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/ddsi_xt_typemap.idl
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_addrset.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_addrset.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_addrset.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_addrset.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_bitset.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_bitset.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_bitset.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_bitset.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_bswap.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_bswap.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_bswap.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_bswap.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_ddsi_discovery.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_ddsi_discovery.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_ddsi_discovery.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_ddsi_discovery.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_debmon.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_debmon.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_debmon.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_debmon.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_feature_check.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_feature_check.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_feature_check.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_feature_check.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_freelist.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_freelist.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_freelist.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_freelist.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_gc.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_gc.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_gc.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_gc.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_hbcontrol.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_hbcontrol.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_hbcontrol.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_hbcontrol.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_init.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_init.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_init.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_init.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_inverse_uint32_set.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_inverse_uint32_set.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_inverse_uint32_set.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_inverse_uint32_set.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_lat_estim.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_lat_estim.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_lat_estim.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_lat_estim.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_lease.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_lease.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_lease.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_lease.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_log.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_log.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_log.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_log.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_misc.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_misc.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_misc.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_misc.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_pcap.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_pcap.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_pcap.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_pcap.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_protocol.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_protocol.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_protocol.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_protocol.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_qosmatch.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_qosmatch.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_qosmatch.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_qosmatch.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_radmin.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_radmin.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_radmin.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_radmin.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_receive.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_receive.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_receive.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_receive.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_rtps.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_rtps.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_rtps.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_rtps.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_sockwaitset.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_sockwaitset.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_sockwaitset.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_sockwaitset.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_thread.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_thread.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_thread.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_thread.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_transmit.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_transmit.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_transmit.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_transmit.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_unused.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_unused.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_unused.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_unused.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_whc.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_whc.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_whc.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_whc.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_xevent.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_xevent.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_xevent.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_xevent.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/q_xmsg.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/q_xmsg.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/q_xmsg.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/q_xmsg.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsi/sysdeps.h b/deploy/dds_bridge/thirdparty/include/dds/ddsi/sysdeps.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsi/sysdeps.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsi/sysdeps.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/align.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/align.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/align.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/align.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/arch.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/arch.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/arch.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/arch.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/atomics.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/atomics.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/atomics.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/atomics.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/atomics/arm.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/atomics/arm.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/atomics/arm.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/atomics/arm.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/atomics/gcc.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/atomics/gcc.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/atomics/gcc.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/atomics/gcc.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/atomics/msvc.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/atomics/msvc.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/atomics/msvc.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/atomics/msvc.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/atomics/sun.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/atomics/sun.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/atomics/sun.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/atomics/sun.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/attributes.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/attributes.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/attributes.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/attributes.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/avl.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/avl.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/avl.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/avl.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/bswap.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/bswap.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/bswap.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/bswap.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/cdtors.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/cdtors.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/cdtors.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/cdtors.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/circlist.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/circlist.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/circlist.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/circlist.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/countargs.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/countargs.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/countargs.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/countargs.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/dynlib.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/dynlib.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/dynlib.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/dynlib.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/endian.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/endian.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/endian.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/endian.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/environ.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/environ.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/environ.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/environ.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/expand_vars.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/expand_vars.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/expand_vars.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/expand_vars.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/fibheap.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/fibheap.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/fibheap.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/fibheap.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/filesystem.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/filesystem.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/filesystem.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/filesystem.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/filesystem/posix.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/filesystem/posix.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/filesystem/posix.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/filesystem/posix.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/filesystem/windows.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/filesystem/windows.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/filesystem/windows.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/filesystem/windows.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/heap.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/heap.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/heap.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/heap.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/hopscotch.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/hopscotch.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/hopscotch.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/hopscotch.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/ifaddrs.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/ifaddrs.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/ifaddrs.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/ifaddrs.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/io.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/io.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/io.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/io.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/iovec.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/iovec.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/iovec.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/iovec.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/log.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/log.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/log.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/log.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/md5.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/md5.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/md5.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/md5.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/mh3.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/mh3.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/mh3.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/mh3.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/misc.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/misc.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/misc.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/misc.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/netstat.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/netstat.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/netstat.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/netstat.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/process.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/process.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/process.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/process.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/random.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/random.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/random.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/random.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/retcode.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/retcode.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/retcode.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/retcode.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/rusage.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/rusage.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/rusage.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/rusage.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/sched.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/sched.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/sched.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/sched.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/sockets.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/sockets.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/sockets.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/sockets.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/sockets/posix.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/sockets/posix.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/sockets/posix.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/sockets/posix.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/sockets/windows.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/sockets/windows.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/sockets/windows.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/sockets/windows.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/static_assert.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/static_assert.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/static_assert.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/static_assert.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/string.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/string.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/string.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/string.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/strtod.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/strtod.h
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rename from cpp_bridge/thirdparty/include/dds/ddsrt/strtod.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/strtod.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/strtol.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/strtol.h
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rename from cpp_bridge/thirdparty/include/dds/ddsrt/strtol.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/strtol.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/sync.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/sync.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/sync.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/sync.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/sync/freertos.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/sync/freertos.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/sync/freertos.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/sync/freertos.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/sync/posix.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/sync/posix.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/sync/posix.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/sync/posix.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/sync/windows.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/sync/windows.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/sync/windows.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/sync/windows.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/threads.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/threads.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/threads.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/threads.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/threads/freertos.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/threads/freertos.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/threads/freertos.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/threads/freertos.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/threads/posix.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/threads/posix.h
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rename from cpp_bridge/thirdparty/include/dds/ddsrt/threads/posix.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/threads/posix.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/threads/windows.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/threads/windows.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/threads/windows.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/threads/windows.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/time.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/time.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/time.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/time.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/time/freertos.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/time/freertos.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/time/freertos.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/time/freertos.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/types.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/types.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/types.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/types.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/types/posix.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/types/posix.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/types/posix.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/types/posix.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/types/vxworks.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/types/vxworks.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/types/vxworks.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/types/vxworks.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/types/windows.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/types/windows.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/types/windows.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/types/windows.h
diff --git a/cpp_bridge/thirdparty/include/dds/ddsrt/xmlparser.h b/deploy/dds_bridge/thirdparty/include/dds/ddsrt/xmlparser.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/ddsrt/xmlparser.h
rename to deploy/dds_bridge/thirdparty/include/dds/ddsrt/xmlparser.h
diff --git a/cpp_bridge/thirdparty/include/dds/export.h b/deploy/dds_bridge/thirdparty/include/dds/export.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/export.h
rename to deploy/dds_bridge/thirdparty/include/dds/export.h
diff --git a/cpp_bridge/thirdparty/include/dds/features.h b/deploy/dds_bridge/thirdparty/include/dds/features.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/features.h
rename to deploy/dds_bridge/thirdparty/include/dds/features.h
diff --git a/cpp_bridge/thirdparty/include/dds/version.h b/deploy/dds_bridge/thirdparty/include/dds/version.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/dds/version.h
rename to deploy/dds_bridge/thirdparty/include/dds/version.h
diff --git a/cpp_bridge/thirdparty/include/ddsc/dds.h b/deploy/dds_bridge/thirdparty/include/ddsc/dds.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddsc/dds.h
rename to deploy/dds_bridge/thirdparty/include/ddsc/dds.h
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/LICENSE b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/LICENSE
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/LICENSE
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/LICENSE
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/BuiltinTopicTypes.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/BuiltinTopicTypes.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/BuiltinTopicTypes.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/BuiltinTopicTypes.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/Duration.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Duration.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/Duration.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Duration.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/Entity.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Entity.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/Entity.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Entity.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/Exception.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Exception.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/Exception.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Exception.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/External.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/External.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/External.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/External.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/InstanceHandle.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/InstanceHandle.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/InstanceHandle.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/InstanceHandle.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/LengthUnlimited.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/LengthUnlimited.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/LengthUnlimited.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/LengthUnlimited.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/Optional.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Optional.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/Optional.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Optional.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/QosProvider.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/QosProvider.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/QosProvider.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/QosProvider.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/Reference.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Reference.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/Reference.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Reference.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/SafeEnumeration.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/SafeEnumeration.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/SafeEnumeration.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/SafeEnumeration.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/TBuiltinTopicTypes.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/TBuiltinTopicTypes.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/TBuiltinTopicTypes.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/TBuiltinTopicTypes.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/TEntity.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/TEntity.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/TEntity.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/TEntity.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/TEntityQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/TEntityQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/TEntityQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/TEntityQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/TInstanceHandle.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/TInstanceHandle.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/TInstanceHandle.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/TInstanceHandle.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/TQosProvider.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/TQosProvider.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/TQosProvider.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/TQosProvider.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/Time.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Time.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/Time.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Time.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/Value.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Value.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/Value.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/Value.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/WeakReference.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/WeakReference.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/WeakReference.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/WeakReference.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/array.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/array.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/array.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/array.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/Condition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/Condition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/Condition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/Condition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/GuardCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/GuardCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/GuardCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/GuardCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/StatusCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/StatusCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/StatusCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/StatusCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/TCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/TCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/TCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/TCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/TGuardCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/TGuardCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/TGuardCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/TGuardCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/TStatusCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/TStatusCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/TStatusCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/TStatusCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/TWaitSet.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/TWaitSet.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/TWaitSet.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/TWaitSet.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/WaitSet.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/WaitSet.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/WaitSet.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/WaitSet.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/Condition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/Condition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/Condition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/Condition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/GuardCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/GuardCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/GuardCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/GuardCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/StatusCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/StatusCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/StatusCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/StatusCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TConditionImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TConditionImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TConditionImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TConditionImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TGuardConditionImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TGuardConditionImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TGuardConditionImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TGuardConditionImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TStatusConditionImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TStatusConditionImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TStatusConditionImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TStatusConditionImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TWaitSetImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TWaitSetImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TWaitSetImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/TWaitSetImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/WaitSet.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/WaitSet.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/WaitSet.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/cond/detail/WaitSet.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/conformance.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/conformance.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/conformance.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/conformance.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/ddscore.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/ddscore.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/ddscore.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/ddscore.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/BuiltinTopicTypes.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/BuiltinTopicTypes.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/BuiltinTopicTypes.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/BuiltinTopicTypes.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/Entity.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/Entity.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/Entity.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/Entity.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/InstanceHandle.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/InstanceHandle.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/InstanceHandle.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/InstanceHandle.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/QosProvider.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/QosProvider.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/QosProvider.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/QosProvider.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/ReferenceImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/ReferenceImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/ReferenceImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/ReferenceImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/TEntityImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/TEntityImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/TEntityImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/TEntityImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/TEntityQosImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/TEntityQosImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/TEntityQosImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/TEntityQosImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/TInstanceHandleImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/TInstanceHandleImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/TInstanceHandleImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/TInstanceHandleImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/TQosProviderImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/TQosProviderImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/TQosProviderImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/TQosProviderImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/Value.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/Value.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/Value.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/Value.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/WeakReferenceImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/WeakReferenceImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/WeakReferenceImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/WeakReferenceImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/array.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/array.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/array.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/array.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/conformance.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/conformance.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/conformance.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/conformance.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/ddscore.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/ddscore.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/ddscore.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/ddscore.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/export.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/export.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/export.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/export.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/inttypes.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/inttypes.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/inttypes.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/inttypes.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/macros.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/macros.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/macros.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/macros.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/module_docs.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/module_docs.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/module_docs.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/module_docs.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/old_win_stdint.h b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/old_win_stdint.h
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/old_win_stdint.h
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/old_win_stdint.h
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/ref_traits.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/ref_traits.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/detail/ref_traits.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/detail/ref_traits.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/macros.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/macros.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/macros.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/macros.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/CorePolicy.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/CorePolicy.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/CorePolicy.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/CorePolicy.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/PolicyKind.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/PolicyKind.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/PolicyKind.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/PolicyKind.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/QosPolicyCount.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/QosPolicyCount.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/QosPolicyCount.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/QosPolicyCount.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/TCorePolicy.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/TCorePolicy.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/TCorePolicy.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/TCorePolicy.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/TQosPolicyCount.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/TQosPolicyCount.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/TQosPolicyCount.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/TQosPolicyCount.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/CorePolicy.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/CorePolicy.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/CorePolicy.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/CorePolicy.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/QosPolicyCount.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/QosPolicyCount.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/QosPolicyCount.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/QosPolicyCount.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/TCorePolicyImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/TCorePolicyImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/TCorePolicyImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/TCorePolicyImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/TQosPolicyCountImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/TQosPolicyCountImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/TQosPolicyCountImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/policy/detail/TQosPolicyCountImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/ref_traits.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/ref_traits.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/ref_traits.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/ref_traits.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/refmacros.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/refmacros.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/refmacros.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/refmacros.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/status/State.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/status/State.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/status/State.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/status/State.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/status/Status.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/status/Status.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/status/Status.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/status/Status.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/status/TStatus.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/status/TStatus.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/status/TStatus.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/status/TStatus.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/status/detail/Status.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/status/detail/Status.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/status/detail/Status.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/status/detail/Status.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/status/detail/TStatusImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/status/detail/TStatusImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/status/detail/TStatusImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/status/detail/TStatusImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/types.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/types.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/types.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/types.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/Annotations.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/Annotations.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/Annotations.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/Annotations.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/CollectionTypes.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/CollectionTypes.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/CollectionTypes.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/CollectionTypes.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/DynamicData.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/DynamicData.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/DynamicData.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/DynamicData.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/DynamicType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/DynamicType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/DynamicType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/DynamicType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/MemberType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/MemberType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/MemberType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/MemberType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/PrimitiveTypes.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/PrimitiveTypes.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/PrimitiveTypes.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/PrimitiveTypes.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/StructType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/StructType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/StructType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/StructType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TAnnotation.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TAnnotation.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TAnnotation.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TAnnotation.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TCollectionTypes.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TCollectionTypes.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TCollectionTypes.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TCollectionTypes.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TDynamicData.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TDynamicData.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TDynamicData.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TDynamicData.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TDynamicType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TDynamicType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TDynamicType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TDynamicType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TMemberType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TMemberType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TMemberType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TMemberType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TStructType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TStructType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TStructType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TStructType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TTypeProvider.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TTypeProvider.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TTypeProvider.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TTypeProvider.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TypeKind.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TypeKind.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TypeKind.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TypeKind.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TypeProvider.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TypeProvider.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TypeProvider.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/TypeProvider.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/UnionCase.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/UnionCase.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/UnionCase.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/UnionCase.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/UnionType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/UnionType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/UnionType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/UnionType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/Annotation.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/Annotation.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/Annotation.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/Annotation.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/CollectionTypes.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/CollectionTypes.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/CollectionTypes.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/CollectionTypes.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/DynamicData.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/DynamicData.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/DynamicData.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/DynamicData.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/DynamicType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/DynamicType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/DynamicType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/DynamicType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/MemberType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/MemberType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/MemberType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/MemberType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/PrimitiveTypes.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/PrimitiveTypes.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/PrimitiveTypes.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/PrimitiveTypes.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/StructType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/StructType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/StructType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/StructType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/TypeProvider.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/TypeProvider.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/TypeProvider.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/TypeProvider.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/UnionCase.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/UnionCase.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/UnionCase.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/UnionCase.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/UnionType.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/UnionType.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/UnionType.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/core/xtypes/detail/UnionType.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/dds.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/dds.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/dds.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/dds.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/DomainParticipant.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/DomainParticipant.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/DomainParticipant.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/DomainParticipant.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/DomainParticipantListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/DomainParticipantListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/DomainParticipantListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/DomainParticipantListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/TDomainParticipant.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/TDomainParticipant.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/TDomainParticipant.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/TDomainParticipant.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/ddsdomain.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/ddsdomain.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/ddsdomain.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/ddsdomain.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/detail/DomainParticipant.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/detail/DomainParticipant.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/detail/DomainParticipant.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/detail/DomainParticipant.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/detail/TDomainParticipantImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/detail/TDomainParticipantImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/detail/TDomainParticipantImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/detail/TDomainParticipantImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/detail/ddsdomain.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/detail/ddsdomain.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/detail/ddsdomain.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/detail/ddsdomain.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/discovery.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/discovery.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/discovery.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/discovery.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/find.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/find.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/find.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/find.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/qos/DomainParticipantQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/qos/DomainParticipantQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/qos/DomainParticipantQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/qos/DomainParticipantQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/domain/qos/detail/DomainParticipantQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/qos/detail/DomainParticipantQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/domain/qos/detail/DomainParticipantQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/domain/qos/detail/DomainParticipantQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/features.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/features.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/features.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/features.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/AnyDataWriter.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/AnyDataWriter.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/AnyDataWriter.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/AnyDataWriter.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/AnyDataWriterListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/AnyDataWriterListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/AnyDataWriterListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/AnyDataWriterListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/CoherentSet.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/CoherentSet.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/CoherentSet.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/CoherentSet.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/DataWriter.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/DataWriter.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/DataWriter.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/DataWriter.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/DataWriterListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/DataWriterListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/DataWriterListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/DataWriterListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/Publisher.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/Publisher.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/Publisher.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/Publisher.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/PublisherListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/PublisherListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/PublisherListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/PublisherListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/SuspendedPublication.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/SuspendedPublication.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/SuspendedPublication.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/SuspendedPublication.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/TAnyDataWriter.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/TAnyDataWriter.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/TAnyDataWriter.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/TAnyDataWriter.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/TCoherentSet.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/TCoherentSet.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/TCoherentSet.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/TCoherentSet.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/TPublisher.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/TPublisher.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/TPublisher.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/TPublisher.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/TSuspendedPublication.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/TSuspendedPublication.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/TSuspendedPublication.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/TSuspendedPublication.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/ddspub.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/ddspub.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/ddspub.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/ddspub.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/AnyDataWriter.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/AnyDataWriter.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/AnyDataWriter.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/AnyDataWriter.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/CoherentSet.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/CoherentSet.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/CoherentSet.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/CoherentSet.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/DataWriter.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/DataWriter.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/DataWriter.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/DataWriter.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/DataWriterImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/DataWriterImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/DataWriterImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/DataWriterImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/Publisher.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/Publisher.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/Publisher.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/Publisher.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/SuspendedPublication.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/SuspendedPublication.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/SuspendedPublication.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/SuspendedPublication.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/TAnyDataWriterImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/TAnyDataWriterImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/TAnyDataWriterImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/TAnyDataWriterImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/TCoherentSetImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/TCoherentSetImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/TCoherentSetImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/TCoherentSetImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/TPublisherImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/TPublisherImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/TPublisherImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/TPublisherImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/TSuspendedPublicationImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/TSuspendedPublicationImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/TSuspendedPublicationImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/TSuspendedPublicationImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/ddspub.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/ddspub.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/ddspub.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/ddspub.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/discovery.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/discovery.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/discovery.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/discovery.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/find.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/find.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/detail/find.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/detail/find.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/discovery.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/discovery.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/discovery.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/discovery.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/find.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/find.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/find.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/find.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/qos/DataWriterQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/qos/DataWriterQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/qos/DataWriterQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/qos/DataWriterQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/qos/PublisherQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/qos/PublisherQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/qos/PublisherQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/qos/PublisherQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/qos/detail/DataWriterQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/qos/detail/DataWriterQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/qos/detail/DataWriterQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/qos/detail/DataWriterQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/pub/qos/detail/PublisherQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/qos/detail/PublisherQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/pub/qos/detail/PublisherQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/pub/qos/detail/PublisherQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/AnyDataReader.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/AnyDataReader.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/AnyDataReader.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/AnyDataReader.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/AnyDataReaderListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/AnyDataReaderListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/AnyDataReaderListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/AnyDataReaderListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/CoherentAccess.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/CoherentAccess.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/CoherentAccess.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/CoherentAccess.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/DataReader.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/DataReader.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/DataReader.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/DataReader.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/DataReaderListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/DataReaderListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/DataReaderListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/DataReaderListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/GenerationCount.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/GenerationCount.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/GenerationCount.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/GenerationCount.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/LoanedSamples.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/LoanedSamples.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/LoanedSamples.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/LoanedSamples.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/Query.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/Query.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/Query.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/Query.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/Rank.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/Rank.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/Rank.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/Rank.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/Sample.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/Sample.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/Sample.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/Sample.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/SampleInfo.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/SampleInfo.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/SampleInfo.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/SampleInfo.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/SampleRef.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/SampleRef.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/SampleRef.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/SampleRef.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/SharedSamples.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/SharedSamples.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/SharedSamples.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/SharedSamples.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/Subscriber.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/Subscriber.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/Subscriber.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/Subscriber.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/SubscriberListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/SubscriberListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/SubscriberListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/SubscriberListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/TAnyDataReader.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TAnyDataReader.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/TAnyDataReader.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TAnyDataReader.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/TCoherentAccess.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TCoherentAccess.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/TCoherentAccess.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TCoherentAccess.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/TDataReader.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TDataReader.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/TDataReader.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TDataReader.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/TGenerationCount.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TGenerationCount.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/TGenerationCount.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TGenerationCount.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/TQuery.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TQuery.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/TQuery.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TQuery.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/TRank.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TRank.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/TRank.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TRank.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/TSample.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TSample.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/TSample.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TSample.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/TSampleInfo.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TSampleInfo.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/TSampleInfo.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TSampleInfo.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/TSampleRef.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TSampleRef.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/TSampleRef.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TSampleRef.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/TSubscriber.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TSubscriber.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/TSubscriber.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/TSubscriber.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/QueryCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/QueryCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/QueryCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/QueryCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/ReadCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/ReadCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/ReadCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/ReadCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/TQueryCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/TQueryCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/TQueryCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/TQueryCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/TReadCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/TReadCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/TReadCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/TReadCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/QueryCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/QueryCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/QueryCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/QueryCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/ReadCondition.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/ReadCondition.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/ReadCondition.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/ReadCondition.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/TQueryConditionImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/TQueryConditionImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/TQueryConditionImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/TQueryConditionImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/TReadConditionImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/TReadConditionImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/TReadConditionImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/cond/detail/TReadConditionImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/ddssub.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/ddssub.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/ddssub.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/ddssub.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/AnyDataReader.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/AnyDataReader.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/AnyDataReader.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/AnyDataReader.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/CoherentAccess.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/CoherentAccess.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/CoherentAccess.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/CoherentAccess.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/DataReader.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/DataReader.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/DataReader.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/DataReader.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/GenerationCount.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/GenerationCount.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/GenerationCount.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/GenerationCount.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamples.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamples.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamples.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamples.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamplesImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamplesImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamplesImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/LoanedSamplesImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/Manipulators.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/Manipulators.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/Manipulators.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/Manipulators.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/Query.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/Query.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/Query.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/Query.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/Rank.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/Rank.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/Rank.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/Rank.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/Sample.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/Sample.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/Sample.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/Sample.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/SampleInfo.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/SampleInfo.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/SampleInfo.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/SampleInfo.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/SampleRef.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/SampleRef.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/SampleRef.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/SampleRef.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/SamplesHolder.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/SamplesHolder.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/SamplesHolder.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/SamplesHolder.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/SharedSamples.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/SharedSamples.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/SharedSamples.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/SharedSamples.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/SharedSamplesImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/SharedSamplesImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/SharedSamplesImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/SharedSamplesImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/Subscriber.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/Subscriber.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/Subscriber.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/Subscriber.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TAnyDataReaderImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TAnyDataReaderImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TAnyDataReaderImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TAnyDataReaderImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TCoherentAccessImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TCoherentAccessImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TCoherentAccessImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TCoherentAccessImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TDataReaderImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TDataReaderImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TDataReaderImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TDataReaderImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TGenerationCountImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TGenerationCountImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TGenerationCountImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TGenerationCountImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TQueryImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TQueryImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TQueryImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TQueryImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TRankImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TRankImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TRankImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TRankImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleInfoImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleInfoImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleInfoImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleInfoImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleRefImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleRefImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleRefImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSampleRefImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSubscriberImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSubscriberImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSubscriberImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/TSubscriberImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/ddssub.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/ddssub.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/ddssub.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/ddssub.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/discovery.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/discovery.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/discovery.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/discovery.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/find.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/find.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/detail/find.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/detail/find.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/discovery.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/discovery.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/discovery.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/discovery.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/find.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/find.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/find.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/find.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/qos/DataReaderQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/qos/DataReaderQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/qos/DataReaderQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/qos/DataReaderQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/qos/SubscriberQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/qos/SubscriberQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/qos/SubscriberQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/qos/SubscriberQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/qos/detail/DataReaderQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/qos/detail/DataReaderQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/qos/detail/DataReaderQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/qos/detail/DataReaderQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/qos/detail/SubscriberQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/qos/detail/SubscriberQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/qos/detail/SubscriberQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/qos/detail/SubscriberQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/status/DataState.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/status/DataState.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/status/DataState.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/status/DataState.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/sub/status/detail/DataStateImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/status/detail/DataStateImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/sub/status/detail/DataStateImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/sub/status/detail/DataStateImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/AnyTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/AnyTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/AnyTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/AnyTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/AnyTopicListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/AnyTopicListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/AnyTopicListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/AnyTopicListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/BuiltinTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/BuiltinTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/BuiltinTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/BuiltinTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/BuiltinTopicKey.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/BuiltinTopicKey.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/BuiltinTopicKey.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/BuiltinTopicKey.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/ContentFilteredTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/ContentFilteredTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/ContentFilteredTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/ContentFilteredTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/Filter.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/Filter.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/Filter.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/Filter.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/MultiTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/MultiTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/MultiTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/MultiTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TAnyTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TAnyTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TAnyTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TAnyTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TBuiltinTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TBuiltinTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TBuiltinTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TBuiltinTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TBuiltinTopicKey.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TBuiltinTopicKey.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TBuiltinTopicKey.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TBuiltinTopicKey.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TContentFilteredTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TContentFilteredTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TContentFilteredTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TContentFilteredTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TFilter.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TFilter.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TFilter.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TFilter.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TMultiTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TMultiTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TMultiTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TMultiTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TTopicDescription.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TTopicDescription.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TTopicDescription.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TTopicDescription.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/Topic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/Topic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/Topic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/Topic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TopicDescription.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TopicDescription.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TopicDescription.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TopicDescription.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TopicInstance.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TopicInstance.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TopicInstance.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TopicInstance.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TopicListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TopicListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TopicListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TopicListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/TopicTraits.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TopicTraits.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/TopicTraits.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/TopicTraits.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/ddstopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/ddstopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/ddstopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/ddstopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/AnyTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/AnyTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/AnyTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/AnyTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopicKey.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopicKey.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopicKey.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/BuiltinTopicKey.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/ContentFilteredTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/ContentFilteredTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/ContentFilteredTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/ContentFilteredTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/Filter.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/Filter.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/Filter.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/Filter.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/MultiTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/MultiTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/MultiTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/MultiTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TAnyTopicImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TAnyTopicImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TAnyTopicImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TAnyTopicImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicKeyImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicKeyImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicKeyImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TBuiltinTopicKeyImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TContentFilteredTopicImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TContentFilteredTopicImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TContentFilteredTopicImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TContentFilteredTopicImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TFilterImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TFilterImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TFilterImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TFilterImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TTopicDescriptionImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TTopicDescriptionImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TTopicDescriptionImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TTopicDescriptionImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TTopicImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TTopicImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TTopicImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TTopicImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/Topic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/Topic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/Topic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/Topic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TopicDescription.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TopicDescription.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TopicDescription.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TopicDescription.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TopicInstanceImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TopicInstanceImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/TopicInstanceImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/TopicInstanceImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/ddstopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/ddstopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/ddstopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/ddstopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/discovery.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/discovery.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/discovery.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/discovery.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/find.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/find.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/detail/find.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/detail/find.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/discovery.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/discovery.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/discovery.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/discovery.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/find.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/find.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/find.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/find.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/qos/TopicQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/qos/TopicQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/qos/TopicQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/qos/TopicQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/ForwardDeclarations.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/ForwardDeclarations.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/ForwardDeclarations.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/ForwardDeclarations.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/DDScObjectDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/DDScObjectDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/DDScObjectDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/DDScObjectDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityRegistry.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityRegistry.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityRegistry.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityRegistry.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntitySet.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntitySet.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntitySet.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntitySet.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/InstanceHandleDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/InstanceHandleDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/InstanceHandleDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/InstanceHandleDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ListenerDispatcher.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ListenerDispatcher.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ListenerDispatcher.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ListenerDispatcher.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/MiscUtils.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/MiscUtils.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/MiscUtils.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/MiscUtils.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/Missing.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/Missing.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/Missing.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/Missing.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/Mutex.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/Mutex.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/Mutex.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/Mutex.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectSet.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectSet.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectSet.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectSet.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/QosProviderDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/QosProviderDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/QosProviderDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/QosProviderDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ReportUtils.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ReportUtils.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ReportUtils.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ReportUtils.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ScopedLock.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ScopedLock.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ScopedLock.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ScopedLock.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/TimeHelper.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/TimeHelper.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/TimeHelper.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/TimeHelper.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/WeakReferenceSet.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/WeakReferenceSet.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/WeakReferenceSet.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/WeakReferenceSet.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/basic_cdr_ser.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/basic_cdr_ser.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/basic_cdr_ser.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/basic_cdr_ser.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/cdr_enums.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/cdr_enums.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/cdr_enums.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/cdr_enums.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/cdr_stream.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/cdr_stream.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/cdr_stream.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/cdr_stream.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/entity_properties.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/entity_properties.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/entity_properties.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/entity_properties.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v1_ser.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v1_ser.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v1_ser.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v1_ser.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v2_ser.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v2_ser.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v2_ser.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/extended_cdr_v2_ser.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/fragchain.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/fragchain.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/fragchain.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cdr/fragchain.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/ConditionDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/ConditionDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/ConditionDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/ConditionDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/FunctorHolder.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/FunctorHolder.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/FunctorHolder.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/FunctorHolder.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/GuardConditionDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/GuardConditionDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/GuardConditionDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/GuardConditionDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/ShadowParticipant.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/ShadowParticipant.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/ShadowParticipant.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/ShadowParticipant.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/StatusConditionDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/StatusConditionDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/StatusConditionDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/StatusConditionDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/WaitSetDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/WaitSetDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/WaitSetDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/WaitSetDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/config.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/config.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/config.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/config.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/Policy.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/Policy.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/Policy.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/Policy.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/PolicyDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/PolicyDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/PolicyDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/PolicyDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/ProprietaryPolicyKind.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/ProprietaryPolicyKind.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/ProprietaryPolicyKind.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/ProprietaryPolicyKind.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/QosPolicyCountDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/QosPolicyCountDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/QosPolicyCountDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/QosPolicyCountDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/TPolicy.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/TPolicy.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/TPolicy.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/TPolicy.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/status/StatusDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/status/StatusDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/status/StatusDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/status/StatusDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/type_helpers.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/type_helpers.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/type_helpers.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/type_helpers.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/Domain.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/Domain.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/Domain.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/Domain.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainWrap.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainWrap.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainWrap.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainWrap.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/qos/DomainParticipantQosDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/qos/DomainParticipantQosDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/qos/DomainParticipantQosDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/qos/DomainParticipantQosDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/AnyDataWriterDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/AnyDataWriterDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/AnyDataWriterDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/AnyDataWriterDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/CoherentSetDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/CoherentSetDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/CoherentSetDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/CoherentSetDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/PublisherDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/PublisherDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/PublisherDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/PublisherDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/SuspendedPublicationDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/SuspendedPublicationDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/SuspendedPublicationDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/SuspendedPublicationDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/DataWriterQosDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/DataWriterQosDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/DataWriterQosDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/DataWriterQosDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/PublisherQosDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/PublisherQosDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/PublisherQosDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/PublisherQosDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/BuiltinSubscriberDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/BuiltinSubscriberDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/BuiltinSubscriberDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/BuiltinSubscriberDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/CoherentAccessDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/CoherentAccessDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/CoherentAccessDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/CoherentAccessDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/GenerationCountImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/GenerationCountImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/GenerationCountImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/GenerationCountImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/QueryDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/QueryDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/QueryDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/QueryDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/RankImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/RankImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/RankImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/RankImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SampleInfoImpl.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SampleInfoImpl.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SampleInfoImpl.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SampleInfoImpl.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SubscriberDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SubscriberDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SubscriberDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/SubscriberDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/QueryConditionDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/QueryConditionDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/QueryConditionDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/QueryConditionDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/ReadConditionDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/ReadConditionDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/ReadConditionDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/cond/ReadConditionDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/DataReaderQosDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/DataReaderQosDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/DataReaderQosDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/DataReaderQosDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/SubscriberQosDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/SubscriberQosDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/SubscriberQosDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/SubscriberQosDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicCopy.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicCopy.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicCopy.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicCopy.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicKeyDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicKeyDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicKeyDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicKeyDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicTraits.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicTraits.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicTraits.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/BuiltinTopicTraits.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/CDRBlob.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/CDRBlob.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/CDRBlob.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/CDRBlob.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/FilterDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/FilterDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/FilterDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/FilterDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TBuiltinTopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TBuiltinTopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TBuiltinTopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TBuiltinTopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicDescriptionDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicDescriptionDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicDescriptionDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicDescriptionDelegate.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicListener.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicListener.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicListener.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicListener.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicTraits.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicTraits.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicTraits.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicTraits.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/datatopic.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/discovery.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/discovery.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/discovery.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/discovery.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/find.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/find.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/find.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/find.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/hash.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/hash.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/hash.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/hash.hpp
diff --git a/cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp b/deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp
similarity index 100%
rename from cpp_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp
rename to deploy/dds_bridge/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp
diff --git a/deploy/ros2_ws/src/lidar_node/CMakeLists.txt b/deploy/perception_ws/src/lidar_node/CMakeLists.txt
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/CMakeLists.txt
rename to deploy/perception_ws/src/lidar_node/CMakeLists.txt
diff --git a/deploy/ros2_ws/src/lidar_node/README.md b/deploy/perception_ws/src/lidar_node/README.md
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/README.md
rename to deploy/perception_ws/src/lidar_node/README.md
diff --git a/deploy/ros2_ws/src/lidar_node/Version.h.in b/deploy/perception_ws/src/lidar_node/Version.h.in
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/Version.h.in
rename to deploy/perception_ws/src/lidar_node/Version.h.in
diff --git a/deploy/ros2_ws/src/lidar_node/config/config.yaml b/deploy/perception_ws/src/lidar_node/config/config.yaml
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/config/config.yaml
rename to deploy/perception_ws/src/lidar_node/config/config.yaml
diff --git a/deploy/ros2_ws/src/lidar_node/launch/dashing_start.py b/deploy/perception_ws/src/lidar_node/launch/dashing_start.py
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/launch/dashing_start.py
rename to deploy/perception_ws/src/lidar_node/launch/dashing_start.py
diff --git a/deploy/ros2_ws/src/lidar_node/launch/start.launch b/deploy/perception_ws/src/lidar_node/launch/start.launch
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/launch/start.launch
rename to deploy/perception_ws/src/lidar_node/launch/start.launch
diff --git a/deploy/ros2_ws/src/lidar_node/launch/start.py b/deploy/perception_ws/src/lidar_node/launch/start.py
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/launch/start.py
rename to deploy/perception_ws/src/lidar_node/launch/start.py
diff --git a/deploy/ros2_ws/src/lidar_node/msg/UdpFrame.msg b/deploy/perception_ws/src/lidar_node/msg/UdpFrame.msg
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/msg/UdpFrame.msg
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diff --git a/deploy/ros2_ws/src/lidar_node/msg/UdpPacket.msg b/deploy/perception_ws/src/lidar_node/msg/UdpPacket.msg
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diff --git a/deploy/ros2_ws/src/lidar_node/msg/msg_ros2/UdpFrame.msg b/deploy/perception_ws/src/lidar_node/msg/msg_ros2/UdpFrame.msg
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rename from deploy/ros2_ws/src/lidar_node/msg/msg_ros2/UdpFrame.msg
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diff --git a/deploy/ros2_ws/src/lidar_node/msg/msg_ros2/UdpPacket.msg b/deploy/perception_ws/src/lidar_node/msg/msg_ros2/UdpPacket.msg
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rename from deploy/ros2_ws/src/lidar_node/msg/msg_ros2/UdpPacket.msg
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diff --git a/deploy/ros2_ws/src/lidar_node/node/hesai_ros_driver_node.cc b/deploy/perception_ws/src/lidar_node/node/hesai_ros_driver_node.cc
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diff --git a/deploy/ros2_ws/src/lidar_node/node/hesai_ros_driver_node.cu b/deploy/perception_ws/src/lidar_node/node/hesai_ros_driver_node.cu
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diff --git a/deploy/ros2_ws/src/lidar_node/package.xml b/deploy/perception_ws/src/lidar_node/package.xml
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diff --git a/deploy/ros2_ws/src/lidar_node/rviz/rviz.rviz b/deploy/perception_ws/src/lidar_node/rviz/rviz.rviz
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rename to deploy/perception_ws/src/lidar_node/rviz/rviz.rviz
diff --git a/deploy/ros2_ws/src/lidar_node/rviz/rviz2.rviz b/deploy/perception_ws/src/lidar_node/rviz/rviz2.rviz
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rename from deploy/ros2_ws/src/lidar_node/rviz/rviz2.rviz
rename to deploy/perception_ws/src/lidar_node/rviz/rviz2.rviz
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/CMakeLists.txt b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/CMakeLists.txt
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/CMakeLists.txt
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/CMakeLists.txt
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/LICENSE b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/LICENSE
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/LICENSE
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/LICENSE
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/README.md b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/README.md
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diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/Version.h.in b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/Version.h.in
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/Version.h.in
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/Version.h.in
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/change notes.md b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/change notes.md
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rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/change notes.md
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/AT128E2X_Angle Correction File.dat b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/AT128E2X_Angle Correction File.dat
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/AT128E2X_Angle Correction File.dat
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/AT128E2X_Angle Correction File.dat
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/FT120C1X_Angle Correction File.dat b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/FT120C1X_Angle Correction File.dat
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/FT120C1X_Angle Correction File.dat
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/FT120C1X_Angle Correction File.dat
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/OT128_Angle Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/OT128_Angle Correction File.csv
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/OT128_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/OT128_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar128E3X_Angle Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar128E3X_Angle Correction File.csv
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar128E3X_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar128E3X_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40M_Angle Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40M_Angle Correction File.csv
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40M_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40M_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40P_Angle Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40P_Angle Correction File.csv
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40P_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar40P_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar64_Angle Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar64_Angle Correction File.csv
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar64_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar64_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar90E3X_Angle Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar90E3X_Angle Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar90E3X_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/Pandar90E3X_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarQT_Angle Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarQT_Angle Correction File.csv
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarQT_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarQT_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT-16_Angle Correction File.csv b/deploy/perception_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/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT-16_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT-16_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT_Angle Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT_Angle Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/PandarXT_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Angle Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Angle Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Channel_Cofig.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Channel_Cofig.csv
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Channel_Cofig.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/QT128C2X_Channel_Cofig.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/XT32M2X_Angle Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/XT32M2X_Angle Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/XT32M2X_Angle Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/angle_correction/XT32M2X_Angle Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/AT128E2X_Firetime Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/AT128E2X_Firetime Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/AT128E2X_Firetime Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/AT128E2X_Firetime Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar128E3X_Firetime Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar128E3X_Firetime Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar128E3X_Firetime Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar128E3X_Firetime Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40E3X_Firetime Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40E3X_Firetime Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40E3X_Firetime Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40E3X_Firetime Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40P_Firetime Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40P_Firetime Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40P_Firetime Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar40P_Firetime Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64E3X_Firetime Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64E3X_Firetime Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64E3X_Firetime Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64E3X_Firetime Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64_Firetime Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64_Firetime Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64_Firetime Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar64_Firetime Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar90_Firetime Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar90_Firetime Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar90_Firetime Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/Pandar90_Firetime Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT-16_Firetime Correction File.csv b/deploy/perception_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/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT-16_Firetime Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT-16_Firetime Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT_Firetime Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT_Firetime Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT_Firetime Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/PandarXT_Firetime Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/QT128C2X_Firetime Correction File.csv b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/QT128C2X_Firetime Correction File.csv
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/QT128C2X_Firetime Correction File.csv
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/correction/firetime_correction/QT128C2X_Firetime Correction File.csv
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk.hpp b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk.hpp
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk.hpp
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk.hpp
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk_gpu.cuh b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk_gpu.cuh
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk_gpu.cuh
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/driver/hesai_lidar_sdk_gpu.cuh
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/CMakeLists.txt b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/CMakeLists.txt
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/CMakeLists.txt
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/CMakeLists.txt
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/blocking_ring.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/blocking_ring.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/blocking_ring.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/blocking_ring.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2d_shared.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2d_shared.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2d_shared.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2d_shared.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2dex.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2dex.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2dex.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include/ring_2dex.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/blocking_ring.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/blocking_ring.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/blocking_ring.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/blocking_ring.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2d_shared.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2d_shared.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2d_shared.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2d_shared.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2dex.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2dex.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2dex.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src/ring_2dex.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar_types.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar_types.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar_types.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar/lidar_types.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/include/logger.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/include/logger.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/include/logger.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/include/logger.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/src/logger.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/src/logger.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/src/logger.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/src/logger.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/client_base.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/client_base.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/client_base.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/client_base.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/lidar_communication_header.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/lidar_communication_header.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/lidar_communication_header.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/lidar_communication_header.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/ptc_client.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/ptc_client.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/ptc_client.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/ptc_client.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_client.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_client.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_client.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_client.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_ssl_client.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_ssl_client.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_ssl_client.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include/tcp_ssl_client.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/ptc_client.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/ptc_client.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/ptc_client.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/ptc_client.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_client.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_client.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_client.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_client.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_ssl_client.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_ssl_client.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_ssl_client.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/src/tcp_ssl_client.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/general_ptc_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/general_ptc_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/general_ptc_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/general_ptc_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_1_0_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_1_0_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_1_0_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_1_0_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_2_0_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_2_0_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_2_0_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include/ptc_2_0_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/ptc_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/general_ptc_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/general_ptc_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/general_ptc_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/general_ptc_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_1_0_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_1_0_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_1_0_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_1_0_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_2_0_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_2_0_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_2_0_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/src/ptc_2_0_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_saver.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_saver.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_saver.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_saver.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_source.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_source.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_source.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/pcap_source.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/socket_source.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/socket_source.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/socket_source.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/socket_source.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/source.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/source.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/source.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include/source.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_saver.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_saver.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_saver.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_saver.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_source.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_source.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_source.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/pcap_source.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/socket_source.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/socket_source.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/socket_source.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/socket_source.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/source.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/source.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/source.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/Source/src/source.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/general_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/general_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/general_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/general_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp1_4_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp1_4_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp1_4_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp1_4_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_4_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_4_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_4_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_4_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_5_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_5_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_5_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp2_5_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_1_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_1_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_1_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_1_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_2_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_2_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_2_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp3_2_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp4_3_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp4_3_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp4_3_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp4_3_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp6_1_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp6_1_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp6_1_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp6_1_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp7_2_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp7_2_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp7_2_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp7_2_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p40_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p40_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p40_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p40_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p64_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p64_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p64_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include/udp_p64_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/general_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/general_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/general_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/general_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp1_4_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp1_4_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp1_4_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp1_4_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_4_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_4_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_4_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_4_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_5_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_5_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_5_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp2_5_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_1_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_1_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_1_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_1_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_2_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_2_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_2_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp3_2_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp4_3_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp4_3_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp4_3_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp4_3_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp6_1_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp6_1_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp6_1_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp6_1_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp7_2_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp7_2_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp7_2_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp7_2_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p40_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p40_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p40_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p40_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p64_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p64_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p64_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src/udp_p64_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/udp_parser.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/general_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/general_parser_gpu.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/general_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/general_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/nvbuffer.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/nvbuffer.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/nvbuffer.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/nvbuffer.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/return_code.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/return_code.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/return_code.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/return_code.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/safe_call.cuh b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/safe_call.cuh
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/safe_call.cuh
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/safe_call.cuh
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp1_4_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp1_4_parser_gpu.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp1_4_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp1_4_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp2_5_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp2_5_parser_gpu.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp2_5_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp2_5_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_1_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_1_parser_gpu.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_1_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_1_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_2_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_2_parser_gpu.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_2_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp3_2_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp4_3_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp4_3_parser_gpu.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp4_3_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp4_3_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp6_1_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp6_1_parser_gpu.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp6_1_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp6_1_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp7_2_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp7_2_parser_gpu.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp7_2_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp7_2_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p40_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p40_parser_gpu.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p40_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p40_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p64_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p64_parser_gpu.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p64_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include/udp_p64_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/buffer.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/buffer.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/buffer.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/buffer.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/general_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/general_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/general_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/general_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp1_4_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp1_4_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp1_4_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp1_4_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp2_5_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp2_5_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp2_5_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp2_5_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_1_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_1_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_1_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_1_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_2_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_2_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_2_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp3_2_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp4_3_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp4_3_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp4_3_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp4_3_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp6_1_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp6_1_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp6_1_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp6_1_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp7_2_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp7_2_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp7_2_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp7_2_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p40_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p40_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p40_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p40_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p64_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p64_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p64_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/udp_p64_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.cu
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/udp_parser_gpu.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/fault_message.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/fault_message.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/fault_message.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/fault_message.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_header.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_header.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_header.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_header.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p40.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p40.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p40.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p40.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p64.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p64.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p64.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_p64.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v1_4.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v1_4.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v1_4.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v1_4.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_4.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_4.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_4.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_4.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_5.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_5.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_5.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v2_5.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_1.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_1.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_1.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_1.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_2.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_2.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_2.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v3_2.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v4_3.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v4_3.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v4_3.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v4_3.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v6_1.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v6_1.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v6_1.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v6_1.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v7_2.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v7_2.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v7_2.h
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol/udp_protocol_v7_2.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/driver_param.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/driver_param.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/driver_param.h
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diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/auto_tick_count.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/auto_tick_count.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/auto_tick_count.h
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diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/plat_utils.h b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/plat_utils.h
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/include/plat_utils.h
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diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/auto_tick_count.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/auto_tick_count.cc
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diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/plat_utils.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/plat_utils.cc
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rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/plat_utils.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/libhesai/src/plat_utils.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cc
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diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/test/test.cu
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diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/CMakeLists.txt b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/CMakeLists.txt
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diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/Version.h.in b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/Version.h.in
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diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/packet_loss_tool.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/packet_loss_tool.cc
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rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/packet_loss_tool.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cc b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cc
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cu b/deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cu
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cu
rename to deploy/perception_ws/src/lidar_node/src/driver/HesaiLidar_SDK_2.0/tool/pcl_tool.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/manager/node_manager.cc b/deploy/perception_ws/src/lidar_node/src/manager/node_manager.cc
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/manager/node_manager.cc
rename to deploy/perception_ws/src/lidar_node/src/manager/node_manager.cc
diff --git a/deploy/ros2_ws/src/lidar_node/src/manager/node_manager.cu b/deploy/perception_ws/src/lidar_node/src/manager/node_manager.cu
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/manager/node_manager.cu
rename to deploy/perception_ws/src/lidar_node/src/manager/node_manager.cu
diff --git a/deploy/ros2_ws/src/lidar_node/src/manager/node_manager.h b/deploy/perception_ws/src/lidar_node/src/manager/node_manager.h
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/manager/node_manager.h
rename to deploy/perception_ws/src/lidar_node/src/manager/node_manager.h
diff --git a/deploy/ros2_ws/src/lidar_node/src/manager/source_driver_ros1.hpp b/deploy/perception_ws/src/lidar_node/src/manager/source_driver_ros1.hpp
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/manager/source_driver_ros1.hpp
rename to deploy/perception_ws/src/lidar_node/src/manager/source_driver_ros1.hpp
diff --git a/deploy/ros2_ws/src/lidar_node/src/manager/source_driver_ros2.hpp b/deploy/perception_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
rename to deploy/perception_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
diff --git a/deploy/ros2_ws/src/lidar_node/src/utility/yaml_reader.hpp b/deploy/perception_ws/src/lidar_node/src/utility/yaml_reader.hpp
similarity index 100%
rename from deploy/ros2_ws/src/lidar_node/src/utility/yaml_reader.hpp
rename to deploy/perception_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
new file mode 100644
index 0000000..3aad533
--- /dev/null
+++ b/deploy/robot_ws/install/.colcon_install_layout
@@ -0,0 +1 @@
+isolated
diff --git a/deploy/robot_ws/install/COLCON_IGNORE b/deploy/robot_ws/install/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/deploy/robot_ws/install/_local_setup_util_ps1.py b/deploy/robot_ws/install/_local_setup_util_ps1.py
new file mode 100644
index 0000000..83abe63
--- /dev/null
+++ b/deploy/robot_ws/install/_local_setup_util_ps1.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"'
+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
new file mode 100644
index 0000000..ff31198
--- /dev/null
+++ b/deploy/robot_ws/install/_local_setup_util_sh.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
+FORMAT_STR_USE_ENV_VAR = '${name}'
+FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"'
+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
new file mode 100755
index 0000000..71d6ee2
Binary files /dev/null and b/deploy/robot_ws/install/go2py_node/lib/go2py_node/bridge 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
new file mode 100644
index 0000000..ce14ac7
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/ament_index/resource_index/package_run_dependencies/go2py_node
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..e69de29
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
new file mode 100644
index 0000000..e053138
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/ament_index/resource_index/parent_prefix_path/go2py_node
@@ -0,0 +1 @@
+/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
new file mode 100644
index 0000000..006e304
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/colcon-core/packages/go2py_node
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..7beb732
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/cmake/go2py_nodeConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
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
new file mode 100644
index 0000000..bbfd2f5
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/cmake/go2py_nodeConfig.cmake
@@ -0,0 +1,42 @@
+# 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}/${_extra}")
+endforeach()
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.dsv b/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.sh b/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.sh
new file mode 100644
index 0000000..02e441b
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/ament_prefix_path.sh
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/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
new file mode 100644
index 0000000..b94426a
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/path.dsv
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..e59b749
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/environment/path.sh
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/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
new file mode 100644
index 0000000..e119f32
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..d03facc
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.sh b/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.sh
new file mode 100644
index 0000000..a948e68
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/hook/cmake_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/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
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/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
new file mode 100644
index 0000000..aaca281
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.dsv
@@ -0,0 +1,2 @@
+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
new file mode 100644
index 0000000..12d43c3
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.sh
@@ -0,0 +1,133 @@
+# 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
+: ${AMENT_CURRENT_PREFIX:="/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/go2py_node"}
+if [ ! -d "$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=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.zsh b/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.bash b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.bash
new file mode 100644
index 0000000..a6bf720
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.bash
@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/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
new file mode 100644
index 0000000..2a99b11
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.dsv
@@ -0,0 +1,8 @@
+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
new file mode 100644
index 0000000..5b7f9fc
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values};$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values};${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values};$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/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
new file mode 100644
index 0000000..eb4eb87
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/ros2_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 "$COLCON_CURRENT_PREFIX/share/go2py_node/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.xml b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.xml
new file mode 100644
index 0000000..edb456d
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>go2py_node</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="zeendi@163.com">zeen</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>unitree_go</depend>
+  <depend>unitree_api</depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>rosbag2_cpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/deploy/robot_ws/install/go2py_node/share/go2py_node/package.zsh b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.zsh
new file mode 100644
index 0000000..650d599
--- /dev/null
+++ b/deploy/robot_ws/install/go2py_node/share/go2py_node/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/go2py_node/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/go2py_node/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/local_setup.bash b/deploy/robot_ws/install/local_setup.bash
new file mode 100644
index 0000000..03f0025
--- /dev/null
+++ b/deploy/robot_ws/install/local_setup.bash
@@ -0,0 +1,121 @@
+# generated from colcon_bash/shell/template/prefix.bash.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_bash_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
+  unset _colcon_prefix_bash_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_bash_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/local_setup.ps1 b/deploy/robot_ws/install/local_setup.ps1
new file mode 100644
index 0000000..6f68c8d
--- /dev/null
+++ b/deploy/robot_ws/install/local_setup.ps1
@@ -0,0 +1,55 @@
+# generated from colcon_powershell/shell/template/prefix.ps1.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# check environment variable for custom Python executable
+if ($env:COLCON_PYTHON_EXECUTABLE) {
+  if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
+    echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    exit 1
+  }
+  $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
+} else {
+  # use the Python executable known at configure time
+  $_colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
+    if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
+      echo "error: unable to find python3 executable"
+      exit 1
+    }
+    $_colcon_python_executable="python3"
+  }
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_powershell_source_script {
+  param (
+    $_colcon_prefix_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
+  }
+}
+
+# get all commands in topological order
+$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
+
+# execute all commands in topological order
+if ($env:COLCON_TRACE) {
+  echo "Execute generated script:"
+  echo "<<<"
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
+  echo ">>>"
+}
+if ($_colcon_ordered_commands) {
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
+}
diff --git a/deploy/robot_ws/install/local_setup.sh b/deploy/robot_ws/install/local_setup.sh
new file mode 100644
index 0000000..9345c15
--- /dev/null
+++ b/deploy/robot_ws/install/local_setup.sh
@@ -0,0 +1,137 @@
+# generated from colcon_core/shell/template/prefix.sh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install"
+if [ -z "$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 "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/local_setup.zsh b/deploy/robot_ws/install/local_setup.zsh
new file mode 100644
index 0000000..b648710
--- /dev/null
+++ b/deploy/robot_ws/install/local_setup.zsh
@@ -0,0 +1,134 @@
+# generated from colcon_zsh/shell/template/prefix.zsh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+_colcon_prefix_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_zsh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # workaround SH_WORD_SPLIT not being set
+  _colcon_prefix_zsh_convert_to_array _values
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
+  unset _colcon_prefix_zsh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_zsh_prepend_unique_value
+unset _colcon_prefix_zsh_convert_to_array
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/setup.bash b/deploy/robot_ws/install/setup.bash
new file mode 100644
index 0000000..a687872
--- /dev/null
+++ b/deploy/robot_ws/install/setup.bash
@@ -0,0 +1,34 @@
+# generated from colcon_bash/shell/template/prefix_chain.bash.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/foxy"
+_colcon_prefix_chain_bash_source_script "$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
new file mode 100644
index 0000000..a2b9119
--- /dev/null
+++ b/deploy/robot_ws/install/setup.ps1
@@ -0,0 +1,30 @@
+# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_chain_powershell_source_script {
+  param (
+    $_colcon_prefix_chain_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_chain_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
+  }
+}
+
+# source chained prefixes
+_colcon_prefix_chain_powershell_source_script "/opt/ros/foxy\local_setup.ps1"
+_colcon_prefix_chain_powershell_source_script "/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install\local_setup.ps1"
+
+# source this prefix
+$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
new file mode 100644
index 0000000..2a294d5
--- /dev/null
+++ b/deploy/robot_ws/install/setup.sh
@@ -0,0 +1,49 @@
+# generated from colcon_core/shell/template/prefix_chain.sh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/unitree/locomotion/Go2Py/deploy/ros2_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
new file mode 100644
index 0000000..de47bbf
--- /dev/null
+++ b/deploy/robot_ws/install/setup.zsh
@@ -0,0 +1,34 @@
+# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/foxy"
+_colcon_prefix_chain_zsh_source_script "$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
new file mode 100644
index 0000000..b41c8e6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__builder.hpp
@@ -0,0 +1,87 @@
+// 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
new file mode 100644
index 0000000..a815295
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__functions.c
@@ -0,0 +1,288 @@
+// 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
new file mode 100644
index 0000000..fd22ad0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..4765adc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..1796b89
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..084587c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..a880f48
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..5325d3e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__struct.h
@@ -0,0 +1,50 @@
+// 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
new file mode 100644
index 0000000..d6ca5ea
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__struct.hpp
@@ -0,0 +1,160 @@
+// 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
new file mode 100644
index 0000000..205fa6f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__traits.hpp
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 0000000..9e0cfdf
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.c
@@ -0,0 +1,123 @@
+// 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
new file mode 100644
index 0000000..fb8fc8c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.cpp
@@ -0,0 +1,164 @@
+// 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
new file mode 100644
index 0000000..d662fff
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..02a5188
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..193c4b0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__builder.hpp
@@ -0,0 +1,87 @@
+// 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
new file mode 100644
index 0000000..8025f44
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__functions.c
@@ -0,0 +1,288 @@
+// 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
new file mode 100644
index 0000000..1c6c6b8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..ad8b061
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..2da1080
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..4ced6ee
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..050bc93
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..974ea38
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__struct.h
@@ -0,0 +1,50 @@
+// 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
new file mode 100644
index 0000000..13ed133
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__struct.hpp
@@ -0,0 +1,159 @@
+// 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
new file mode 100644
index 0000000..32a9b1f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__traits.hpp
@@ -0,0 +1,50 @@
+// 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
new file mode 100644
index 0000000..2181cd3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.c
@@ -0,0 +1,131 @@
+// 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
new file mode 100644
index 0000000..bca9335
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.cpp
@@ -0,0 +1,137 @@
+// 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
new file mode 100644
index 0000000..413960d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..1209f3a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_header__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..6b1652f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__builder.hpp
@@ -0,0 +1,71 @@
+// 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
new file mode 100644
index 0000000..50b7ce6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__functions.c
@@ -0,0 +1,239 @@
+// 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
new file mode 100644
index 0000000..fc84c7d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..dd273e9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..c33157f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..40c528b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..c997198
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..61cb375
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__struct.h
@@ -0,0 +1,41 @@
+// 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
new file mode 100644
index 0000000..b5d44ed
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__struct.hpp
@@ -0,0 +1,144 @@
+// 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
new file mode 100644
index 0000000..67968dc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..e0863ab
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.c
@@ -0,0 +1,96 @@
+// 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
new file mode 100644
index 0000000..4040655
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.cpp
@@ -0,0 +1,122 @@
+// 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
new file mode 100644
index 0000000..1e0dae5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..760a84e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_identity__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..e1a77fc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__builder.hpp
@@ -0,0 +1,55 @@
+// 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
new file mode 100644
index 0000000..101bb8e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__functions.c
@@ -0,0 +1,231 @@
+// 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
new file mode 100644
index 0000000..50d8c29
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..6f33d15
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..c5cbd21
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..1fc3f11
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..1780367
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..bdc3174
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__struct.h
@@ -0,0 +1,40 @@
+// 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
new file mode 100644
index 0000000..f07dd09
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__struct.hpp
@@ -0,0 +1,130 @@
+// 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
new file mode 100644
index 0000000..2bc3ad2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..3e2e1c3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.c
@@ -0,0 +1,81 @@
+// 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
new file mode 100644
index 0000000..0fb2579
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.cpp
@@ -0,0 +1,107 @@
+// 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
new file mode 100644
index 0000000..226b055
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..a5a577a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_lease__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..a84b681
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__builder.hpp
@@ -0,0 +1,71 @@
+// 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
new file mode 100644
index 0000000..8cf1965
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__functions.c
@@ -0,0 +1,239 @@
+// 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
new file mode 100644
index 0000000..af9c364
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..ea36c92
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..4e31ff1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..ef048e6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..1058feb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..6e7c438
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__struct.h
@@ -0,0 +1,41 @@
+// 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
new file mode 100644
index 0000000..3203121
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__struct.hpp
@@ -0,0 +1,144 @@
+// 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
new file mode 100644
index 0000000..29bdc50
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..c8df052
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.c
@@ -0,0 +1,96 @@
+// 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
new file mode 100644
index 0000000..c12f08f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.cpp
@@ -0,0 +1,122 @@
+// 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
new file mode 100644
index 0000000..7fe2cf2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..68dbcba
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/request_policy__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..8f0cf0b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__builder.hpp
@@ -0,0 +1,87 @@
+// 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
new file mode 100644
index 0000000..e30ee9b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__functions.c
@@ -0,0 +1,288 @@
+// 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
new file mode 100644
index 0000000..a2a89c0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..cba0d6d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..bc0ef8a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..7ffd774
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..9cfa813
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..de3d930
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__struct.h
@@ -0,0 +1,50 @@
+// 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
new file mode 100644
index 0000000..b8e170c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__struct.hpp
@@ -0,0 +1,160 @@
+// 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
new file mode 100644
index 0000000..7716161
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__traits.hpp
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 0000000..1eb4b01
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.c
@@ -0,0 +1,123 @@
+// 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
new file mode 100644
index 0000000..a27d035
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.cpp
@@ -0,0 +1,164 @@
+// 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
new file mode 100644
index 0000000..8b23ed0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..27859e9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..8f76d7d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__builder.hpp
@@ -0,0 +1,71 @@
+// 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
new file mode 100644
index 0000000..5d705c7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__functions.c
@@ -0,0 +1,267 @@
+// 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
new file mode 100644
index 0000000..8837dc1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..c1c364d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..d76073f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..c314b11
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..c578e54
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..f7dd860
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__struct.h
@@ -0,0 +1,47 @@
+// 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
new file mode 100644
index 0000000..cb00d3b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__struct.hpp
@@ -0,0 +1,143 @@
+// 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
new file mode 100644
index 0000000..a3cb0c2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__traits.hpp
@@ -0,0 +1,48 @@
+// 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
new file mode 100644
index 0000000..e728e73
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.c
@@ -0,0 +1,110 @@
+// 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
new file mode 100644
index 0000000..ea946b8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.cpp
@@ -0,0 +1,122 @@
+// 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
new file mode 100644
index 0000000..a9d20af
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..3664697
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_header__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..6b78a61
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__builder.hpp
@@ -0,0 +1,55 @@
+// 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
new file mode 100644
index 0000000..535cc3f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__functions.c
@@ -0,0 +1,231 @@
+// 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
new file mode 100644
index 0000000..58b8246
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..c7a090f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..f21d788
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..8c3106c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..7a8ab2e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..fc12219
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__struct.h
@@ -0,0 +1,40 @@
+// 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
new file mode 100644
index 0000000..126d908
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__struct.hpp
@@ -0,0 +1,130 @@
+// 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
new file mode 100644
index 0000000..928afdf
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..91fa969
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.c
@@ -0,0 +1,81 @@
+// 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
new file mode 100644
index 0000000..69fe8f4
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.cpp
@@ -0,0 +1,107 @@
+// 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
new file mode 100644
index 0000000..fa14f97
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..733b937
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/detail/response_status__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..49432ff
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..f537925
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..db176d4
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_header.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..e5468b2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_header.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..e818b2f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_identity.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..06e0041
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_identity.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..5774e17
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_lease.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..9869d1a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_lease.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..83f89ee
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_policy.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..389c475
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/request_policy.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..13063dd
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..8af5cc9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..5cba446
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_header.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..3115d6c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_header.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..b01030c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_status.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..4e59390
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/response_status.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..c3f4c94
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_generator_c__visibility_control.h
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..6444c9a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_generator_cpp__visibility_control.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..d8ec81c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
@@ -0,0 +1,43 @@
+// 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
new file mode 100644
index 0000000..d43fdba
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
@@ -0,0 +1,43 @@
+// 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
new file mode 100644
index 0000000..22bb9fc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/include/unitree_api/msg/rosidl_typesupport_introspection_c__visibility_control.h
@@ -0,0 +1,43 @@
+// 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
new file mode 100644
index 0000000..e69de29
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
new file mode 100644
index 0000000..d9c8f06
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/__init__.py
@@ -0,0 +1,8 @@
+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
new file mode 100644
index 0000000..07b2141
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request.py
@@ -0,0 +1,184 @@
+# 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
new file mode 100644
index 0000000..a1c597d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_header.py
@@ -0,0 +1,178 @@
+# 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
new file mode 100644
index 0000000..f9a2173
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_header_s.c
@@ -0,0 +1,159 @@
+// 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
new file mode 100644
index 0000000..77d5a90
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_identity.py
@@ -0,0 +1,145 @@
+# 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
new file mode 100644
index 0000000..ac38d5d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_identity_s.c
@@ -0,0 +1,118 @@
+// 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
new file mode 100644
index 0000000..016cba8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_lease.py
@@ -0,0 +1,124 @@
+# 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
new file mode 100644
index 0000000..a98c137
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_lease_s.c
@@ -0,0 +1,98 @@
+// 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
new file mode 100644
index 0000000..97a0331
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_policy.py
@@ -0,0 +1,143 @@
+# 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
new file mode 100644
index 0000000..ab38a3a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_policy_s.c
@@ -0,0 +1,118 @@
+// 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
new file mode 100644
index 0000000..9212cde
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_request_s.c
@@ -0,0 +1,263 @@
+// 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
new file mode 100644
index 0000000..cf6a415
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response.py
@@ -0,0 +1,184 @@
+# 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
new file mode 100644
index 0000000..c39b64b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_header.py
@@ -0,0 +1,153 @@
+# 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
new file mode 100644
index 0000000..7201b0b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_header_s.c
@@ -0,0 +1,132 @@
+// 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
new file mode 100644
index 0000000..9798e13
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_s.c
@@ -0,0 +1,262 @@
+// 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
new file mode 100644
index 0000000..a8dd87f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_status.py
@@ -0,0 +1,124 @@
+# 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
new file mode 100644
index 0000000..6a9497c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/lib/python3.8/site-packages/unitree_api/msg/_response_status_s.c
@@ -0,0 +1,98 @@
+// 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
new file mode 100644
index 0000000..cabffa8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/package_run_dependencies/unitree_api
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..e69de29
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
new file mode 100644
index 0000000..e053138
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/parent_prefix_path/unitree_api
@@ -0,0 +1 @@
+/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
new file mode 100644
index 0000000..cf70eec
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/ament_index/resource_index/rosidl_interfaces/unitree_api
@@ -0,0 +1,16 @@
+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
new file mode 100644
index 0000000..c819a81
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/colcon-core/packages/unitree_api
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..728a66a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "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 "${_libraries}")
+    endif()
+  endforeach()
+endif()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_include_directories-extras.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_include_directories-extras.cmake
new file mode 100644
index 0000000..a8069fa
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${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
new file mode 100644
index 0000000..d514da4
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_libraries-extras.cmake
@@ -0,0 +1,140 @@
+# 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
new file mode 100644
index 0000000..cc5525c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/ament_cmake_export_targets-extras.cmake
@@ -0,0 +1,27 @@
+# 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
new file mode 100644
index 0000000..9b686e8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake-extras.cmake
@@ -0,0 +1,4 @@
+# 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
new file mode 100644
index 0000000..c9d47ed
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
@@ -0,0 +1,46 @@
+# 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
new file mode 100644
index 0000000..3a0327c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
@@ -0,0 +1,23 @@
+# 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} "${_target}")
+    endif()
+  endforeach()
+endif()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig-version.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig-version.cmake
new file mode 100644
index 0000000..7beb732
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig.cmake
new file mode 100644
index 0000000..bd35a5c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_apiConfig.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_unitree_api_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED unitree_api_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(unitree_api_FOUND FALSE)
+  elseif(NOT unitree_api_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(unitree_api_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_unitree_api_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT unitree_api_FIND_QUIETLY)
+  message(STATUS "Found unitree_api: 0.0.0 (${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}/${_extra}")
+endforeach()
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport-noconfig.cmake
new file mode 100644
index 0000000..2e4f4d8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport-noconfig.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "unitree_api::unitree_api__rosidl_generator_c" for configuration ""
+set_property(TARGET unitree_api::unitree_api__rosidl_generator_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(unitree_api::unitree_api__rosidl_generator_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_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 "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_generator_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport.cmake
new file mode 100644
index 0000000..4f7e95e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cppExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cppExport.cmake
new file mode 100644
index 0000000..9f1900d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_generator_cppExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport-noconfig.cmake
new file mode 100644
index 0000000..7d8f168
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport-noconfig.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "unitree_api::unitree_api__rosidl_typesupport_c" for configuration ""
+set_property(TARGET unitree_api::unitree_api__rosidl_typesupport_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(unitree_api::unitree_api__rosidl_typesupport_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_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 "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport.cmake
new file mode 100644
index 0000000..a51f7a6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport-noconfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport-noconfig.cmake
new file mode 100644
index 0000000..f96356e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport-noconfig.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "unitree_api::unitree_api__rosidl_typesupport_cpp" for configuration ""
+set_property(TARGET unitree_api::unitree_api__rosidl_typesupport_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(unitree_api::unitree_api__rosidl_typesupport_cpp PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_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 "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport.cmake
new file mode 100644
index 0000000..16c31ac
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_cppExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport-noconfig.cmake
new file mode 100644
index 0000000..00ce971
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport-noconfig.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "unitree_api::unitree_api__rosidl_typesupport_introspection_c" for configuration ""
+set_property(TARGET unitree_api::unitree_api__rosidl_typesupport_introspection_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(unitree_api::unitree_api__rosidl_typesupport_introspection_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_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 "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_introspection_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport.cmake
new file mode 100644
index 0000000..2dde5a4
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cExport.cmake
@@ -0,0 +1,114 @@
+# Generated by CMake
+
+if("${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(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport-noconfig.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport-noconfig.cmake
new file mode 100644
index 0000000..2500f11
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport-noconfig.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "unitree_api::unitree_api__rosidl_typesupport_introspection_cpp" for configuration ""
+set_property(TARGET unitree_api::unitree_api__rosidl_typesupport_introspection_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(unitree_api::unitree_api__rosidl_typesupport_introspection_cpp PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_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 "${_IMPORT_PREFIX}/lib/libunitree_api__rosidl_typesupport_introspection_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport.cmake b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport.cmake
new file mode 100644
index 0000000..657a3e2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/cmake/unitree_api__rosidl_typesupport_introspection_cppExport.cmake
@@ -0,0 +1,98 @@
+# Generated by CMake
+
+if("${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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.sh
new file mode 100644
index 0000000..02e441b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/ament_prefix_path.sh
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/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
new file mode 100644
index 0000000..89bec93
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/library_path.dsv
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..292e518
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/library_path.sh
@@ -0,0 +1,16 @@
+# copied from ament_package/template/environment_hook/library_path.sh
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+if [ $_IS_DARWIN -eq 0 ]; then
+  ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+else
+  ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+fi
+unset _IS_DARWIN
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.dsv
new file mode 100644
index 0000000..b94426a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.sh
new file mode 100644
index 0000000..e59b749
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/path.sh
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.dsv b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.dsv
new file mode 100644
index 0000000..84dbc4c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.8/site-packages
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.sh
new file mode 100644
index 0000000..7fe2b2f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/environment/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from ament_package/template/environment_hook/pythonpath.sh.in
+
+ament_prepend_unique_value PYTHONPATH "$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
new file mode 100644
index 0000000..e119f32
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..d03facc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.sh
new file mode 100644
index 0000000..a948e68
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/cmake_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/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
new file mode 100644
index 0000000..89bec93
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.dsv
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..f6df601
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX\lib"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.sh
new file mode 100644
index 0000000..ca3c102
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/ld_library_path_lib.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value LD_LIBRARY_PATH "$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
new file mode 100644
index 0000000..84dbc4c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.dsv
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..12877ef
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.8/site-packages"
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.sh b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.sh
new file mode 100644
index 0000000..ed8efd9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/hook/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.8/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
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/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
new file mode 100644
index 0000000..3a58b11
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.dsv
@@ -0,0 +1,4 @@
+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
new file mode 100644
index 0000000..81dfc27
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.sh
@@ -0,0 +1,135 @@
+# 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
+: ${AMENT_CURRENT_PREFIX:="/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/unitree_api"}
+if [ ! -d "$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=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.zsh b/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/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
new file mode 100644
index 0000000..7ffe0f0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Request.idl
@@ -0,0 +1,17 @@
+// 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
new file mode 100644
index 0000000..b1df58a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Request.msg
@@ -0,0 +1,3 @@
+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
new file mode 100644
index 0000000..97d6987
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestHeader.idl
@@ -0,0 +1,19 @@
+// 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
new file mode 100644
index 0000000..022161b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestHeader.msg
@@ -0,0 +1,3 @@
+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
new file mode 100644
index 0000000..2ead946
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestIdentity.idl
@@ -0,0 +1,14 @@
+// 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
new file mode 100644
index 0000000..90011ff
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestIdentity.msg
@@ -0,0 +1,2 @@
+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
new file mode 100644
index 0000000..698449e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestLease.idl
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..85f692f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestLease.msg
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..ff73905
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestPolicy.idl
@@ -0,0 +1,14 @@
+// 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
new file mode 100644
index 0000000..89e00c2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/RequestPolicy.msg
@@ -0,0 +1,2 @@
+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
new file mode 100644
index 0000000..59ac745
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Response.idl
@@ -0,0 +1,17 @@
+// 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
new file mode 100644
index 0000000..2036630
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/Response.msg
@@ -0,0 +1,3 @@
+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
new file mode 100644
index 0000000..de1dd0c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseHeader.idl
@@ -0,0 +1,16 @@
+// 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
new file mode 100644
index 0000000..3d51649
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseHeader.msg
@@ -0,0 +1,2 @@
+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
new file mode 100644
index 0000000..6d6fcad
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseStatus.idl
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..1d379fa
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/ResponseStatus.msg
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..8493ad2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestHeader_.idl
@@ -0,0 +1,34 @@
+// 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
new file mode 100644
index 0000000..dc65c91
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestIdentity_.idl
@@ -0,0 +1,30 @@
+// 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
new file mode 100644
index 0000000..fdb7980
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestLease_.idl
@@ -0,0 +1,29 @@
+// 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
new file mode 100644
index 0000000..9181d63
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/RequestPolicy_.idl
@@ -0,0 +1,30 @@
+// 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
new file mode 100644
index 0000000..0a99414
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/Request_.idl
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..4bd3912
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/ResponseHeader_.idl
@@ -0,0 +1,32 @@
+// 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
new file mode 100644
index 0000000..a7e1fea
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/ResponseStatus_.idl
@@ -0,0 +1,29 @@
+// 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
new file mode 100644
index 0000000..49947ff
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/msg/dds_connext/Response_.idl
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..b8b8f51
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.bash
@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/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
new file mode 100644
index 0000000..656bd50
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.dsv
@@ -0,0 +1,14 @@
+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
new file mode 100644
index 0000000..fb211f8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.ps1
@@ -0,0 +1,118 @@
+# 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
new file mode 100644
index 0000000..a2f8237
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.sh
@@ -0,0 +1,89 @@
+# 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/ros2_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 "$COLCON_CURRENT_PREFIX/share/unitree_api/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.xml b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.xml
new file mode 100644
index 0000000..915a946
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>unitree_api</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="czk@todo.todo">czk</maintainer>
+  <license>TODO: License declaration</license>
+  
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/deploy/robot_ws/install/unitree_api/share/unitree_api/package.zsh b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.zsh
new file mode 100644
index 0000000..880fd38
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_api/share/unitree_api/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/unitree_api/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_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
new file mode 100644
index 0000000..0e53b0c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/audio_data.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..cd0bece
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/audio_data.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..f2e734f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_cmd.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..3dc6de1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_cmd.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..02a74a8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_state.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..f22e8aa
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/bms_state.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..2669aa0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__builder.hpp
@@ -0,0 +1,71 @@
+// 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
new file mode 100644
index 0000000..a7609a8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__functions.c
@@ -0,0 +1,254 @@
+// 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
new file mode 100644
index 0000000..08f4495
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..1e0c84d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..81ae2e9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..7e4fc10
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..26a305c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..02840c3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__struct.h
@@ -0,0 +1,45 @@
+// 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
new file mode 100644
index 0000000..4a403d8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__struct.hpp
@@ -0,0 +1,142 @@
+// 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
new file mode 100644
index 0000000..84b9b36
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..5adade8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.c
@@ -0,0 +1,100 @@
+// 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
new file mode 100644
index 0000000..fbc0cb3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.cpp
@@ -0,0 +1,149 @@
+// 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
new file mode 100644
index 0000000..1a9e388
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..0a55289
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/audio_data__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..ed95748
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__builder.hpp
@@ -0,0 +1,71 @@
+// 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
new file mode 100644
index 0000000..db520cd
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__functions.c
@@ -0,0 +1,243 @@
+// 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
new file mode 100644
index 0000000..f9d18a5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..b7a7c3e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..3237daf
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..62a41f3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..fcaff2b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..56eb65e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__struct.h
@@ -0,0 +1,41 @@
+// 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
new file mode 100644
index 0000000..d5e6812
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__struct.hpp
@@ -0,0 +1,144 @@
+// 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
new file mode 100644
index 0000000..b46b48c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..488909f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.c
@@ -0,0 +1,96 @@
+// 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
new file mode 100644
index 0000000..f893d64
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.cpp
@@ -0,0 +1,142 @@
+// 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
new file mode 100644
index 0000000..56bc7a8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..79bb6ba
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_cmd__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..0f747d6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__builder.hpp
@@ -0,0 +1,183 @@
+// 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
new file mode 100644
index 0000000..1f0a0ec
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__functions.c
@@ -0,0 +1,307 @@
+// 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
new file mode 100644
index 0000000..0e3dc72
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..3de157d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..eede409
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..c18b944
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..05d7362
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..871e4bd
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__struct.h
@@ -0,0 +1,48 @@
+// 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
new file mode 100644
index 0000000..ebf76be
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__struct.hpp
@@ -0,0 +1,244 @@
+// 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
new file mode 100644
index 0000000..1622215
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..1884c9d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.c
@@ -0,0 +1,201 @@
+// 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
new file mode 100644
index 0000000..36d016c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.cpp
@@ -0,0 +1,287 @@
+// 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
new file mode 100644
index 0000000..73d2256
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..6cc54fd
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/bms_state__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..e05b854
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__builder.hpp
@@ -0,0 +1,71 @@
+// 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
new file mode 100644
index 0000000..3cc186a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__functions.c
@@ -0,0 +1,239 @@
+// 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
new file mode 100644
index 0000000..41ac606
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..269b6b6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..7ec5407
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..007d6ab
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..fe36165
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..868464f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__struct.h
@@ -0,0 +1,41 @@
+// 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
new file mode 100644
index 0000000..31658a8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__struct.hpp
@@ -0,0 +1,144 @@
+// 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
new file mode 100644
index 0000000..e867f5e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..f6e5856
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.c
@@ -0,0 +1,96 @@
+// 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
new file mode 100644
index 0000000..018929d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.cpp
@@ -0,0 +1,122 @@
+// 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
new file mode 100644
index 0000000..3257200
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..2080995
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/error__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..c11f19d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__builder.hpp
@@ -0,0 +1,103 @@
+// 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
new file mode 100644
index 0000000..af91c99
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__functions.c
@@ -0,0 +1,294 @@
+// 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
new file mode 100644
index 0000000..e294419
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..4786d45
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..a93e5c9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..276f2f0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..2f15fa2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..6c4b665
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__struct.h
@@ -0,0 +1,49 @@
+// 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
new file mode 100644
index 0000000..f7e5b85
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__struct.hpp
@@ -0,0 +1,166 @@
+// 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
new file mode 100644
index 0000000..db0046a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..c6be76c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.c
@@ -0,0 +1,132 @@
+// 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
new file mode 100644
index 0000000..a10ddeb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.cpp
@@ -0,0 +1,233 @@
+// 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
new file mode 100644
index 0000000..3529f31
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..83f0a58
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/go2_front_video_data__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..fbbddaa
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__builder.hpp
@@ -0,0 +1,151 @@
+// 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
new file mode 100644
index 0000000..f3540b8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__functions.c
@@ -0,0 +1,311 @@
+// 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
new file mode 100644
index 0000000..7b8994d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..09b0a40
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..2bd56a2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..989f851
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..691189f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..965a83b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__struct.h
@@ -0,0 +1,52 @@
+// 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
new file mode 100644
index 0000000..4775967
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__struct.hpp
@@ -0,0 +1,213 @@
+// 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
new file mode 100644
index 0000000..336ecbc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..c25acf8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.c
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..8f3c2c0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.cpp
@@ -0,0 +1,244 @@
+// 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
new file mode 100644
index 0000000..16e5fbb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..fc2f4e5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/height_map__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..06ae144
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__builder.hpp
@@ -0,0 +1,119 @@
+// 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
new file mode 100644
index 0000000..a19540a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__functions.c
@@ -0,0 +1,279 @@
+// 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
new file mode 100644
index 0000000..c9d4485
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..90eface
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..eeb2a9b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..0fcafb6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..c956adc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..ad1d2c0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__struct.h
@@ -0,0 +1,44 @@
+// 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
new file mode 100644
index 0000000..2f71461
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__struct.hpp
@@ -0,0 +1,189 @@
+// 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
new file mode 100644
index 0000000..bc49936
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..c9006db
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.c
@@ -0,0 +1,141 @@
+// 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
new file mode 100644
index 0000000..19067c1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.cpp
@@ -0,0 +1,247 @@
+// 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
new file mode 100644
index 0000000..43fca1b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..4914aa9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/imu_state__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..8da7e4e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__builder.hpp
@@ -0,0 +1,87 @@
+// 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
new file mode 100644
index 0000000..0a9503f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__functions.c
@@ -0,0 +1,251 @@
+// 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
new file mode 100644
index 0000000..de103af
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..0c54fcc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..561b9ad
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..42ddd98
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..3db771c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..44d940a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__struct.h
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..835c98e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__struct.hpp
@@ -0,0 +1,158 @@
+// 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
new file mode 100644
index 0000000..47932e3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..b6998ee
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.c
@@ -0,0 +1,111 @@
+// 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
new file mode 100644
index 0000000..123f226
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.cpp
@@ -0,0 +1,157 @@
+// 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
new file mode 100644
index 0000000..e0e628f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..5e96d7c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/interface_config__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..b6689b9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__builder.hpp
@@ -0,0 +1,311 @@
+// 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
new file mode 100644
index 0000000..86a7388
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__functions.c
@@ -0,0 +1,402 @@
+// 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
new file mode 100644
index 0000000..fd634b8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..54e4d69
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..1ea1cc1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..322636c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..460abde
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..b7929f1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__struct.h
@@ -0,0 +1,62 @@
+// 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
new file mode 100644
index 0000000..d2726c5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__struct.hpp
@@ -0,0 +1,357 @@
+// 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
new file mode 100644
index 0000000..038aac7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..455c5eb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.c
@@ -0,0 +1,327 @@
+// 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
new file mode 100644
index 0000000..7678ec7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.cpp
@@ -0,0 +1,367 @@
+// 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
new file mode 100644
index 0000000..254eac6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..78f4939
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/lidar_state__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..88c0f97
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__builder.hpp
@@ -0,0 +1,263 @@
+// 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
new file mode 100644
index 0000000..75f379a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__functions.c
@@ -0,0 +1,395 @@
+// 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
new file mode 100644
index 0000000..1c5b4fb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..f505dd9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..1137270
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..b254918
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..aecc3bf
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..c170ea8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__struct.h
@@ -0,0 +1,59 @@
+// 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
new file mode 100644
index 0000000..26681c5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__struct.hpp
@@ -0,0 +1,324 @@
+// 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
new file mode 100644
index 0000000..cc104c8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__traits.hpp
@@ -0,0 +1,48 @@
+// 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
new file mode 100644
index 0000000..d515586
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.c
@@ -0,0 +1,313 @@
+// 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
new file mode 100644
index 0000000..5ecc5d0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.cpp
@@ -0,0 +1,442 @@
+// 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
new file mode 100644
index 0000000..6575c55
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..1b3a9bd
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_cmd__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..9b82bde
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__builder.hpp
@@ -0,0 +1,391 @@
+// 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
new file mode 100644
index 0000000..2a1acd1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__functions.c
@@ -0,0 +1,476 @@
+// 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
new file mode 100644
index 0000000..8f73c27
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..c6e07b6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..311b055
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..9aeb2d0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..c6c5d40
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..4300ff0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__struct.h
@@ -0,0 +1,69 @@
+// 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
new file mode 100644
index 0000000..1168725
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__struct.hpp
@@ -0,0 +1,439 @@
+// 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
new file mode 100644
index 0000000..1a80d34
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__traits.hpp
@@ -0,0 +1,50 @@
+// 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
new file mode 100644
index 0000000..efa7f04
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.c
@@ -0,0 +1,439 @@
+// 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
new file mode 100644
index 0000000..f7c2ef1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.cpp
@@ -0,0 +1,582 @@
+// 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
new file mode 100644
index 0000000..7a261b9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..28235cf
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/low_state__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..964d0bb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__builder.hpp
@@ -0,0 +1,151 @@
+// 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
new file mode 100644
index 0000000..e644e1e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__functions.c
@@ -0,0 +1,283 @@
+// 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
new file mode 100644
index 0000000..a8876fb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..b57aab6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..a29343c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..b0ab8a8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..7c49286
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..08580f3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__struct.h
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 0000000..987eb7a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__struct.hpp
@@ -0,0 +1,214 @@
+// 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
new file mode 100644
index 0000000..c1ea718
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..7a7b7b6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.c
@@ -0,0 +1,171 @@
+// 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
new file mode 100644
index 0000000..acbca4f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.cpp
@@ -0,0 +1,217 @@
+// 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
new file mode 100644
index 0000000..3592b44
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..f5a4dd5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_cmd__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..bf44597
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__builder.hpp
@@ -0,0 +1,215 @@
+// 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
new file mode 100644
index 0000000..ff2301e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__functions.c
@@ -0,0 +1,315 @@
+// 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
new file mode 100644
index 0000000..ed99679
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..c3b4398
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..5698ffb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..75a202a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..1213021
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..c662d90
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__struct.h
@@ -0,0 +1,50 @@
+// 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
new file mode 100644
index 0000000..5b3a0ad
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__struct.hpp
@@ -0,0 +1,270 @@
+// 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
new file mode 100644
index 0000000..b928e75
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..7ea060c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.c
@@ -0,0 +1,231 @@
+// 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
new file mode 100644
index 0000000..2f9d84c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.cpp
@@ -0,0 +1,277 @@
+// 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
new file mode 100644
index 0000000..656c602
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..c551d2d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/motor_state__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..480e4f7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__builder.hpp
@@ -0,0 +1,151 @@
+// 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
new file mode 100644
index 0000000..ee9e885
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__functions.c
@@ -0,0 +1,279 @@
+// 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
new file mode 100644
index 0000000..679f242
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..f1ee400
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..2218e77
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..a3d256b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..26eaf44
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..10d75fe
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__struct.h
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 0000000..81630fb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__struct.hpp
@@ -0,0 +1,214 @@
+// 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
new file mode 100644
index 0000000..ed48ad0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..866f188
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.c
@@ -0,0 +1,171 @@
+// 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
new file mode 100644
index 0000000..1b07bc5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.cpp
@@ -0,0 +1,197 @@
+// 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
new file mode 100644
index 0000000..78f2d25
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..f890102
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/path_point__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..ee1922b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__builder.hpp
@@ -0,0 +1,71 @@
+// 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
new file mode 100644
index 0000000..648e054
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__functions.c
@@ -0,0 +1,266 @@
+// 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
new file mode 100644
index 0000000..32d6d67
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..8a60f3b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..b888527
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..76f8331
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..1c49e1e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..dfda661
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__struct.h
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 0000000..c21935c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__struct.hpp
@@ -0,0 +1,145 @@
+// 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
new file mode 100644
index 0000000..5fc99c1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..29996a1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.c
@@ -0,0 +1,101 @@
+// 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
new file mode 100644
index 0000000..0f8d54e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.cpp
@@ -0,0 +1,122 @@
+// 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
new file mode 100644
index 0000000..b62b1e6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..f7ee4bc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/req__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..734b284
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__builder.hpp
@@ -0,0 +1,87 @@
+// 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
new file mode 100644
index 0000000..1a6194e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__functions.c
@@ -0,0 +1,287 @@
+// 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
new file mode 100644
index 0000000..81fddbe
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..40ae30f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..eacf6e5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..a4af5bd
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..d3e3967
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..ac3ce4b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__struct.h
@@ -0,0 +1,49 @@
+// 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
new file mode 100644
index 0000000..6b17a00
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__struct.hpp
@@ -0,0 +1,157 @@
+// 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
new file mode 100644
index 0000000..f75a121
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..bec88c1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.c
@@ -0,0 +1,118 @@
+// 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
new file mode 100644
index 0000000..e489ff8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.cpp
@@ -0,0 +1,164 @@
+// 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
new file mode 100644
index 0000000..cdc5a32
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..910817b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/res__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..1763725
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__builder.hpp
@@ -0,0 +1,215 @@
+// 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
new file mode 100644
index 0000000..9f72fd6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__functions.c
@@ -0,0 +1,359 @@
+// 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
new file mode 100644
index 0000000..d8208f1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..d0dd1a6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..e7ba0cc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..9a221af
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..4c17d5f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..94d8bb7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__struct.h
@@ -0,0 +1,56 @@
+// 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
new file mode 100644
index 0000000..7c92570
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__struct.hpp
@@ -0,0 +1,279 @@
+// 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
new file mode 100644
index 0000000..90843ed
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__traits.hpp
@@ -0,0 +1,48 @@
+// 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
new file mode 100644
index 0000000..722d826
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.c
@@ -0,0 +1,268 @@
+// 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
new file mode 100644
index 0000000..6dbc31b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.cpp
@@ -0,0 +1,337 @@
+// 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
new file mode 100644
index 0000000..4d9c4cb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..70d77da
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_cmd__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..d4a8fe8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__builder.hpp
@@ -0,0 +1,279 @@
+// 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
new file mode 100644
index 0000000..4b9bfd1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__functions.c
@@ -0,0 +1,395 @@
+// 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
new file mode 100644
index 0000000..5943f7e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..6ea7d97
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..a254bc2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..a6c7219
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..44fc169
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..fd4313d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__struct.h
@@ -0,0 +1,60 @@
+// 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
new file mode 100644
index 0000000..96823eb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__struct.hpp
@@ -0,0 +1,337 @@
+// 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
new file mode 100644
index 0000000..e71869f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__traits.hpp
@@ -0,0 +1,48 @@
+// 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
new file mode 100644
index 0000000..83ba35b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.c
@@ -0,0 +1,305 @@
+// 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
new file mode 100644
index 0000000..6386bc1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.cpp
@@ -0,0 +1,437 @@
+// 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
new file mode 100644
index 0000000..c6e4e33
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..529a760
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/sport_mode_state__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..ffe947e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__builder.hpp
@@ -0,0 +1,71 @@
+// 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
new file mode 100644
index 0000000..4f84c74
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__functions.c
@@ -0,0 +1,239 @@
+// 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
new file mode 100644
index 0000000..b563a81
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..3196f3c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..b4988b4
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..a30a269
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..7289a13
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..b45f61e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__struct.h
@@ -0,0 +1,41 @@
+// 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
new file mode 100644
index 0000000..cb9f15b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__struct.hpp
@@ -0,0 +1,144 @@
+// 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
new file mode 100644
index 0000000..80eb861
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..d4b9497
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.c
@@ -0,0 +1,96 @@
+// 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
new file mode 100644
index 0000000..9babcb7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.cpp
@@ -0,0 +1,122 @@
+// 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
new file mode 100644
index 0000000..50d475d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..dbe73c7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/time_spec__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..267c72e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__builder.hpp
@@ -0,0 +1,311 @@
+// 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
new file mode 100644
index 0000000..5479884
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__functions.c
@@ -0,0 +1,367 @@
+// 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
new file mode 100644
index 0000000..5e5eeed
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..b17eaef
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..710fd84
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..efe19ed
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..bfd599d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..406e537
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__struct.h
@@ -0,0 +1,56 @@
+// 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
new file mode 100644
index 0000000..0d63dc7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__struct.hpp
@@ -0,0 +1,355 @@
+// 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
new file mode 100644
index 0000000..cc7b0cd
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..79ba49b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.c
@@ -0,0 +1,321 @@
+// 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
new file mode 100644
index 0000000..ef785d2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.cpp
@@ -0,0 +1,387 @@
+// 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
new file mode 100644
index 0000000..edda64e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..c2bdb62
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_state__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..9f6dc91
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__builder.hpp
@@ -0,0 +1,55 @@
+// 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
new file mode 100644
index 0000000..de538ba
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__functions.c
@@ -0,0 +1,231 @@
+// 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
new file mode 100644
index 0000000..03b8a4f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..dd73301
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..e361630
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..dfd5ad9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..3a61be8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..5ef47e3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__struct.h
@@ -0,0 +1,40 @@
+// 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
new file mode 100644
index 0000000..53687e1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__struct.hpp
@@ -0,0 +1,130 @@
+// 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
new file mode 100644
index 0000000..c7a7d65
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..19a4eb9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.c
@@ -0,0 +1,81 @@
+// 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
new file mode 100644
index 0000000..655a906
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.cpp
@@ -0,0 +1,107 @@
+// 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
new file mode 100644
index 0000000..5e0c51d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..6a267cc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/uwb_switch__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..66ec9e5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__builder.hpp
@@ -0,0 +1,119 @@
+// 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
new file mode 100644
index 0000000..24d212f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__functions.c
@@ -0,0 +1,263 @@
+// 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
new file mode 100644
index 0000000..0172ba8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__functions.h
@@ -0,0 +1,177 @@
+// 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
new file mode 100644
index 0000000..588e22f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..408d255
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1,79 @@
+// 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
new file mode 100644
index 0000000..e8a8623
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 0000000..cbaa473
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 0000000..fe23990
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__struct.h
@@ -0,0 +1,44 @@
+// 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
new file mode 100644
index 0000000..a77cab5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__struct.hpp
@@ -0,0 +1,186 @@
+// 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
new file mode 100644
index 0000000..b1ecefe
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__traits.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..20f8522
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.c
@@ -0,0 +1,141 @@
+// 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
new file mode 100644
index 0000000..b12627f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.cpp
@@ -0,0 +1,167 @@
+// 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
new file mode 100644
index 0000000..e40fb74
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.h
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..7fee35e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/detail/wireless_controller__type_support.hpp
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..d34d457
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/error.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..69d03b2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/error.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..8030eaa
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/go2_front_video_data.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..2818e32
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/go2_front_video_data.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..1d43b49
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/height_map.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..5e89a32
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/height_map.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..811c6bc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/imu_state.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..d3ecf23
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/imu_state.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..f32bb9e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/interface_config.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..3da4e0a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/interface_config.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..40a1aa9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/lidar_state.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..e0972ac
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/lidar_state.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..e341923
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_cmd.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..72b89c0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_cmd.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..37a0af7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_state.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..bca19a5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/low_state.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..68b630f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_cmd.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..6b572ee
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_cmd.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..11a6aba
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_state.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..97aa176
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/motor_state.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..f96e7b1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/path_point.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..621cdab
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/path_point.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..77124a4
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/req.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..1409e67
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/req.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..21f7767
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/res.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..faa1ac4
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/res.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..1416935
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_generator_c__visibility_control.h
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..ef63cae
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_generator_cpp__visibility_control.hpp
@@ -0,0 +1,42 @@
+// 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
new file mode 100644
index 0000000..dbbaa78
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
@@ -0,0 +1,43 @@
+// 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
new file mode 100644
index 0000000..9334613
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
@@ -0,0 +1,43 @@
+// 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
new file mode 100644
index 0000000..8191c90
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/rosidl_typesupport_introspection_c__visibility_control.h
@@ -0,0 +1,43 @@
+// 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
new file mode 100644
index 0000000..77b5ab7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_cmd.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..08f5667
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_cmd.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..f8c2660
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_state.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..d61ced0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/sport_mode_state.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..2c05811
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/time_spec.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..42f8731
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/time_spec.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..743aaae
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_state.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..6bbacba
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_state.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..d80e55e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_switch.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..9845594
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/uwb_switch.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..67783ce
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/wireless_controller.h
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..17aa9c0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/include/unitree_go/msg/wireless_controller.hpp
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..e69de29
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
new file mode 100644
index 0000000..5c00080
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/__init__.py
@@ -0,0 +1,22 @@
+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
new file mode 100644
index 0000000..9c9cf86
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_audio_data.py
@@ -0,0 +1,161 @@
+# 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
new file mode 100644
index 0000000..e85e1b1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_audio_data_s.c
@@ -0,0 +1,221 @@
+// 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
new file mode 100644
index 0000000..6034fde
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_cmd.py
@@ -0,0 +1,168 @@
+# 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
new file mode 100644
index 0000000..6c1efbd
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_cmd_s.c
@@ -0,0 +1,143 @@
+// 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
new file mode 100644
index 0000000..e727d62
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_state.py
@@ -0,0 +1,357 @@
+# 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
new file mode 100644
index 0000000..6e26973
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_bms_state_s.c
@@ -0,0 +1,327 @@
+// 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
new file mode 100644
index 0000000..142341a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_error.py
@@ -0,0 +1,145 @@
+# 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
new file mode 100644
index 0000000..4cafeba
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_error_s.c
@@ -0,0 +1,118 @@
+// 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
new file mode 100644
index 0000000..81c366c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_go2_front_video_data.py
@@ -0,0 +1,231 @@
+# 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
new file mode 100644
index 0000000..2492f40
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_go2_front_video_data_s.c
@@ -0,0 +1,461 @@
+// 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
new file mode 100644
index 0000000..935feda
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_height_map.py
@@ -0,0 +1,283 @@
+# 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
new file mode 100644
index 0000000..c8b312c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_height_map_s.c
@@ -0,0 +1,357 @@
+// 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
new file mode 100644
index 0000000..78f6d31
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_imu_state.py
@@ -0,0 +1,294 @@
+# 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
new file mode 100644
index 0000000..55cdeb7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_imu_state_s.c
@@ -0,0 +1,269 @@
+// 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
new file mode 100644
index 0000000..cee6940
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_interface_config.py
@@ -0,0 +1,189 @@
+# 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
new file mode 100644
index 0000000..024a5c5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_interface_config_s.c
@@ -0,0 +1,163 @@
+// 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
new file mode 100644
index 0000000..6b6da0b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_lidar_state.py
@@ -0,0 +1,461 @@
+# 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
new file mode 100644
index 0000000..fe94967
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_lidar_state_s.c
@@ -0,0 +1,482 @@
+// 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
new file mode 100644
index 0000000..566e4de
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_cmd.py
@@ -0,0 +1,547 @@
+# 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
new file mode 100644
index 0000000..d868365
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_cmd_s.c
@@ -0,0 +1,535 @@
+// 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
new file mode 100644
index 0000000..6c02bc4
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_state.py
@@ -0,0 +1,734 @@
+# 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
new file mode 100644
index 0000000..ad3c234
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_low_state_s.c
@@ -0,0 +1,724 @@
+// 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
new file mode 100644
index 0000000..f580bd6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_cmd.py
@@ -0,0 +1,263 @@
+# 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
new file mode 100644
index 0000000..64fa078
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_cmd_s.c
@@ -0,0 +1,243 @@
+// 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
new file mode 100644
index 0000000..739e8f0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_state.py
@@ -0,0 +1,343 @@
+# 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
new file mode 100644
index 0000000..56d9526
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_motor_state_s.c
@@ -0,0 +1,323 @@
+// 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
new file mode 100644
index 0000000..1d70220
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_path_point.py
@@ -0,0 +1,236 @@
+# 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
new file mode 100644
index 0000000..6be16c7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_path_point_s.c
@@ -0,0 +1,218 @@
+// 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
new file mode 100644
index 0000000..0827644
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_req.py
@@ -0,0 +1,141 @@
+# 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
new file mode 100644
index 0000000..856782f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_req_s.c
@@ -0,0 +1,145 @@
+// 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
new file mode 100644
index 0000000..da1126d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_res.py
@@ -0,0 +1,178 @@
+# 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
new file mode 100644
index 0000000..4e40f1d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_res_s.c
@@ -0,0 +1,268 @@
+// 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
new file mode 100644
index 0000000..7bcaf06
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_cmd.py
@@ -0,0 +1,415 @@
+# 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
new file mode 100644
index 0000000..8163331
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_cmd_s.c
@@ -0,0 +1,409 @@
+// 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
new file mode 100644
index 0000000..a00aa27
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_state.py
@@ -0,0 +1,546 @@
+# 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
new file mode 100644
index 0000000..b25a50b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_sport_mode_state_s.c
@@ -0,0 +1,527 @@
+// 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
new file mode 100644
index 0000000..2282825
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_time_spec.py
@@ -0,0 +1,145 @@
+# 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
new file mode 100644
index 0000000..a9643e1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_time_spec_s.c
@@ -0,0 +1,118 @@
+// 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
new file mode 100644
index 0000000..5ed22b5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_state.py
@@ -0,0 +1,484 @@
+# 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
new file mode 100644
index 0000000..c551163
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_state_s.c
@@ -0,0 +1,465 @@
+// 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
new file mode 100644
index 0000000..5d28dcb
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_switch.py
@@ -0,0 +1,124 @@
+# 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
new file mode 100644
index 0000000..64fae02
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_uwb_switch_s.c
@@ -0,0 +1,98 @@
+// 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
new file mode 100644
index 0000000..ceeb80a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_wireless_controller.py
@@ -0,0 +1,200 @@
+# 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
new file mode 100644
index 0000000..f02defc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/lib/python3.8/site-packages/unitree_go/msg/_wireless_controller_s.c
@@ -0,0 +1,178 @@
+// 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
new file mode 100644
index 0000000..cabffa8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/package_run_dependencies/unitree_go
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..e69de29
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
new file mode 100644
index 0000000..e053138
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/parent_prefix_path/unitree_go
@@ -0,0 +1 @@
+/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
new file mode 100644
index 0000000..02ef2ab
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/ament_index/resource_index/rosidl_interfaces/unitree_go
@@ -0,0 +1,44 @@
+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
new file mode 100644
index 0000000..c819a81
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/colcon-core/packages/unitree_go
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..5b7890c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1,92 @@
+# generated from ament_cmake_export_dependencies/cmake/ament_cmake_export_dependencies-extras.cmake.in
+
+set(_exported_dependencies "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 "${_libraries}")
+    endif()
+  endforeach()
+endif()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_include_directories-extras.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_include_directories-extras.cmake
new file mode 100644
index 0000000..00975c3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1,16 @@
+# generated from ament_cmake_export_include_directories/cmake/ament_cmake_export_include_directories-extras.cmake.in
+
+set(_exported_include_dirs "${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
new file mode 100644
index 0000000..0e66abf
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_libraries-extras.cmake
@@ -0,0 +1,140 @@
+# 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
new file mode 100644
index 0000000..352e169
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/ament_cmake_export_targets-extras.cmake
@@ -0,0 +1,27 @@
+# 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
new file mode 100644
index 0000000..7f78ab3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake-extras.cmake
@@ -0,0 +1,4 @@
+# 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
new file mode 100644
index 0000000..43f28e2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
@@ -0,0 +1,46 @@
+# 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
new file mode 100644
index 0000000..1243d23
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
@@ -0,0 +1,23 @@
+# 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} "${_target}")
+    endif()
+  endforeach()
+endif()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig-version.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig-version.cmake
new file mode 100644
index 0000000..7beb732
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig.cmake
new file mode 100644
index 0000000..484f8ec
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_goConfig.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_unitree_go_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED unitree_go_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(unitree_go_FOUND FALSE)
+  elseif(NOT unitree_go_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(unitree_go_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_unitree_go_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT unitree_go_FIND_QUIETLY)
+  message(STATUS "Found unitree_go: 0.0.0 (${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}/${_extra}")
+endforeach()
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport-noconfig.cmake
new file mode 100644
index 0000000..020323e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport-noconfig.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "unitree_go::unitree_go__rosidl_generator_c" for configuration ""
+set_property(TARGET unitree_go::unitree_go__rosidl_generator_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(unitree_go::unitree_go__rosidl_generator_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_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 "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_generator_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport.cmake
new file mode 100644
index 0000000..81513c1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cppExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cppExport.cmake
new file mode 100644
index 0000000..35fc6a2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_generator_cppExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport-noconfig.cmake
new file mode 100644
index 0000000..d0ccbc0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport-noconfig.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "unitree_go::unitree_go__rosidl_typesupport_c" for configuration ""
+set_property(TARGET unitree_go::unitree_go__rosidl_typesupport_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(unitree_go::unitree_go__rosidl_typesupport_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_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 "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport.cmake
new file mode 100644
index 0000000..73793e0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport-noconfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport-noconfig.cmake
new file mode 100644
index 0000000..8a7e93a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport-noconfig.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "unitree_go::unitree_go__rosidl_typesupport_cpp" for configuration ""
+set_property(TARGET unitree_go::unitree_go__rosidl_typesupport_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(unitree_go::unitree_go__rosidl_typesupport_cpp PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_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 "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport.cmake
new file mode 100644
index 0000000..58272c7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_cppExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport-noconfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport-noconfig.cmake
new file mode 100644
index 0000000..16dc0ed
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport-noconfig.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "unitree_go::unitree_go__rosidl_typesupport_introspection_c" for configuration ""
+set_property(TARGET unitree_go::unitree_go__rosidl_typesupport_introspection_c APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(unitree_go::unitree_go__rosidl_typesupport_introspection_c PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_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 "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_introspection_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport.cmake
new file mode 100644
index 0000000..479d5ce
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cExport.cmake
@@ -0,0 +1,114 @@
+# Generated by CMake
+
+if("${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(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport-noconfig.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport-noconfig.cmake
new file mode 100644
index 0000000..3cb5485
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport-noconfig.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "unitree_go::unitree_go__rosidl_typesupport_introspection_cpp" for configuration ""
+set_property(TARGET unitree_go::unitree_go__rosidl_typesupport_introspection_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(unitree_go::unitree_go__rosidl_typesupport_introspection_cpp PROPERTIES
+  IMPORTED_LOCATION_NOCONFIG "${_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 "${_IMPORT_PREFIX}/lib/libunitree_go__rosidl_typesupport_introspection_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport.cmake b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport.cmake
new file mode 100644
index 0000000..8fce41e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/cmake/unitree_go__rosidl_typesupport_introspection_cppExport.cmake
@@ -0,0 +1,98 @@
+# Generated by CMake
+
+if("${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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.sh
new file mode 100644
index 0000000..02e441b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/ament_prefix_path.sh
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/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
new file mode 100644
index 0000000..89bec93
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/library_path.dsv
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..292e518
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/library_path.sh
@@ -0,0 +1,16 @@
+# copied from ament_package/template/environment_hook/library_path.sh
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+if [ $_IS_DARWIN -eq 0 ]; then
+  ament_prepend_unique_value LD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+else
+  ament_prepend_unique_value DYLD_LIBRARY_PATH "$AMENT_CURRENT_PREFIX/lib"
+fi
+unset _IS_DARWIN
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.dsv
new file mode 100644
index 0000000..b94426a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.sh
new file mode 100644
index 0000000..e59b749
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/path.sh
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.dsv b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.dsv
new file mode 100644
index 0000000..84dbc4c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.8/site-packages
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.sh
new file mode 100644
index 0000000..7fe2b2f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/environment/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from ament_package/template/environment_hook/pythonpath.sh.in
+
+ament_prepend_unique_value PYTHONPATH "$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
new file mode 100644
index 0000000..e119f32
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..d03facc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.sh
new file mode 100644
index 0000000..a948e68
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/cmake_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/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
new file mode 100644
index 0000000..89bec93
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.dsv
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..f6df601
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX\lib"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.sh
new file mode 100644
index 0000000..ca3c102
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/ld_library_path_lib.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value LD_LIBRARY_PATH "$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
new file mode 100644
index 0000000..84dbc4c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.dsv
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..12877ef
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.8/site-packages"
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.sh b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.sh
new file mode 100644
index 0000000..ed8efd9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/hook/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.8/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
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/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
new file mode 100644
index 0000000..03d396a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.dsv
@@ -0,0 +1,4 @@
+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
new file mode 100644
index 0000000..855df3c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.sh
@@ -0,0 +1,135 @@
+# 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
+: ${AMENT_CURRENT_PREFIX:="/home/unitree/locomotion/Go2Py/deploy/ros2_ws/install/unitree_go"}
+if [ ! -d "$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=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.zsh b/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/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
new file mode 100644
index 0000000..31c88ae
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/AudioData.idl
@@ -0,0 +1,14 @@
+// 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
new file mode 100644
index 0000000..6e889bc
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/AudioData.msg
@@ -0,0 +1,2 @@
+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
new file mode 100644
index 0000000..c14a380
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsCmd.idl
@@ -0,0 +1,15 @@
+// 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
new file mode 100644
index 0000000..bdbf9c3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsCmd.msg
@@ -0,0 +1,2 @@
+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
new file mode 100644
index 0000000..ccb75b5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsState.idl
@@ -0,0 +1,30 @@
+// 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
new file mode 100644
index 0000000..052e4d5
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/BmsState.msg
@@ -0,0 +1,9 @@
+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
new file mode 100644
index 0000000..f732ed8
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Error.idl
@@ -0,0 +1,14 @@
+// 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
new file mode 100644
index 0000000..4a5a631
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Error.msg
@@ -0,0 +1,2 @@
+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
new file mode 100644
index 0000000..9377c7b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Go2FrontVideoData.idl
@@ -0,0 +1,18 @@
+// 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
new file mode 100644
index 0000000..3c294f3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Go2FrontVideoData.msg
@@ -0,0 +1,4 @@
+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
new file mode 100644
index 0000000..016e9a3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/HeightMap.idl
@@ -0,0 +1,49 @@
+// 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
new file mode 100644
index 0000000..4e6f3b2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/HeightMap.msg
@@ -0,0 +1,15 @@
+# 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
new file mode 100644
index 0000000..b9004f9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/IMUState.idl
@@ -0,0 +1,22 @@
+// 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
new file mode 100644
index 0000000..e065d04
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/IMUState.msg
@@ -0,0 +1,5 @@
+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
new file mode 100644
index 0000000..acdbd97
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/InterfaceConfig.idl
@@ -0,0 +1,17 @@
+// 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
new file mode 100644
index 0000000..c43bd20
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/InterfaceConfig.msg
@@ -0,0 +1,3 @@
+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
new file mode 100644
index 0000000..e81c1ff
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LidarState.idl
@@ -0,0 +1,45 @@
+// 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
new file mode 100644
index 0000000..d8b4eb2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LidarState.msg
@@ -0,0 +1,17 @@
+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
new file mode 100644
index 0000000..82d46a4
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowCmd.idl
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 0000000..464a31d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowCmd.msg
@@ -0,0 +1,15 @@
+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
new file mode 100644
index 0000000..65e99d3
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowState.idl
@@ -0,0 +1,64 @@
+// 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
new file mode 100644
index 0000000..ceaed32
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/LowState.msg
@@ -0,0 +1,22 @@
+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
new file mode 100644
index 0000000..8f698ff
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorCmd.idl
@@ -0,0 +1,25 @@
+// 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
new file mode 100644
index 0000000..67cd1bf
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorCmd.msg
@@ -0,0 +1,7 @@
+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
new file mode 100644
index 0000000..653ebc6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorState.idl
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..2e1a739
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/MotorState.msg
@@ -0,0 +1,11 @@
+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
new file mode 100644
index 0000000..7e6e29f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/PathPoint.idl
@@ -0,0 +1,24 @@
+// 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
new file mode 100644
index 0000000..08b4945
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/PathPoint.msg
@@ -0,0 +1,7 @@
+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
new file mode 100644
index 0000000..ebbc611
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Req.idl
@@ -0,0 +1,14 @@
+// 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
new file mode 100644
index 0000000..af14a7d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Req.msg
@@ -0,0 +1,2 @@
+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
new file mode 100644
index 0000000..8d91e1c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Res.idl
@@ -0,0 +1,16 @@
+// 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
new file mode 100644
index 0000000..8070258
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/Res.msg
@@ -0,0 +1,3 @@
+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
new file mode 100644
index 0000000..4b81956
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeCmd.idl
@@ -0,0 +1,38 @@
+// 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
new file mode 100644
index 0000000..e5ccb46
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeCmd.msg
@@ -0,0 +1,13 @@
+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
new file mode 100644
index 0000000..9b90c9c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeState.idl
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 0000000..7a6c1e6
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/SportModeState.msg
@@ -0,0 +1,17 @@
+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
new file mode 100644
index 0000000..5d4c972
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/TimeSpec.idl
@@ -0,0 +1,19 @@
+// 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
new file mode 100644
index 0000000..188b3c1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/TimeSpec.msg
@@ -0,0 +1,5 @@
+# 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
new file mode 100644
index 0000000..e32c0c0
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbState.idl
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 0000000..ed1da3a
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbState.msg
@@ -0,0 +1,19 @@
+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
new file mode 100644
index 0000000..815c2d9
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbSwitch.idl
@@ -0,0 +1,12 @@
+// 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
new file mode 100644
index 0000000..db8ec91
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/UwbSwitch.msg
@@ -0,0 +1 @@
+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
new file mode 100644
index 0000000..4cfbe6c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/WirelessController.idl
@@ -0,0 +1,20 @@
+// 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
new file mode 100644
index 0000000..12965ff
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/WirelessController.msg
@@ -0,0 +1,5 @@
+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
new file mode 100644
index 0000000..d2ab5ec
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/AudioData_.idl
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..10c312e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/BmsCmd_.idl
@@ -0,0 +1,31 @@
+// 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
new file mode 100644
index 0000000..b68a6a2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/BmsState_.idl
@@ -0,0 +1,40 @@
+// 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
new file mode 100644
index 0000000..813785b
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Error_.idl
@@ -0,0 +1,30 @@
+// 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
new file mode 100644
index 0000000..fae906d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Go2FrontVideoData_.idl
@@ -0,0 +1,35 @@
+// 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
new file mode 100644
index 0000000..793833f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/HeightMap_.idl
@@ -0,0 +1,37 @@
+// 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
new file mode 100644
index 0000000..5728487
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/IMUState_.idl
@@ -0,0 +1,37 @@
+// 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
new file mode 100644
index 0000000..1644752
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/InterfaceConfig_.idl
@@ -0,0 +1,32 @@
+// 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
new file mode 100644
index 0000000..6ae1481
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LidarState_.idl
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 0000000..935655d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LowCmd_.idl
@@ -0,0 +1,51 @@
+// 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
new file mode 100644
index 0000000..e07295c
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/LowState_.idl
@@ -0,0 +1,61 @@
+// 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
new file mode 100644
index 0000000..acbd929
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/MotorCmd_.idl
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 0000000..0766406
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/MotorState_.idl
@@ -0,0 +1,40 @@
+// 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
new file mode 100644
index 0000000..a85bac7
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/PathPoint_.idl
@@ -0,0 +1,35 @@
+// 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
new file mode 100644
index 0000000..10bbcaa
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Req_.idl
@@ -0,0 +1,30 @@
+// 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
new file mode 100644
index 0000000..6bd68ce
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/Res_.idl
@@ -0,0 +1,32 @@
+// 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
new file mode 100644
index 0000000..d52c30d
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/SportModeCmd_.idl
@@ -0,0 +1,45 @@
+// 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
new file mode 100644
index 0000000..e746045
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/SportModeState_.idl
@@ -0,0 +1,51 @@
+// 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
new file mode 100644
index 0000000..d0278a1
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/TimeSpec_.idl
@@ -0,0 +1,30 @@
+// 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
new file mode 100644
index 0000000..5b77fed
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/UwbState_.idl
@@ -0,0 +1,47 @@
+// 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
new file mode 100644
index 0000000..29e8f20
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/UwbSwitch_.idl
@@ -0,0 +1,29 @@
+// 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
new file mode 100644
index 0000000..f7ae454
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/msg/dds_connext/WirelessController_.idl
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 0000000..0d83431
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.bash
@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/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
new file mode 100644
index 0000000..43ce51e
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.dsv
@@ -0,0 +1,14 @@
+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
new file mode 100644
index 0000000..5d026e2
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.ps1
@@ -0,0 +1,118 @@
+# 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
new file mode 100644
index 0000000..0d5f19f
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.sh
@@ -0,0 +1,89 @@
+# 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/ros2_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 "$COLCON_CURRENT_PREFIX/share/unitree_go/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.xml b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.xml
new file mode 100644
index 0000000..1a26d14
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>unitree_go</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="czk@todo.todo">czk</maintainer>
+  <license>TODO: License declaration</license>
+  
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/deploy/robot_ws/install/unitree_go/share/unitree_go/package.zsh b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.zsh
new file mode 100644
index 0000000..e8c5370
--- /dev/null
+++ b/deploy/robot_ws/install/unitree_go/share/unitree_go/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/unitree_go/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_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
new file mode 100644
index 0000000..e69de29
diff --git a/deploy/robot_ws/log/latest b/deploy/robot_ws/log/latest
new file mode 120000
index 0000000..b57d247
--- /dev/null
+++ b/deploy/robot_ws/log/latest
@@ -0,0 +1 @@
+latest_build
\ No newline at end of file
diff --git a/deploy/robot_ws/log/latest_build b/deploy/robot_ws/log/latest_build
new file mode 120000
index 0000000..06a8618
--- /dev/null
+++ b/deploy/robot_ws/log/latest_build
@@ -0,0 +1 @@
+build_2024-02-09_01-44-22
\ No newline at end of file
diff --git a/deploy/robot_ws/src/go2py_node/CMakeLists.txt b/deploy/robot_ws/src/go2py_node/CMakeLists.txt
new file mode 100644
index 0000000..4c4b588
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/CMakeLists.txt
@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 3.5)
+project(go2py_node)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+include_directories(include include/common include/nlohmann)
+link_directories(src)
+
+set (
+  DEPENDENCY_LIST
+  unitree_go
+  unitree_api
+  rclcpp
+  std_msgs
+  rosbag2_cpp 
+  sensor_msgs 
+  geometry_msgs 
+  nav_msgs 
+  tf2 
+  tf2_geometry_msgs
+  tf2_ros
+  tf2_sensor_msgs
+)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(unitree_go REQUIRED)
+find_package(unitree_go REQUIRED)
+find_package(unitree_api REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosbag2_cpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_sensor_msgs REQUIRED)
+
+add_executable(bridge src/bridge.cpp src/common/ros2_sport_client.cpp src/common/motor_crc.cpp)
+ament_target_dependencies(bridge ${DEPENDENCY_LIST})
+
+
+install(TARGETS 
+        bridge
+        DESTINATION lib/${PROJECT_NAME})
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/deploy/robot_ws/src/go2py_node/include/common/motor_crc.h b/deploy/robot_ws/src/go2py_node/include/common/motor_crc.h
new file mode 100644
index 0000000..c7a5c29
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/common/motor_crc.h
@@ -0,0 +1,87 @@
+/*****************************************************************
+ Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
+******************************************************************/
+
+#ifndef _MOTOR_CRC_H_
+#define _MOTOR_CRC_H_
+
+#include <stdint.h>
+#include <array>
+#include "rclcpp/rclcpp.hpp"
+#include "unitree_go/msg/low_cmd.hpp"
+#include "unitree_go/msg/motor_cmd.hpp"
+#include "unitree_go/msg/bms_cmd.hpp"
+
+constexpr int HIGHLEVEL = 0xee;
+constexpr int LOWLEVEL = 0xff;
+constexpr int TRIGERLEVEL = 0xf0;
+constexpr double PosStopF = (2.146E+9f);
+constexpr double VelStopF = (16000.0f);
+
+// joint index
+constexpr int FR_0 = 0;      
+constexpr int FR_1 = 1;      
+constexpr int FR_2 = 2;
+
+constexpr int FL_0 = 3;
+constexpr int FL_1 = 4;
+constexpr int FL_2 = 5;
+
+constexpr int RR_0 = 6;
+constexpr int RR_1 = 7;
+constexpr int RR_2 = 8;
+
+constexpr int RL_0 = 9;
+constexpr int RL_1 = 10;
+constexpr int RL_2 = 11;
+
+
+typedef struct
+{
+	uint8_t off; // off 0xA5
+	std::array<uint8_t, 3> reserve;
+} BmsCmd;
+
+
+
+typedef struct
+{
+	uint8_t mode; // desired working mode
+	float q;	  // desired angle (unit: radian)
+	float dq;	  // desired velocity (unit: radian/second)
+	float tau;	  // desired output torque (unit: N.m)
+	float Kp;	  // desired position stiffness (unit: N.m/rad )
+	float Kd;	  // desired velocity stiffness (unit: N.m/(rad/s) )
+	std::array<uint32_t, 3> reserve;
+} MotorCmd; // motor control
+
+
+
+typedef struct
+{
+	std::array<uint8_t, 2> head;
+	uint8_t levelFlag;
+	uint8_t frameReserve;
+		
+	std::array<uint32_t, 2> SN;
+	std::array<uint32_t, 2> version;
+	uint16_t bandWidth;
+	std::array<MotorCmd, 20> motorCmd;
+	BmsCmd bms;
+	std::array<uint8_t, 40> wirelessRemote;
+	std::array<uint8_t, 12> led;
+	std::array<uint8_t, 2> fan;
+	uint8_t gpio;
+	uint32_t reserve;
+	
+	uint32_t crc;
+} LowCmd;           
+
+uint32_t crc32_core(uint32_t* ptr, uint32_t len);
+void get_crc(unitree_go::msg::LowCmd& msg);
+
+
+
+
+
+#endif
\ No newline at end of file
diff --git a/deploy/robot_ws/src/go2py_node/include/common/ros2_sport_client.h b/deploy/robot_ws/src/go2py_node/include/common/ros2_sport_client.h
new file mode 100644
index 0000000..c137e16
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/common/ros2_sport_client.h
@@ -0,0 +1,231 @@
+#ifndef _ROS2_SPORT_CLIENT_
+#define _ROS2_SPORT_CLIENT_
+#include<iostream>
+#include "nlohmann/json.hpp"
+#include "unitree_api/msg/request.hpp"
+
+
+#pragma pack(1)
+const int32_t ROBOT_SPORT_API_ID_DAMP = 1001;
+const int32_t ROBOT_SPORT_API_ID_BALANCESTAND = 1002;
+const int32_t ROBOT_SPORT_API_ID_STOPMOVE = 1003;
+const int32_t ROBOT_SPORT_API_ID_STANDUP = 1004;
+const int32_t ROBOT_SPORT_API_ID_STANDDOWN = 1005;
+const int32_t ROBOT_SPORT_API_ID_RECOVERYSTAND = 1006;
+const int32_t ROBOT_SPORT_API_ID_EULER = 1007;
+const int32_t ROBOT_SPORT_API_ID_MOVE = 1008;
+const int32_t ROBOT_SPORT_API_ID_SIT = 1009;
+const int32_t ROBOT_SPORT_API_ID_RISESIT = 1010;
+const int32_t ROBOT_SPORT_API_ID_SWITCHGAIT = 1011;
+const int32_t ROBOT_SPORT_API_ID_TRIGGER = 1012;
+const int32_t ROBOT_SPORT_API_ID_BODYHEIGHT = 1013;
+const int32_t ROBOT_SPORT_API_ID_FOOTRAISEHEIGHT = 1014;
+const int32_t ROBOT_SPORT_API_ID_SPEEDLEVEL = 1015;
+const int32_t ROBOT_SPORT_API_ID_HELLO = 1016;
+const int32_t ROBOT_SPORT_API_ID_STRETCH = 1017;
+const int32_t ROBOT_SPORT_API_ID_TRAJECTORYFOLLOW = 1018;
+const int32_t ROBOT_SPORT_API_ID_CONTINUOUSGAIT = 1019;
+const int32_t ROBOT_SPORT_API_ID_CONTENT = 1020;
+const int32_t ROBOT_SPORT_API_ID_WALLOW = 1021;
+const int32_t ROBOT_SPORT_API_ID_DANCE1 = 1022;
+const int32_t ROBOT_SPORT_API_ID_DANCE2 = 1023;
+const int32_t ROBOT_SPORT_API_ID_GETBODYHEIGHT = 1024;
+const int32_t ROBOT_SPORT_API_ID_GETFOOTRAISEHEIGHT = 1025;
+const int32_t ROBOT_SPORT_API_ID_GETSPEEDLEVEL = 1026;
+const int32_t ROBOT_SPORT_API_ID_SWITCHJOYSTICK = 1027;
+const int32_t ROBOT_SPORT_API_ID_POSE = 1028;
+const int32_t ROBOT_SPORT_API_ID_SCRAPE = 1029;
+const int32_t ROBOT_SPORT_API_ID_FRONTFLIP = 1030;
+const int32_t ROBOT_SPORT_API_ID_FRONTJUMP = 1031;
+const int32_t ROBOT_SPORT_API_ID_FRONTPOUNCE = 1032;
+
+typedef struct
+{
+    float timeFromStart;
+    float x;
+    float y;
+    float yaw;
+    float vx;
+    float vy;
+    float vyaw;
+} PathPoint;
+
+class SportClient
+{
+public:
+    /*
+     * @brief Damp
+     * @api: 1001
+     */
+    void Damp(unitree_api::msg::Request &req);
+
+    /*
+     * @brief BalanceStand
+     * @api: 1002
+     */
+    void BalanceStand(unitree_api::msg::Request &req);
+
+    /*
+     * @brief StopMove
+     * @api: 1003
+     */
+    void StopMove(unitree_api::msg::Request &req);
+
+    /*
+     * @brief StandUp
+     * @api: 1004
+     */
+    void StandUp(unitree_api::msg::Request &req);
+
+    /*
+     * @brief StandDown
+     * @api: 1005
+     */
+    void StandDown(unitree_api::msg::Request &req);
+
+    /*
+     * @brief RecoveryStand
+     * @api: 1006
+     */
+    void RecoveryStand(unitree_api::msg::Request &req);
+
+    /*
+     * @brief Euler
+     * @api: 1007
+     */
+    void Euler(unitree_api::msg::Request &req, float roll, float pitch, float yaw);
+
+    /*
+     * @brief Move
+     * @api: 1008
+     */
+    void Move(unitree_api::msg::Request &req, float vx, float vy, float vyaw);
+
+    /*
+     * @brief Sit
+     * @api: 1009
+     */
+    void Sit(unitree_api::msg::Request &req);
+
+    /*
+     * @brief RiseSit
+     * @api: 1010
+     */
+    void RiseSit(unitree_api::msg::Request &req);
+
+    /*
+     * @brief SwitchGait
+     * @api: 1011
+     */
+    void SwitchGait(unitree_api::msg::Request &req, int d);
+
+    /*
+     * @brief Trigger
+     * @api: 1012
+     */
+    void Trigger(unitree_api::msg::Request &req);
+
+    /*
+     * @brief BodyHeight
+     * @api: 1013
+     */
+    void BodyHeight(unitree_api::msg::Request &req, float height);
+
+    /*
+     * @brief FootRaiseHeight
+     * @api: 1014
+     */
+    void FootRaiseHeight(unitree_api::msg::Request &req, float height);
+
+    /*
+     * @brief SpeedLevel
+     * @api: 1015
+     */
+    void SpeedLevel(unitree_api::msg::Request &req, int level);
+
+    /*
+     * @brief Hello
+     * @api: 1016
+     */
+    void Hello(unitree_api::msg::Request &req);
+
+    /*
+     * @brief Stretch
+     * @api: 1017
+     */
+    void Stretch(unitree_api::msg::Request &req);
+
+    /*
+     * @brief TrajectoryFollow
+     * @api: 1018
+     */
+    void TrajectoryFollow(unitree_api::msg::Request &req, std::vector<PathPoint> &path);
+
+    /*
+     * @brief SwitchJoystick
+     * @api: 1027
+     */
+    void SwitchJoystick(unitree_api::msg::Request &req, bool flag);
+
+    /*
+     * @brief ContinuousGait
+     * @api: 1019
+     */
+    void ContinuousGait(unitree_api::msg::Request &req, bool flag);
+
+    /*
+     * @brief Wallow
+     * @api: 1021
+     */
+    void Wallow(unitree_api::msg::Request &req);
+
+    /*
+     * @brief Content
+     * @api: 1020
+     */
+    void Content(unitree_api::msg::Request &req);
+
+    /*
+     * @brief Pose
+     * @api: 1028
+     */
+    void Pose(unitree_api::msg::Request &req, bool flag);
+
+    /*
+     * @brief Scrape
+     * @api: 1029
+     */
+    void Scrape(unitree_api::msg::Request &req);
+
+    /*
+     * @brief FrontFlip
+     * @api: 1030
+     */
+    void FrontFlip(unitree_api::msg::Request &req);
+
+    /*
+     * @brief FrontJump
+     * @api: 1031
+     */
+    void FrontJump(unitree_api::msg::Request &req);
+
+    /*
+     * @brief FrontPounce
+     * @api: 1032
+     */
+    void FrontPounce(unitree_api::msg::Request &req);
+
+    /*
+     * @brief Dance1
+     * @api: 1022
+     */
+    void Dance1(unitree_api::msg::Request &req);
+
+    /*
+     * @brief Dance2
+     * @api: 1023
+     */
+    void Dance2(unitree_api::msg::Request &req);
+};
+
+#endif
\ No newline at end of file
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/adl_serializer.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/adl_serializer.hpp
new file mode 100644
index 0000000..f77f944
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/adl_serializer.hpp
@@ -0,0 +1,55 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <utility>
+
+#include <nlohmann/detail/abi_macros.hpp>
+#include <nlohmann/detail/conversions/from_json.hpp>
+#include <nlohmann/detail/conversions/to_json.hpp>
+#include <nlohmann/detail/meta/identity_tag.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/// @sa https://json.nlohmann.me/api/adl_serializer/
+template<typename ValueType, typename>
+struct adl_serializer
+{
+    /// @brief convert a JSON value to any value type
+    /// @sa https://json.nlohmann.me/api/adl_serializer/from_json/
+    template<typename BasicJsonType, typename TargetType = ValueType>
+    static auto from_json(BasicJsonType && j, TargetType& val) noexcept(
+        noexcept(::nlohmann::from_json(std::forward<BasicJsonType>(j), val)))
+    -> decltype(::nlohmann::from_json(std::forward<BasicJsonType>(j), val), void())
+    {
+        ::nlohmann::from_json(std::forward<BasicJsonType>(j), val);
+    }
+
+    /// @brief convert a JSON value to any value type
+    /// @sa https://json.nlohmann.me/api/adl_serializer/from_json/
+    template<typename BasicJsonType, typename TargetType = ValueType>
+    static auto from_json(BasicJsonType && j) noexcept(
+    noexcept(::nlohmann::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {})))
+    -> decltype(::nlohmann::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {}))
+    {
+        return ::nlohmann::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {});
+    }
+
+    /// @brief convert any value type to a JSON value
+    /// @sa https://json.nlohmann.me/api/adl_serializer/to_json/
+    template<typename BasicJsonType, typename TargetType = ValueType>
+    static auto to_json(BasicJsonType& j, TargetType && val) noexcept(
+        noexcept(::nlohmann::to_json(j, std::forward<TargetType>(val))))
+    -> decltype(::nlohmann::to_json(j, std::forward<TargetType>(val)), void())
+    {
+        ::nlohmann::to_json(j, std::forward<TargetType>(val));
+    }
+};
+
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/byte_container_with_subtype.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/byte_container_with_subtype.hpp
new file mode 100644
index 0000000..1031cdc
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/byte_container_with_subtype.hpp
@@ -0,0 +1,103 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstdint> // uint8_t, uint64_t
+#include <tuple> // tie
+#include <utility> // move
+
+#include <nlohmann/detail/abi_macros.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/// @brief an internal type for a backed binary type
+/// @sa https://json.nlohmann.me/api/byte_container_with_subtype/
+template<typename BinaryType>
+class byte_container_with_subtype : public BinaryType
+{
+  public:
+    using container_type = BinaryType;
+    using subtype_type = std::uint64_t;
+
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/byte_container_with_subtype/
+    byte_container_with_subtype() noexcept(noexcept(container_type()))
+        : container_type()
+    {}
+
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/byte_container_with_subtype/
+    byte_container_with_subtype(const container_type& b) noexcept(noexcept(container_type(b)))
+        : container_type(b)
+    {}
+
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/byte_container_with_subtype/
+    byte_container_with_subtype(container_type&& b) noexcept(noexcept(container_type(std::move(b))))
+        : container_type(std::move(b))
+    {}
+
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/byte_container_with_subtype/
+    byte_container_with_subtype(const container_type& b, subtype_type subtype_) noexcept(noexcept(container_type(b)))
+        : container_type(b)
+        , m_subtype(subtype_)
+        , m_has_subtype(true)
+    {}
+
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/byte_container_with_subtype/
+    byte_container_with_subtype(container_type&& b, subtype_type subtype_) noexcept(noexcept(container_type(std::move(b))))
+        : container_type(std::move(b))
+        , m_subtype(subtype_)
+        , m_has_subtype(true)
+    {}
+
+    bool operator==(const byte_container_with_subtype& rhs) const
+    {
+        return std::tie(static_cast<const BinaryType&>(*this), m_subtype, m_has_subtype) ==
+               std::tie(static_cast<const BinaryType&>(rhs), rhs.m_subtype, rhs.m_has_subtype);
+    }
+
+    bool operator!=(const byte_container_with_subtype& rhs) const
+    {
+        return !(rhs == *this);
+    }
+
+    /// @brief sets the binary subtype
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/set_subtype/
+    void set_subtype(subtype_type subtype_) noexcept
+    {
+        m_subtype = subtype_;
+        m_has_subtype = true;
+    }
+
+    /// @brief return the binary subtype
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/subtype/
+    constexpr subtype_type subtype() const noexcept
+    {
+        return m_has_subtype ? m_subtype : static_cast<subtype_type>(-1);
+    }
+
+    /// @brief return whether the value has a subtype
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/has_subtype/
+    constexpr bool has_subtype() const noexcept
+    {
+        return m_has_subtype;
+    }
+
+    /// @brief clears the binary subtype
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/clear_subtype/
+    void clear_subtype() noexcept
+    {
+        m_subtype = 0;
+        m_has_subtype = false;
+    }
+
+  private:
+    subtype_type m_subtype = 0;
+    bool m_has_subtype = false;
+};
+
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/abi_macros.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/abi_macros.hpp
new file mode 100644
index 0000000..0d3108d
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/abi_macros.hpp
@@ -0,0 +1,100 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+// This file contains all macro definitions affecting or depending on the ABI
+
+#ifndef JSON_SKIP_LIBRARY_VERSION_CHECK
+    #if defined(NLOHMANN_JSON_VERSION_MAJOR) && defined(NLOHMANN_JSON_VERSION_MINOR) && defined(NLOHMANN_JSON_VERSION_PATCH)
+        #if NLOHMANN_JSON_VERSION_MAJOR != 3 || NLOHMANN_JSON_VERSION_MINOR != 11 || NLOHMANN_JSON_VERSION_PATCH != 2
+            #warning "Already included a different version of the library!"
+        #endif
+    #endif
+#endif
+
+#define NLOHMANN_JSON_VERSION_MAJOR 3   // NOLINT(modernize-macro-to-enum)
+#define NLOHMANN_JSON_VERSION_MINOR 11  // NOLINT(modernize-macro-to-enum)
+#define NLOHMANN_JSON_VERSION_PATCH 2   // NOLINT(modernize-macro-to-enum)
+
+#ifndef JSON_DIAGNOSTICS
+    #define JSON_DIAGNOSTICS 0
+#endif
+
+#ifndef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+    #define JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON 0
+#endif
+
+#if JSON_DIAGNOSTICS
+    #define NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS _diag
+#else
+    #define NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS
+#endif
+
+#if JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+    #define NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON _ldvcmp
+#else
+    #define NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON
+#endif
+
+#ifndef NLOHMANN_JSON_NAMESPACE_NO_VERSION
+    #define NLOHMANN_JSON_NAMESPACE_NO_VERSION 0
+#endif
+
+// Construct the namespace ABI tags component
+#define NLOHMANN_JSON_ABI_TAGS_CONCAT_EX(a, b) json_abi ## a ## b
+#define NLOHMANN_JSON_ABI_TAGS_CONCAT(a, b) \
+    NLOHMANN_JSON_ABI_TAGS_CONCAT_EX(a, b)
+
+#define NLOHMANN_JSON_ABI_TAGS                                       \
+    NLOHMANN_JSON_ABI_TAGS_CONCAT(                                   \
+            NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS,                       \
+            NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON)
+
+// Construct the namespace version component
+#define NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT_EX(major, minor, patch) \
+    _v ## major ## _ ## minor ## _ ## patch
+#define NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT(major, minor, patch) \
+    NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT_EX(major, minor, patch)
+
+#if NLOHMANN_JSON_NAMESPACE_NO_VERSION
+#define NLOHMANN_JSON_NAMESPACE_VERSION
+#else
+#define NLOHMANN_JSON_NAMESPACE_VERSION                                 \
+    NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT(NLOHMANN_JSON_VERSION_MAJOR, \
+                                           NLOHMANN_JSON_VERSION_MINOR, \
+                                           NLOHMANN_JSON_VERSION_PATCH)
+#endif
+
+// Combine namespace components
+#define NLOHMANN_JSON_NAMESPACE_CONCAT_EX(a, b) a ## b
+#define NLOHMANN_JSON_NAMESPACE_CONCAT(a, b) \
+    NLOHMANN_JSON_NAMESPACE_CONCAT_EX(a, b)
+
+#ifndef NLOHMANN_JSON_NAMESPACE
+#define NLOHMANN_JSON_NAMESPACE               \
+    nlohmann::NLOHMANN_JSON_NAMESPACE_CONCAT( \
+            NLOHMANN_JSON_ABI_TAGS,           \
+            NLOHMANN_JSON_NAMESPACE_VERSION)
+#endif
+
+#ifndef NLOHMANN_JSON_NAMESPACE_BEGIN
+#define NLOHMANN_JSON_NAMESPACE_BEGIN                \
+    namespace nlohmann                               \
+    {                                                \
+    inline namespace NLOHMANN_JSON_NAMESPACE_CONCAT( \
+                NLOHMANN_JSON_ABI_TAGS,              \
+                NLOHMANN_JSON_NAMESPACE_VERSION)     \
+    {
+#endif
+
+#ifndef NLOHMANN_JSON_NAMESPACE_END
+#define NLOHMANN_JSON_NAMESPACE_END                                     \
+    }  /* namespace (inline namespace) NOLINT(readability/namespace) */ \
+    }  // namespace nlohmann
+#endif
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/conversions/from_json.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/conversions/from_json.hpp
new file mode 100644
index 0000000..c6299aa
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/conversions/from_json.hpp
@@ -0,0 +1,497 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <algorithm> // transform
+#include <array> // array
+#include <forward_list> // forward_list
+#include <iterator> // inserter, front_inserter, end
+#include <map> // map
+#include <string> // string
+#include <tuple> // tuple, make_tuple
+#include <type_traits> // is_arithmetic, is_same, is_enum, underlying_type, is_convertible
+#include <unordered_map> // unordered_map
+#include <utility> // pair, declval
+#include <valarray> // valarray
+
+#include <nlohmann/detail/exceptions.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/meta/cpp_future.hpp>
+#include <nlohmann/detail/meta/identity_tag.hpp>
+#include <nlohmann/detail/meta/std_fs.hpp>
+#include <nlohmann/detail/meta/type_traits.hpp>
+#include <nlohmann/detail/string_concat.hpp>
+#include <nlohmann/detail/value_t.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename std::nullptr_t& n)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_null()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be null, but is ", j.type_name()), &j));
+    }
+    n = nullptr;
+}
+
+// overloads for basic_json template parameters
+template < typename BasicJsonType, typename ArithmeticType,
+           enable_if_t < std::is_arithmetic<ArithmeticType>::value&&
+                         !std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+                         int > = 0 >
+void get_arithmetic_value(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+
+        case value_t::null:
+        case value_t::object:
+        case value_t::array:
+        case value_t::string:
+        case value_t::boolean:
+        case value_t::binary:
+        case value_t::discarded:
+        default:
+            JSON_THROW(type_error::create(302, concat("type must be number, but is ", j.type_name()), &j));
+    }
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::boolean_t& b)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_boolean()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be boolean, but is ", j.type_name()), &j));
+    }
+    b = *j.template get_ptr<const typename BasicJsonType::boolean_t*>();
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::string_t& s)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be string, but is ", j.type_name()), &j));
+    }
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template <
+    typename BasicJsonType, typename StringType,
+    enable_if_t <
+        std::is_assignable<StringType&, const typename BasicJsonType::string_t>::value
+        && is_detected_exact<typename BasicJsonType::string_t::value_type, value_type_t, StringType>::value
+        && !std::is_same<typename BasicJsonType::string_t, StringType>::value
+        && !is_json_ref<StringType>::value, int > = 0 >
+inline void from_json(const BasicJsonType& j, StringType& s)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be string, but is ", j.type_name()), &j));
+    }
+
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::number_float_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::number_unsigned_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::number_integer_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+#if !JSON_DISABLE_ENUM_SERIALIZATION
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+inline void from_json(const BasicJsonType& j, EnumType& e)
+{
+    typename std::underlying_type<EnumType>::type val;
+    get_arithmetic_value(j, val);
+    e = static_cast<EnumType>(val);
+}
+#endif  // JSON_DISABLE_ENUM_SERIALIZATION
+
+// forward_list doesn't have an insert method
+template<typename BasicJsonType, typename T, typename Allocator,
+         enable_if_t<is_getable<BasicJsonType, T>::value, int> = 0>
+inline void from_json(const BasicJsonType& j, std::forward_list<T, Allocator>& l)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+    l.clear();
+    std::transform(j.rbegin(), j.rend(),
+                   std::front_inserter(l), [](const BasicJsonType & i)
+    {
+        return i.template get<T>();
+    });
+}
+
+// valarray doesn't have an insert method
+template<typename BasicJsonType, typename T,
+         enable_if_t<is_getable<BasicJsonType, T>::value, int> = 0>
+inline void from_json(const BasicJsonType& j, std::valarray<T>& l)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+    l.resize(j.size());
+    std::transform(j.begin(), j.end(), std::begin(l),
+                   [](const BasicJsonType & elem)
+    {
+        return elem.template get<T>();
+    });
+}
+
+template<typename BasicJsonType, typename T, std::size_t N>
+auto from_json(const BasicJsonType& j, T (&arr)[N])  // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+-> decltype(j.template get<T>(), void())
+{
+    for (std::size_t i = 0; i < N; ++i)
+    {
+        arr[i] = j.at(i).template get<T>();
+    }
+}
+
+template<typename BasicJsonType>
+inline void from_json_array_impl(const BasicJsonType& j, typename BasicJsonType::array_t& arr, priority_tag<3> /*unused*/)
+{
+    arr = *j.template get_ptr<const typename BasicJsonType::array_t*>();
+}
+
+template<typename BasicJsonType, typename T, std::size_t N>
+auto from_json_array_impl(const BasicJsonType& j, std::array<T, N>& arr,
+                          priority_tag<2> /*unused*/)
+-> decltype(j.template get<T>(), void())
+{
+    for (std::size_t i = 0; i < N; ++i)
+    {
+        arr[i] = j.at(i).template get<T>();
+    }
+}
+
+template<typename BasicJsonType, typename ConstructibleArrayType,
+         enable_if_t<
+             std::is_assignable<ConstructibleArrayType&, ConstructibleArrayType>::value,
+             int> = 0>
+auto from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr, priority_tag<1> /*unused*/)
+-> decltype(
+    arr.reserve(std::declval<typename ConstructibleArrayType::size_type>()),
+    j.template get<typename ConstructibleArrayType::value_type>(),
+    void())
+{
+    using std::end;
+
+    ConstructibleArrayType ret;
+    ret.reserve(j.size());
+    std::transform(j.begin(), j.end(),
+                   std::inserter(ret, end(ret)), [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+    arr = std::move(ret);
+}
+
+template<typename BasicJsonType, typename ConstructibleArrayType,
+         enable_if_t<
+             std::is_assignable<ConstructibleArrayType&, ConstructibleArrayType>::value,
+             int> = 0>
+inline void from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr,
+                                 priority_tag<0> /*unused*/)
+{
+    using std::end;
+
+    ConstructibleArrayType ret;
+    std::transform(
+        j.begin(), j.end(), std::inserter(ret, end(ret)),
+        [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+    arr = std::move(ret);
+}
+
+template < typename BasicJsonType, typename ConstructibleArrayType,
+           enable_if_t <
+               is_constructible_array_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !is_constructible_object_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !is_constructible_string_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !std::is_same<ConstructibleArrayType, typename BasicJsonType::binary_t>::value&&
+               !is_basic_json<ConstructibleArrayType>::value,
+               int > = 0 >
+auto from_json(const BasicJsonType& j, ConstructibleArrayType& arr)
+-> decltype(from_json_array_impl(j, arr, priority_tag<3> {}),
+j.template get<typename ConstructibleArrayType::value_type>(),
+void())
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+
+    from_json_array_impl(j, arr, priority_tag<3> {});
+}
+
+template < typename BasicJsonType, typename T, std::size_t... Idx >
+std::array<T, sizeof...(Idx)> from_json_inplace_array_impl(BasicJsonType&& j,
+        identity_tag<std::array<T, sizeof...(Idx)>> /*unused*/, index_sequence<Idx...> /*unused*/)
+{
+    return { { std::forward<BasicJsonType>(j).at(Idx).template get<T>()... } };
+}
+
+template < typename BasicJsonType, typename T, std::size_t N >
+auto from_json(BasicJsonType&& j, identity_tag<std::array<T, N>> tag)
+-> decltype(from_json_inplace_array_impl(std::forward<BasicJsonType>(j), tag, make_index_sequence<N> {}))
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+
+    return from_json_inplace_array_impl(std::forward<BasicJsonType>(j), tag, make_index_sequence<N> {});
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::binary_t& bin)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_binary()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be binary, but is ", j.type_name()), &j));
+    }
+
+    bin = *j.template get_ptr<const typename BasicJsonType::binary_t*>();
+}
+
+template<typename BasicJsonType, typename ConstructibleObjectType,
+         enable_if_t<is_constructible_object_type<BasicJsonType, ConstructibleObjectType>::value, int> = 0>
+inline void from_json(const BasicJsonType& j, ConstructibleObjectType& obj)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_object()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be object, but is ", j.type_name()), &j));
+    }
+
+    ConstructibleObjectType ret;
+    const auto* inner_object = j.template get_ptr<const typename BasicJsonType::object_t*>();
+    using value_type = typename ConstructibleObjectType::value_type;
+    std::transform(
+        inner_object->begin(), inner_object->end(),
+        std::inserter(ret, ret.begin()),
+        [](typename BasicJsonType::object_t::value_type const & p)
+    {
+        return value_type(p.first, p.second.template get<typename ConstructibleObjectType::mapped_type>());
+    });
+    obj = std::move(ret);
+}
+
+// overload for arithmetic types, not chosen for basic_json template arguments
+// (BooleanType, etc..); note: Is it really necessary to provide explicit
+// overloads for boolean_t etc. in case of a custom BooleanType which is not
+// an arithmetic type?
+template < typename BasicJsonType, typename ArithmeticType,
+           enable_if_t <
+               std::is_arithmetic<ArithmeticType>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_unsigned_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_integer_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_float_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+               int > = 0 >
+inline void from_json(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+        case value_t::boolean:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::boolean_t*>());
+            break;
+        }
+
+        case value_t::null:
+        case value_t::object:
+        case value_t::array:
+        case value_t::string:
+        case value_t::binary:
+        case value_t::discarded:
+        default:
+            JSON_THROW(type_error::create(302, concat("type must be number, but is ", j.type_name()), &j));
+    }
+}
+
+template<typename BasicJsonType, typename... Args, std::size_t... Idx>
+std::tuple<Args...> from_json_tuple_impl_base(BasicJsonType&& j, index_sequence<Idx...> /*unused*/)
+{
+    return std::make_tuple(std::forward<BasicJsonType>(j).at(Idx).template get<Args>()...);
+}
+
+template < typename BasicJsonType, class A1, class A2 >
+std::pair<A1, A2> from_json_tuple_impl(BasicJsonType&& j, identity_tag<std::pair<A1, A2>> /*unused*/, priority_tag<0> /*unused*/)
+{
+    return {std::forward<BasicJsonType>(j).at(0).template get<A1>(),
+            std::forward<BasicJsonType>(j).at(1).template get<A2>()};
+}
+
+template<typename BasicJsonType, typename A1, typename A2>
+inline void from_json_tuple_impl(BasicJsonType&& j, std::pair<A1, A2>& p, priority_tag<1> /*unused*/)
+{
+    p = from_json_tuple_impl(std::forward<BasicJsonType>(j), identity_tag<std::pair<A1, A2>> {}, priority_tag<0> {});
+}
+
+template<typename BasicJsonType, typename... Args>
+std::tuple<Args...> from_json_tuple_impl(BasicJsonType&& j, identity_tag<std::tuple<Args...>> /*unused*/, priority_tag<2> /*unused*/)
+{
+    return from_json_tuple_impl_base<BasicJsonType, Args...>(std::forward<BasicJsonType>(j), index_sequence_for<Args...> {});
+}
+
+template<typename BasicJsonType, typename... Args>
+inline void from_json_tuple_impl(BasicJsonType&& j, std::tuple<Args...>& t, priority_tag<3> /*unused*/)
+{
+    t = from_json_tuple_impl_base<BasicJsonType, Args...>(std::forward<BasicJsonType>(j), index_sequence_for<Args...> {});
+}
+
+template<typename BasicJsonType, typename TupleRelated>
+auto from_json(BasicJsonType&& j, TupleRelated&& t)
+-> decltype(from_json_tuple_impl(std::forward<BasicJsonType>(j), std::forward<TupleRelated>(t), priority_tag<3> {}))
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+
+    return from_json_tuple_impl(std::forward<BasicJsonType>(j), std::forward<TupleRelated>(t), priority_tag<3> {});
+}
+
+template < typename BasicJsonType, typename Key, typename Value, typename Compare, typename Allocator,
+           typename = enable_if_t < !std::is_constructible <
+                                        typename BasicJsonType::string_t, Key >::value >>
+inline void from_json(const BasicJsonType& j, std::map<Key, Value, Compare, Allocator>& m)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+    m.clear();
+    for (const auto& p : j)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, concat("type must be array, but is ", p.type_name()), &j));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+template < typename BasicJsonType, typename Key, typename Value, typename Hash, typename KeyEqual, typename Allocator,
+           typename = enable_if_t < !std::is_constructible <
+                                        typename BasicJsonType::string_t, Key >::value >>
+inline void from_json(const BasicJsonType& j, std::unordered_map<Key, Value, Hash, KeyEqual, Allocator>& m)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+    m.clear();
+    for (const auto& p : j)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, concat("type must be array, but is ", p.type_name()), &j));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+#if JSON_HAS_FILESYSTEM || JSON_HAS_EXPERIMENTAL_FILESYSTEM
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, std_fs::path& p)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be string, but is ", j.type_name()), &j));
+    }
+    p = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+#endif
+
+struct from_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(const BasicJsonType& j, T&& val) const
+    noexcept(noexcept(from_json(j, std::forward<T>(val))))
+    -> decltype(from_json(j, std::forward<T>(val)))
+    {
+        return from_json(j, std::forward<T>(val));
+    }
+};
+
+}  // namespace detail
+
+#ifndef JSON_HAS_CPP_17
+/// namespace to hold default `from_json` function
+/// to see why this is required:
+/// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2015/n4381.html
+namespace // NOLINT(cert-dcl59-cpp,fuchsia-header-anon-namespaces,google-build-namespaces)
+{
+#endif
+JSON_INLINE_VARIABLE constexpr const auto& from_json = // NOLINT(misc-definitions-in-headers)
+    detail::static_const<detail::from_json_fn>::value;
+#ifndef JSON_HAS_CPP_17
+}  // namespace
+#endif
+
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/conversions/to_chars.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/conversions/to_chars.hpp
new file mode 100644
index 0000000..2d0914d
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/conversions/to_chars.hpp
@@ -0,0 +1,1118 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2009 Florian Loitsch <https://florian.loitsch.com/>
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <array> // array
+#include <cmath>   // signbit, isfinite
+#include <cstdint> // intN_t, uintN_t
+#include <cstring> // memcpy, memmove
+#include <limits> // numeric_limits
+#include <type_traits> // conditional
+
+#include <nlohmann/detail/macro_scope.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/*!
+@brief implements the Grisu2 algorithm for binary to decimal floating-point
+conversion.
+
+This implementation is a slightly modified version of the reference
+implementation which may be obtained from
+http://florian.loitsch.com/publications (bench.tar.gz).
+
+The code is distributed under the MIT license, Copyright (c) 2009 Florian Loitsch.
+
+For a detailed description of the algorithm see:
+
+[1] Loitsch, "Printing Floating-Point Numbers Quickly and Accurately with
+    Integers", Proceedings of the ACM SIGPLAN 2010 Conference on Programming
+    Language Design and Implementation, PLDI 2010
+[2] Burger, Dybvig, "Printing Floating-Point Numbers Quickly and Accurately",
+    Proceedings of the ACM SIGPLAN 1996 Conference on Programming Language
+    Design and Implementation, PLDI 1996
+*/
+namespace dtoa_impl
+{
+
+template<typename Target, typename Source>
+Target reinterpret_bits(const Source source)
+{
+    static_assert(sizeof(Target) == sizeof(Source), "size mismatch");
+
+    Target target;
+    std::memcpy(&target, &source, sizeof(Source));
+    return target;
+}
+
+struct diyfp // f * 2^e
+{
+    static constexpr int kPrecision = 64; // = q
+
+    std::uint64_t f = 0;
+    int e = 0;
+
+    constexpr diyfp(std::uint64_t f_, int e_) noexcept : f(f_), e(e_) {}
+
+    /*!
+    @brief returns x - y
+    @pre x.e == y.e and x.f >= y.f
+    */
+    static diyfp sub(const diyfp& x, const diyfp& y) noexcept
+    {
+        JSON_ASSERT(x.e == y.e);
+        JSON_ASSERT(x.f >= y.f);
+
+        return {x.f - y.f, x.e};
+    }
+
+    /*!
+    @brief returns x * y
+    @note The result is rounded. (Only the upper q bits are returned.)
+    */
+    static diyfp mul(const diyfp& x, const diyfp& y) noexcept
+    {
+        static_assert(kPrecision == 64, "internal error");
+
+        // Computes:
+        //  f = round((x.f * y.f) / 2^q)
+        //  e = x.e + y.e + q
+
+        // Emulate the 64-bit * 64-bit multiplication:
+        //
+        // p = u * v
+        //   = (u_lo + 2^32 u_hi) (v_lo + 2^32 v_hi)
+        //   = (u_lo v_lo         ) + 2^32 ((u_lo v_hi         ) + (u_hi v_lo         )) + 2^64 (u_hi v_hi         )
+        //   = (p0                ) + 2^32 ((p1                ) + (p2                )) + 2^64 (p3                )
+        //   = (p0_lo + 2^32 p0_hi) + 2^32 ((p1_lo + 2^32 p1_hi) + (p2_lo + 2^32 p2_hi)) + 2^64 (p3                )
+        //   = (p0_lo             ) + 2^32 (p0_hi + p1_lo + p2_lo                      ) + 2^64 (p1_hi + p2_hi + p3)
+        //   = (p0_lo             ) + 2^32 (Q                                          ) + 2^64 (H                 )
+        //   = (p0_lo             ) + 2^32 (Q_lo + 2^32 Q_hi                           ) + 2^64 (H                 )
+        //
+        // (Since Q might be larger than 2^32 - 1)
+        //
+        //   = (p0_lo + 2^32 Q_lo) + 2^64 (Q_hi + H)
+        //
+        // (Q_hi + H does not overflow a 64-bit int)
+        //
+        //   = p_lo + 2^64 p_hi
+
+        const std::uint64_t u_lo = x.f & 0xFFFFFFFFu;
+        const std::uint64_t u_hi = x.f >> 32u;
+        const std::uint64_t v_lo = y.f & 0xFFFFFFFFu;
+        const std::uint64_t v_hi = y.f >> 32u;
+
+        const std::uint64_t p0 = u_lo * v_lo;
+        const std::uint64_t p1 = u_lo * v_hi;
+        const std::uint64_t p2 = u_hi * v_lo;
+        const std::uint64_t p3 = u_hi * v_hi;
+
+        const std::uint64_t p0_hi = p0 >> 32u;
+        const std::uint64_t p1_lo = p1 & 0xFFFFFFFFu;
+        const std::uint64_t p1_hi = p1 >> 32u;
+        const std::uint64_t p2_lo = p2 & 0xFFFFFFFFu;
+        const std::uint64_t p2_hi = p2 >> 32u;
+
+        std::uint64_t Q = p0_hi + p1_lo + p2_lo;
+
+        // The full product might now be computed as
+        //
+        // p_hi = p3 + p2_hi + p1_hi + (Q >> 32)
+        // p_lo = p0_lo + (Q << 32)
+        //
+        // But in this particular case here, the full p_lo is not required.
+        // Effectively we only need to add the highest bit in p_lo to p_hi (and
+        // Q_hi + 1 does not overflow).
+
+        Q += std::uint64_t{1} << (64u - 32u - 1u); // round, ties up
+
+        const std::uint64_t h = p3 + p2_hi + p1_hi + (Q >> 32u);
+
+        return {h, x.e + y.e + 64};
+    }
+
+    /*!
+    @brief normalize x such that the significand is >= 2^(q-1)
+    @pre x.f != 0
+    */
+    static diyfp normalize(diyfp x) noexcept
+    {
+        JSON_ASSERT(x.f != 0);
+
+        while ((x.f >> 63u) == 0)
+        {
+            x.f <<= 1u;
+            x.e--;
+        }
+
+        return x;
+    }
+
+    /*!
+    @brief normalize x such that the result has the exponent E
+    @pre e >= x.e and the upper e - x.e bits of x.f must be zero.
+    */
+    static diyfp normalize_to(const diyfp& x, const int target_exponent) noexcept
+    {
+        const int delta = x.e - target_exponent;
+
+        JSON_ASSERT(delta >= 0);
+        JSON_ASSERT(((x.f << delta) >> delta) == x.f);
+
+        return {x.f << delta, target_exponent};
+    }
+};
+
+struct boundaries
+{
+    diyfp w;
+    diyfp minus;
+    diyfp plus;
+};
+
+/*!
+Compute the (normalized) diyfp representing the input number 'value' and its
+boundaries.
+
+@pre value must be finite and positive
+*/
+template<typename FloatType>
+boundaries compute_boundaries(FloatType value)
+{
+    JSON_ASSERT(std::isfinite(value));
+    JSON_ASSERT(value > 0);
+
+    // Convert the IEEE representation into a diyfp.
+    //
+    // If v is denormal:
+    //      value = 0.F * 2^(1 - bias) = (          F) * 2^(1 - bias - (p-1))
+    // If v is normalized:
+    //      value = 1.F * 2^(E - bias) = (2^(p-1) + F) * 2^(E - bias - (p-1))
+
+    static_assert(std::numeric_limits<FloatType>::is_iec559,
+                  "internal error: dtoa_short requires an IEEE-754 floating-point implementation");
+
+    constexpr int      kPrecision = std::numeric_limits<FloatType>::digits; // = p (includes the hidden bit)
+    constexpr int      kBias      = std::numeric_limits<FloatType>::max_exponent - 1 + (kPrecision - 1);
+    constexpr int      kMinExp    = 1 - kBias;
+    constexpr std::uint64_t kHiddenBit = std::uint64_t{1} << (kPrecision - 1); // = 2^(p-1)
+
+    using bits_type = typename std::conditional<kPrecision == 24, std::uint32_t, std::uint64_t >::type;
+
+    const auto bits = static_cast<std::uint64_t>(reinterpret_bits<bits_type>(value));
+    const std::uint64_t E = bits >> (kPrecision - 1);
+    const std::uint64_t F = bits & (kHiddenBit - 1);
+
+    const bool is_denormal = E == 0;
+    const diyfp v = is_denormal
+                    ? diyfp(F, kMinExp)
+                    : diyfp(F + kHiddenBit, static_cast<int>(E) - kBias);
+
+    // Compute the boundaries m- and m+ of the floating-point value
+    // v = f * 2^e.
+    //
+    // Determine v- and v+, the floating-point predecessor and successor if v,
+    // respectively.
+    //
+    //      v- = v - 2^e        if f != 2^(p-1) or e == e_min                (A)
+    //         = v - 2^(e-1)    if f == 2^(p-1) and e > e_min                (B)
+    //
+    //      v+ = v + 2^e
+    //
+    // Let m- = (v- + v) / 2 and m+ = (v + v+) / 2. All real numbers _strictly_
+    // between m- and m+ round to v, regardless of how the input rounding
+    // algorithm breaks ties.
+    //
+    //      ---+-------------+-------------+-------------+-------------+---  (A)
+    //         v-            m-            v             m+            v+
+    //
+    //      -----------------+------+------+-------------+-------------+---  (B)
+    //                       v-     m-     v             m+            v+
+
+    const bool lower_boundary_is_closer = F == 0 && E > 1;
+    const diyfp m_plus = diyfp(2 * v.f + 1, v.e - 1);
+    const diyfp m_minus = lower_boundary_is_closer
+                          ? diyfp(4 * v.f - 1, v.e - 2)  // (B)
+                          : diyfp(2 * v.f - 1, v.e - 1); // (A)
+
+    // Determine the normalized w+ = m+.
+    const diyfp w_plus = diyfp::normalize(m_plus);
+
+    // Determine w- = m- such that e_(w-) = e_(w+).
+    const diyfp w_minus = diyfp::normalize_to(m_minus, w_plus.e);
+
+    return {diyfp::normalize(v), w_minus, w_plus};
+}
+
+// Given normalized diyfp w, Grisu needs to find a (normalized) cached
+// power-of-ten c, such that the exponent of the product c * w = f * 2^e lies
+// within a certain range [alpha, gamma] (Definition 3.2 from [1])
+//
+//      alpha <= e = e_c + e_w + q <= gamma
+//
+// or
+//
+//      f_c * f_w * 2^alpha <= f_c 2^(e_c) * f_w 2^(e_w) * 2^q
+//                          <= f_c * f_w * 2^gamma
+//
+// Since c and w are normalized, i.e. 2^(q-1) <= f < 2^q, this implies
+//
+//      2^(q-1) * 2^(q-1) * 2^alpha <= c * w * 2^q < 2^q * 2^q * 2^gamma
+//
+// or
+//
+//      2^(q - 2 + alpha) <= c * w < 2^(q + gamma)
+//
+// The choice of (alpha,gamma) determines the size of the table and the form of
+// the digit generation procedure. Using (alpha,gamma)=(-60,-32) works out well
+// in practice:
+//
+// The idea is to cut the number c * w = f * 2^e into two parts, which can be
+// processed independently: An integral part p1, and a fractional part p2:
+//
+//      f * 2^e = ( (f div 2^-e) * 2^-e + (f mod 2^-e) ) * 2^e
+//              = (f div 2^-e) + (f mod 2^-e) * 2^e
+//              = p1 + p2 * 2^e
+//
+// The conversion of p1 into decimal form requires a series of divisions and
+// modulos by (a power of) 10. These operations are faster for 32-bit than for
+// 64-bit integers, so p1 should ideally fit into a 32-bit integer. This can be
+// achieved by choosing
+//
+//      -e >= 32   or   e <= -32 := gamma
+//
+// In order to convert the fractional part
+//
+//      p2 * 2^e = p2 / 2^-e = d[-1] / 10^1 + d[-2] / 10^2 + ...
+//
+// into decimal form, the fraction is repeatedly multiplied by 10 and the digits
+// d[-i] are extracted in order:
+//
+//      (10 * p2) div 2^-e = d[-1]
+//      (10 * p2) mod 2^-e = d[-2] / 10^1 + ...
+//
+// The multiplication by 10 must not overflow. It is sufficient to choose
+//
+//      10 * p2 < 16 * p2 = 2^4 * p2 <= 2^64.
+//
+// Since p2 = f mod 2^-e < 2^-e,
+//
+//      -e <= 60   or   e >= -60 := alpha
+
+constexpr int kAlpha = -60;
+constexpr int kGamma = -32;
+
+struct cached_power // c = f * 2^e ~= 10^k
+{
+    std::uint64_t f;
+    int e;
+    int k;
+};
+
+/*!
+For a normalized diyfp w = f * 2^e, this function returns a (normalized) cached
+power-of-ten c = f_c * 2^e_c, such that the exponent of the product w * c
+satisfies (Definition 3.2 from [1])
+
+     alpha <= e_c + e + q <= gamma.
+*/
+inline cached_power get_cached_power_for_binary_exponent(int e)
+{
+    // Now
+    //
+    //      alpha <= e_c + e + q <= gamma                                    (1)
+    //      ==> f_c * 2^alpha <= c * 2^e * 2^q
+    //
+    // and since the c's are normalized, 2^(q-1) <= f_c,
+    //
+    //      ==> 2^(q - 1 + alpha) <= c * 2^(e + q)
+    //      ==> 2^(alpha - e - 1) <= c
+    //
+    // If c were an exact power of ten, i.e. c = 10^k, one may determine k as
+    //
+    //      k = ceil( log_10( 2^(alpha - e - 1) ) )
+    //        = ceil( (alpha - e - 1) * log_10(2) )
+    //
+    // From the paper:
+    // "In theory the result of the procedure could be wrong since c is rounded,
+    //  and the computation itself is approximated [...]. In practice, however,
+    //  this simple function is sufficient."
+    //
+    // For IEEE double precision floating-point numbers converted into
+    // normalized diyfp's w = f * 2^e, with q = 64,
+    //
+    //      e >= -1022      (min IEEE exponent)
+    //           -52        (p - 1)
+    //           -52        (p - 1, possibly normalize denormal IEEE numbers)
+    //           -11        (normalize the diyfp)
+    //         = -1137
+    //
+    // and
+    //
+    //      e <= +1023      (max IEEE exponent)
+    //           -52        (p - 1)
+    //           -11        (normalize the diyfp)
+    //         = 960
+    //
+    // This binary exponent range [-1137,960] results in a decimal exponent
+    // range [-307,324]. One does not need to store a cached power for each
+    // k in this range. For each such k it suffices to find a cached power
+    // such that the exponent of the product lies in [alpha,gamma].
+    // This implies that the difference of the decimal exponents of adjacent
+    // table entries must be less than or equal to
+    //
+    //      floor( (gamma - alpha) * log_10(2) ) = 8.
+    //
+    // (A smaller distance gamma-alpha would require a larger table.)
+
+    // NB:
+    // Actually this function returns c, such that -60 <= e_c + e + 64 <= -34.
+
+    constexpr int kCachedPowersMinDecExp = -300;
+    constexpr int kCachedPowersDecStep = 8;
+
+    static constexpr std::array<cached_power, 79> kCachedPowers =
+    {
+        {
+            { 0xAB70FE17C79AC6CA, -1060, -300 },
+            { 0xFF77B1FCBEBCDC4F, -1034, -292 },
+            { 0xBE5691EF416BD60C, -1007, -284 },
+            { 0x8DD01FAD907FFC3C,  -980, -276 },
+            { 0xD3515C2831559A83,  -954, -268 },
+            { 0x9D71AC8FADA6C9B5,  -927, -260 },
+            { 0xEA9C227723EE8BCB,  -901, -252 },
+            { 0xAECC49914078536D,  -874, -244 },
+            { 0x823C12795DB6CE57,  -847, -236 },
+            { 0xC21094364DFB5637,  -821, -228 },
+            { 0x9096EA6F3848984F,  -794, -220 },
+            { 0xD77485CB25823AC7,  -768, -212 },
+            { 0xA086CFCD97BF97F4,  -741, -204 },
+            { 0xEF340A98172AACE5,  -715, -196 },
+            { 0xB23867FB2A35B28E,  -688, -188 },
+            { 0x84C8D4DFD2C63F3B,  -661, -180 },
+            { 0xC5DD44271AD3CDBA,  -635, -172 },
+            { 0x936B9FCEBB25C996,  -608, -164 },
+            { 0xDBAC6C247D62A584,  -582, -156 },
+            { 0xA3AB66580D5FDAF6,  -555, -148 },
+            { 0xF3E2F893DEC3F126,  -529, -140 },
+            { 0xB5B5ADA8AAFF80B8,  -502, -132 },
+            { 0x87625F056C7C4A8B,  -475, -124 },
+            { 0xC9BCFF6034C13053,  -449, -116 },
+            { 0x964E858C91BA2655,  -422, -108 },
+            { 0xDFF9772470297EBD,  -396, -100 },
+            { 0xA6DFBD9FB8E5B88F,  -369,  -92 },
+            { 0xF8A95FCF88747D94,  -343,  -84 },
+            { 0xB94470938FA89BCF,  -316,  -76 },
+            { 0x8A08F0F8BF0F156B,  -289,  -68 },
+            { 0xCDB02555653131B6,  -263,  -60 },
+            { 0x993FE2C6D07B7FAC,  -236,  -52 },
+            { 0xE45C10C42A2B3B06,  -210,  -44 },
+            { 0xAA242499697392D3,  -183,  -36 },
+            { 0xFD87B5F28300CA0E,  -157,  -28 },
+            { 0xBCE5086492111AEB,  -130,  -20 },
+            { 0x8CBCCC096F5088CC,  -103,  -12 },
+            { 0xD1B71758E219652C,   -77,   -4 },
+            { 0x9C40000000000000,   -50,    4 },
+            { 0xE8D4A51000000000,   -24,   12 },
+            { 0xAD78EBC5AC620000,     3,   20 },
+            { 0x813F3978F8940984,    30,   28 },
+            { 0xC097CE7BC90715B3,    56,   36 },
+            { 0x8F7E32CE7BEA5C70,    83,   44 },
+            { 0xD5D238A4ABE98068,   109,   52 },
+            { 0x9F4F2726179A2245,   136,   60 },
+            { 0xED63A231D4C4FB27,   162,   68 },
+            { 0xB0DE65388CC8ADA8,   189,   76 },
+            { 0x83C7088E1AAB65DB,   216,   84 },
+            { 0xC45D1DF942711D9A,   242,   92 },
+            { 0x924D692CA61BE758,   269,  100 },
+            { 0xDA01EE641A708DEA,   295,  108 },
+            { 0xA26DA3999AEF774A,   322,  116 },
+            { 0xF209787BB47D6B85,   348,  124 },
+            { 0xB454E4A179DD1877,   375,  132 },
+            { 0x865B86925B9BC5C2,   402,  140 },
+            { 0xC83553C5C8965D3D,   428,  148 },
+            { 0x952AB45CFA97A0B3,   455,  156 },
+            { 0xDE469FBD99A05FE3,   481,  164 },
+            { 0xA59BC234DB398C25,   508,  172 },
+            { 0xF6C69A72A3989F5C,   534,  180 },
+            { 0xB7DCBF5354E9BECE,   561,  188 },
+            { 0x88FCF317F22241E2,   588,  196 },
+            { 0xCC20CE9BD35C78A5,   614,  204 },
+            { 0x98165AF37B2153DF,   641,  212 },
+            { 0xE2A0B5DC971F303A,   667,  220 },
+            { 0xA8D9D1535CE3B396,   694,  228 },
+            { 0xFB9B7CD9A4A7443C,   720,  236 },
+            { 0xBB764C4CA7A44410,   747,  244 },
+            { 0x8BAB8EEFB6409C1A,   774,  252 },
+            { 0xD01FEF10A657842C,   800,  260 },
+            { 0x9B10A4E5E9913129,   827,  268 },
+            { 0xE7109BFBA19C0C9D,   853,  276 },
+            { 0xAC2820D9623BF429,   880,  284 },
+            { 0x80444B5E7AA7CF85,   907,  292 },
+            { 0xBF21E44003ACDD2D,   933,  300 },
+            { 0x8E679C2F5E44FF8F,   960,  308 },
+            { 0xD433179D9C8CB841,   986,  316 },
+            { 0x9E19DB92B4E31BA9,  1013,  324 },
+        }
+    };
+
+    // This computation gives exactly the same results for k as
+    //      k = ceil((kAlpha - e - 1) * 0.30102999566398114)
+    // for |e| <= 1500, but doesn't require floating-point operations.
+    // NB: log_10(2) ~= 78913 / 2^18
+    JSON_ASSERT(e >= -1500);
+    JSON_ASSERT(e <=  1500);
+    const int f = kAlpha - e - 1;
+    const int k = (f * 78913) / (1 << 18) + static_cast<int>(f > 0);
+
+    const int index = (-kCachedPowersMinDecExp + k + (kCachedPowersDecStep - 1)) / kCachedPowersDecStep;
+    JSON_ASSERT(index >= 0);
+    JSON_ASSERT(static_cast<std::size_t>(index) < kCachedPowers.size());
+
+    const cached_power cached = kCachedPowers[static_cast<std::size_t>(index)];
+    JSON_ASSERT(kAlpha <= cached.e + e + 64);
+    JSON_ASSERT(kGamma >= cached.e + e + 64);
+
+    return cached;
+}
+
+/*!
+For n != 0, returns k, such that pow10 := 10^(k-1) <= n < 10^k.
+For n == 0, returns 1 and sets pow10 := 1.
+*/
+inline int find_largest_pow10(const std::uint32_t n, std::uint32_t& pow10)
+{
+    // LCOV_EXCL_START
+    if (n >= 1000000000)
+    {
+        pow10 = 1000000000;
+        return 10;
+    }
+    // LCOV_EXCL_STOP
+    if (n >= 100000000)
+    {
+        pow10 = 100000000;
+        return  9;
+    }
+    if (n >= 10000000)
+    {
+        pow10 = 10000000;
+        return  8;
+    }
+    if (n >= 1000000)
+    {
+        pow10 = 1000000;
+        return  7;
+    }
+    if (n >= 100000)
+    {
+        pow10 = 100000;
+        return  6;
+    }
+    if (n >= 10000)
+    {
+        pow10 = 10000;
+        return  5;
+    }
+    if (n >= 1000)
+    {
+        pow10 = 1000;
+        return  4;
+    }
+    if (n >= 100)
+    {
+        pow10 = 100;
+        return  3;
+    }
+    if (n >= 10)
+    {
+        pow10 = 10;
+        return  2;
+    }
+
+    pow10 = 1;
+    return 1;
+}
+
+inline void grisu2_round(char* buf, int len, std::uint64_t dist, std::uint64_t delta,
+                         std::uint64_t rest, std::uint64_t ten_k)
+{
+    JSON_ASSERT(len >= 1);
+    JSON_ASSERT(dist <= delta);
+    JSON_ASSERT(rest <= delta);
+    JSON_ASSERT(ten_k > 0);
+
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    //                                  ten_k
+    //                                <------>
+    //                                       <---- rest ---->
+    // --------------[------------------+----+--------------]--------------
+    //                                  w    V
+    //                                       = buf * 10^k
+    //
+    // ten_k represents a unit-in-the-last-place in the decimal representation
+    // stored in buf.
+    // Decrement buf by ten_k while this takes buf closer to w.
+
+    // The tests are written in this order to avoid overflow in unsigned
+    // integer arithmetic.
+
+    while (rest < dist
+            && delta - rest >= ten_k
+            && (rest + ten_k < dist || dist - rest > rest + ten_k - dist))
+    {
+        JSON_ASSERT(buf[len - 1] != '0');
+        buf[len - 1]--;
+        rest += ten_k;
+    }
+}
+
+/*!
+Generates V = buffer * 10^decimal_exponent, such that M- <= V <= M+.
+M- and M+ must be normalized and share the same exponent -60 <= e <= -32.
+*/
+inline void grisu2_digit_gen(char* buffer, int& length, int& decimal_exponent,
+                             diyfp M_minus, diyfp w, diyfp M_plus)
+{
+    static_assert(kAlpha >= -60, "internal error");
+    static_assert(kGamma <= -32, "internal error");
+
+    // Generates the digits (and the exponent) of a decimal floating-point
+    // number V = buffer * 10^decimal_exponent in the range [M-, M+]. The diyfp's
+    // w, M- and M+ share the same exponent e, which satisfies alpha <= e <= gamma.
+    //
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    // Grisu2 generates the digits of M+ from left to right and stops as soon as
+    // V is in [M-,M+].
+
+    JSON_ASSERT(M_plus.e >= kAlpha);
+    JSON_ASSERT(M_plus.e <= kGamma);
+
+    std::uint64_t delta = diyfp::sub(M_plus, M_minus).f; // (significand of (M+ - M-), implicit exponent is e)
+    std::uint64_t dist  = diyfp::sub(M_plus, w      ).f; // (significand of (M+ - w ), implicit exponent is e)
+
+    // Split M+ = f * 2^e into two parts p1 and p2 (note: e < 0):
+    //
+    //      M+ = f * 2^e
+    //         = ((f div 2^-e) * 2^-e + (f mod 2^-e)) * 2^e
+    //         = ((p1        ) * 2^-e + (p2        )) * 2^e
+    //         = p1 + p2 * 2^e
+
+    const diyfp one(std::uint64_t{1} << -M_plus.e, M_plus.e);
+
+    auto p1 = static_cast<std::uint32_t>(M_plus.f >> -one.e); // p1 = f div 2^-e (Since -e >= 32, p1 fits into a 32-bit int.)
+    std::uint64_t p2 = M_plus.f & (one.f - 1);                    // p2 = f mod 2^-e
+
+    // 1)
+    //
+    // Generate the digits of the integral part p1 = d[n-1]...d[1]d[0]
+
+    JSON_ASSERT(p1 > 0);
+
+    std::uint32_t pow10{};
+    const int k = find_largest_pow10(p1, pow10);
+
+    //      10^(k-1) <= p1 < 10^k, pow10 = 10^(k-1)
+    //
+    //      p1 = (p1 div 10^(k-1)) * 10^(k-1) + (p1 mod 10^(k-1))
+    //         = (d[k-1]         ) * 10^(k-1) + (p1 mod 10^(k-1))
+    //
+    //      M+ = p1                                             + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + (p1 mod 10^(k-1))          + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + ((p1 mod 10^(k-1)) * 2^-e + p2) * 2^e
+    //         = d[k-1] * 10^(k-1) + (                         rest) * 2^e
+    //
+    // Now generate the digits d[n] of p1 from left to right (n = k-1,...,0)
+    //
+    //      p1 = d[k-1]...d[n] * 10^n + d[n-1]...d[0]
+    //
+    // but stop as soon as
+    //
+    //      rest * 2^e = (d[n-1]...d[0] * 2^-e + p2) * 2^e <= delta * 2^e
+
+    int n = k;
+    while (n > 0)
+    {
+        // Invariants:
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)    (buffer = 0 for n = k)
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        //
+        const std::uint32_t d = p1 / pow10;  // d = p1 div 10^(n-1)
+        const std::uint32_t r = p1 % pow10;  // r = p1 mod 10^(n-1)
+        //
+        //      M+ = buffer * 10^n + (d * 10^(n-1) + r) + p2 * 2^e
+        //         = (buffer * 10 + d) * 10^(n-1) + (r + p2 * 2^e)
+        //
+        JSON_ASSERT(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(n-1) + (r + p2 * 2^e)
+        //
+        p1 = r;
+        n--;
+        //
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)
+        //      pow10 = 10^n
+        //
+
+        // Now check if enough digits have been generated.
+        // Compute
+        //
+        //      p1 + p2 * 2^e = (p1 * 2^-e + p2) * 2^e = rest * 2^e
+        //
+        // Note:
+        // Since rest and delta share the same exponent e, it suffices to
+        // compare the significands.
+        const std::uint64_t rest = (std::uint64_t{p1} << -one.e) + p2;
+        if (rest <= delta)
+        {
+            // V = buffer * 10^n, with M- <= V <= M+.
+
+            decimal_exponent += n;
+
+            // We may now just stop. But instead look if the buffer could be
+            // decremented to bring V closer to w.
+            //
+            // pow10 = 10^n is now 1 ulp in the decimal representation V.
+            // The rounding procedure works with diyfp's with an implicit
+            // exponent of e.
+            //
+            //      10^n = (10^n * 2^-e) * 2^e = ulp * 2^e
+            //
+            const std::uint64_t ten_n = std::uint64_t{pow10} << -one.e;
+            grisu2_round(buffer, length, dist, delta, rest, ten_n);
+
+            return;
+        }
+
+        pow10 /= 10;
+        //
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        // Invariants restored.
+    }
+
+    // 2)
+    //
+    // The digits of the integral part have been generated:
+    //
+    //      M+ = d[k-1]...d[1]d[0] + p2 * 2^e
+    //         = buffer            + p2 * 2^e
+    //
+    // Now generate the digits of the fractional part p2 * 2^e.
+    //
+    // Note:
+    // No decimal point is generated: the exponent is adjusted instead.
+    //
+    // p2 actually represents the fraction
+    //
+    //      p2 * 2^e
+    //          = p2 / 2^-e
+    //          = d[-1] / 10^1 + d[-2] / 10^2 + ...
+    //
+    // Now generate the digits d[-m] of p1 from left to right (m = 1,2,...)
+    //
+    //      p2 * 2^e = d[-1]d[-2]...d[-m] * 10^-m
+    //                      + 10^-m * (d[-m-1] / 10^1 + d[-m-2] / 10^2 + ...)
+    //
+    // using
+    //
+    //      10^m * p2 = ((10^m * p2) div 2^-e) * 2^-e + ((10^m * p2) mod 2^-e)
+    //                = (                   d) * 2^-e + (                   r)
+    //
+    // or
+    //      10^m * p2 * 2^e = d + r * 2^e
+    //
+    // i.e.
+    //
+    //      M+ = buffer + p2 * 2^e
+    //         = buffer + 10^-m * (d + r * 2^e)
+    //         = (buffer * 10^m + d) * 10^-m + 10^-m * r * 2^e
+    //
+    // and stop as soon as 10^-m * r * 2^e <= delta * 2^e
+
+    JSON_ASSERT(p2 > delta);
+
+    int m = 0;
+    for (;;)
+    {
+        // Invariant:
+        //      M+ = buffer * 10^-m + 10^-m * (d[-m-1] / 10 + d[-m-2] / 10^2 + ...) * 2^e
+        //         = buffer * 10^-m + 10^-m * (p2                                 ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (10 * p2)                   ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * ((10*p2 div 2^-e) * 2^-e + (10*p2 mod 2^-e)) * 2^e
+        //
+        JSON_ASSERT(p2 <= (std::numeric_limits<std::uint64_t>::max)() / 10);
+        p2 *= 10;
+        const std::uint64_t d = p2 >> -one.e;     // d = (10 * p2) div 2^-e
+        const std::uint64_t r = p2 & (one.f - 1); // r = (10 * p2) mod 2^-e
+        //
+        //      M+ = buffer * 10^-m + 10^-m * (1/10 * (d * 2^-e + r) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (d + r * 2^e))
+        //         = (buffer * 10 + d) * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        JSON_ASSERT(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        p2 = r;
+        m++;
+        //
+        //      M+ = buffer * 10^-m + 10^-m * p2 * 2^e
+        // Invariant restored.
+
+        // Check if enough digits have been generated.
+        //
+        //      10^-m * p2 * 2^e <= delta * 2^e
+        //              p2 * 2^e <= 10^m * delta * 2^e
+        //                    p2 <= 10^m * delta
+        delta *= 10;
+        dist  *= 10;
+        if (p2 <= delta)
+        {
+            break;
+        }
+    }
+
+    // V = buffer * 10^-m, with M- <= V <= M+.
+
+    decimal_exponent -= m;
+
+    // 1 ulp in the decimal representation is now 10^-m.
+    // Since delta and dist are now scaled by 10^m, we need to do the
+    // same with ulp in order to keep the units in sync.
+    //
+    //      10^m * 10^-m = 1 = 2^-e * 2^e = ten_m * 2^e
+    //
+    const std::uint64_t ten_m = one.f;
+    grisu2_round(buffer, length, dist, delta, p2, ten_m);
+
+    // By construction this algorithm generates the shortest possible decimal
+    // number (Loitsch, Theorem 6.2) which rounds back to w.
+    // For an input number of precision p, at least
+    //
+    //      N = 1 + ceil(p * log_10(2))
+    //
+    // decimal digits are sufficient to identify all binary floating-point
+    // numbers (Matula, "In-and-Out conversions").
+    // This implies that the algorithm does not produce more than N decimal
+    // digits.
+    //
+    //      N = 17 for p = 53 (IEEE double precision)
+    //      N = 9  for p = 24 (IEEE single precision)
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+JSON_HEDLEY_NON_NULL(1)
+inline void grisu2(char* buf, int& len, int& decimal_exponent,
+                   diyfp m_minus, diyfp v, diyfp m_plus)
+{
+    JSON_ASSERT(m_plus.e == m_minus.e);
+    JSON_ASSERT(m_plus.e == v.e);
+
+    //  --------(-----------------------+-----------------------)--------    (A)
+    //          m-                      v                       m+
+    //
+    //  --------------------(-----------+-----------------------)--------    (B)
+    //                      m-          v                       m+
+    //
+    // First scale v (and m- and m+) such that the exponent is in the range
+    // [alpha, gamma].
+
+    const cached_power cached = get_cached_power_for_binary_exponent(m_plus.e);
+
+    const diyfp c_minus_k(cached.f, cached.e); // = c ~= 10^-k
+
+    // The exponent of the products is = v.e + c_minus_k.e + q and is in the range [alpha,gamma]
+    const diyfp w       = diyfp::mul(v,       c_minus_k);
+    const diyfp w_minus = diyfp::mul(m_minus, c_minus_k);
+    const diyfp w_plus  = diyfp::mul(m_plus,  c_minus_k);
+
+    //  ----(---+---)---------------(---+---)---------------(---+---)----
+    //          w-                      w                       w+
+    //          = c*m-                  = c*v                   = c*m+
+    //
+    // diyfp::mul rounds its result and c_minus_k is approximated too. w, w- and
+    // w+ are now off by a small amount.
+    // In fact:
+    //
+    //      w - v * 10^k < 1 ulp
+    //
+    // To account for this inaccuracy, add resp. subtract 1 ulp.
+    //
+    //  --------+---[---------------(---+---)---------------]---+--------
+    //          w-  M-                  w                   M+  w+
+    //
+    // Now any number in [M-, M+] (bounds included) will round to w when input,
+    // regardless of how the input rounding algorithm breaks ties.
+    //
+    // And digit_gen generates the shortest possible such number in [M-, M+].
+    // Note that this does not mean that Grisu2 always generates the shortest
+    // possible number in the interval (m-, m+).
+    const diyfp M_minus(w_minus.f + 1, w_minus.e);
+    const diyfp M_plus (w_plus.f  - 1, w_plus.e );
+
+    decimal_exponent = -cached.k; // = -(-k) = k
+
+    grisu2_digit_gen(buf, len, decimal_exponent, M_minus, w, M_plus);
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+template<typename FloatType>
+JSON_HEDLEY_NON_NULL(1)
+void grisu2(char* buf, int& len, int& decimal_exponent, FloatType value)
+{
+    static_assert(diyfp::kPrecision >= std::numeric_limits<FloatType>::digits + 3,
+                  "internal error: not enough precision");
+
+    JSON_ASSERT(std::isfinite(value));
+    JSON_ASSERT(value > 0);
+
+    // If the neighbors (and boundaries) of 'value' are always computed for double-precision
+    // numbers, all float's can be recovered using strtod (and strtof). However, the resulting
+    // decimal representations are not exactly "short".
+    //
+    // The documentation for 'std::to_chars' (https://en.cppreference.com/w/cpp/utility/to_chars)
+    // says "value is converted to a string as if by std::sprintf in the default ("C") locale"
+    // and since sprintf promotes floats to doubles, I think this is exactly what 'std::to_chars'
+    // does.
+    // On the other hand, the documentation for 'std::to_chars' requires that "parsing the
+    // representation using the corresponding std::from_chars function recovers value exactly". That
+    // indicates that single precision floating-point numbers should be recovered using
+    // 'std::strtof'.
+    //
+    // NB: If the neighbors are computed for single-precision numbers, there is a single float
+    //     (7.0385307e-26f) which can't be recovered using strtod. The resulting double precision
+    //     value is off by 1 ulp.
+#if 0 // NOLINT(readability-avoid-unconditional-preprocessor-if)
+    const boundaries w = compute_boundaries(static_cast<double>(value));
+#else
+    const boundaries w = compute_boundaries(value);
+#endif
+
+    grisu2(buf, len, decimal_exponent, w.minus, w.w, w.plus);
+}
+
+/*!
+@brief appends a decimal representation of e to buf
+@return a pointer to the element following the exponent.
+@pre -1000 < e < 1000
+*/
+JSON_HEDLEY_NON_NULL(1)
+JSON_HEDLEY_RETURNS_NON_NULL
+inline char* append_exponent(char* buf, int e)
+{
+    JSON_ASSERT(e > -1000);
+    JSON_ASSERT(e <  1000);
+
+    if (e < 0)
+    {
+        e = -e;
+        *buf++ = '-';
+    }
+    else
+    {
+        *buf++ = '+';
+    }
+
+    auto k = static_cast<std::uint32_t>(e);
+    if (k < 10)
+    {
+        // Always print at least two digits in the exponent.
+        // This is for compatibility with printf("%g").
+        *buf++ = '0';
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else if (k < 100)
+    {
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else
+    {
+        *buf++ = static_cast<char>('0' + k / 100);
+        k %= 100;
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+
+    return buf;
+}
+
+/*!
+@brief prettify v = buf * 10^decimal_exponent
+
+If v is in the range [10^min_exp, 10^max_exp) it will be printed in fixed-point
+notation. Otherwise it will be printed in exponential notation.
+
+@pre min_exp < 0
+@pre max_exp > 0
+*/
+JSON_HEDLEY_NON_NULL(1)
+JSON_HEDLEY_RETURNS_NON_NULL
+inline char* format_buffer(char* buf, int len, int decimal_exponent,
+                           int min_exp, int max_exp)
+{
+    JSON_ASSERT(min_exp < 0);
+    JSON_ASSERT(max_exp > 0);
+
+    const int k = len;
+    const int n = len + decimal_exponent;
+
+    // v = buf * 10^(n-k)
+    // k is the length of the buffer (number of decimal digits)
+    // n is the position of the decimal point relative to the start of the buffer.
+
+    if (k <= n && n <= max_exp)
+    {
+        // digits[000]
+        // len <= max_exp + 2
+
+        std::memset(buf + k, '0', static_cast<size_t>(n) - static_cast<size_t>(k));
+        // Make it look like a floating-point number (#362, #378)
+        buf[n + 0] = '.';
+        buf[n + 1] = '0';
+        return buf + (static_cast<size_t>(n) + 2);
+    }
+
+    if (0 < n && n <= max_exp)
+    {
+        // dig.its
+        // len <= max_digits10 + 1
+
+        JSON_ASSERT(k > n);
+
+        std::memmove(buf + (static_cast<size_t>(n) + 1), buf + n, static_cast<size_t>(k) - static_cast<size_t>(n));
+        buf[n] = '.';
+        return buf + (static_cast<size_t>(k) + 1U);
+    }
+
+    if (min_exp < n && n <= 0)
+    {
+        // 0.[000]digits
+        // len <= 2 + (-min_exp - 1) + max_digits10
+
+        std::memmove(buf + (2 + static_cast<size_t>(-n)), buf, static_cast<size_t>(k));
+        buf[0] = '0';
+        buf[1] = '.';
+        std::memset(buf + 2, '0', static_cast<size_t>(-n));
+        return buf + (2U + static_cast<size_t>(-n) + static_cast<size_t>(k));
+    }
+
+    if (k == 1)
+    {
+        // dE+123
+        // len <= 1 + 5
+
+        buf += 1;
+    }
+    else
+    {
+        // d.igitsE+123
+        // len <= max_digits10 + 1 + 5
+
+        std::memmove(buf + 2, buf + 1, static_cast<size_t>(k) - 1);
+        buf[1] = '.';
+        buf += 1 + static_cast<size_t>(k);
+    }
+
+    *buf++ = 'e';
+    return append_exponent(buf, n - 1);
+}
+
+}  // namespace dtoa_impl
+
+/*!
+@brief generates a decimal representation of the floating-point number value in [first, last).
+
+The format of the resulting decimal representation is similar to printf's %g
+format. Returns an iterator pointing past-the-end of the decimal representation.
+
+@note The input number must be finite, i.e. NaN's and Inf's are not supported.
+@note The buffer must be large enough.
+@note The result is NOT null-terminated.
+*/
+template<typename FloatType>
+JSON_HEDLEY_NON_NULL(1, 2)
+JSON_HEDLEY_RETURNS_NON_NULL
+char* to_chars(char* first, const char* last, FloatType value)
+{
+    static_cast<void>(last); // maybe unused - fix warning
+    JSON_ASSERT(std::isfinite(value));
+
+    // Use signbit(value) instead of (value < 0) since signbit works for -0.
+    if (std::signbit(value))
+    {
+        value = -value;
+        *first++ = '-';
+    }
+
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+    if (value == 0) // +-0
+    {
+        *first++ = '0';
+        // Make it look like a floating-point number (#362, #378)
+        *first++ = '.';
+        *first++ = '0';
+        return first;
+    }
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+
+    JSON_ASSERT(last - first >= std::numeric_limits<FloatType>::max_digits10);
+
+    // Compute v = buffer * 10^decimal_exponent.
+    // The decimal digits are stored in the buffer, which needs to be interpreted
+    // as an unsigned decimal integer.
+    // len is the length of the buffer, i.e. the number of decimal digits.
+    int len = 0;
+    int decimal_exponent = 0;
+    dtoa_impl::grisu2(first, len, decimal_exponent, value);
+
+    JSON_ASSERT(len <= std::numeric_limits<FloatType>::max_digits10);
+
+    // Format the buffer like printf("%.*g", prec, value)
+    constexpr int kMinExp = -4;
+    // Use digits10 here to increase compatibility with version 2.
+    constexpr int kMaxExp = std::numeric_limits<FloatType>::digits10;
+
+    JSON_ASSERT(last - first >= kMaxExp + 2);
+    JSON_ASSERT(last - first >= 2 + (-kMinExp - 1) + std::numeric_limits<FloatType>::max_digits10);
+    JSON_ASSERT(last - first >= std::numeric_limits<FloatType>::max_digits10 + 6);
+
+    return dtoa_impl::format_buffer(first, len, decimal_exponent, kMinExp, kMaxExp);
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/conversions/to_json.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/conversions/to_json.hpp
new file mode 100644
index 0000000..e70207f
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/conversions/to_json.hpp
@@ -0,0 +1,446 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <algorithm> // copy
+#include <iterator> // begin, end
+#include <string> // string
+#include <tuple> // tuple, get
+#include <type_traits> // is_same, is_constructible, is_floating_point, is_enum, underlying_type
+#include <utility> // move, forward, declval, pair
+#include <valarray> // valarray
+#include <vector> // vector
+
+#include <nlohmann/detail/iterators/iteration_proxy.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/meta/cpp_future.hpp>
+#include <nlohmann/detail/meta/std_fs.hpp>
+#include <nlohmann/detail/meta/type_traits.hpp>
+#include <nlohmann/detail/value_t.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+//////////////////
+// constructors //
+//////////////////
+
+/*
+ * Note all external_constructor<>::construct functions need to call
+ * j.m_data.m_value.destroy(j.m_data.m_type) to avoid a memory leak in case j contains an
+ * allocated value (e.g., a string). See bug issue
+ * https://github.com/nlohmann/json/issues/2865 for more information.
+ */
+
+template<value_t> struct external_constructor;
+
+template<>
+struct external_constructor<value_t::boolean>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::boolean_t b) noexcept
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::boolean;
+        j.m_data.m_value = b;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::string>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::string_t& s)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::string;
+        j.m_data.m_value = s;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::string;
+        j.m_data.m_value = std::move(s);
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleStringType,
+               enable_if_t < !std::is_same<CompatibleStringType, typename BasicJsonType::string_t>::value,
+                             int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleStringType& str)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::string;
+        j.m_data.m_value.string = j.template create<typename BasicJsonType::string_t>(str);
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::binary>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::binary_t& b)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::binary;
+        j.m_data.m_value = typename BasicJsonType::binary_t(b);
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::binary_t&& b)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::binary;
+        j.m_data.m_value = typename BasicJsonType::binary_t(std::move(b));
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_float>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_float_t val) noexcept
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::number_float;
+        j.m_data.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_unsigned>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_unsigned_t val) noexcept
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::number_unsigned;
+        j.m_data.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_integer>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_integer_t val) noexcept
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::number_integer;
+        j.m_data.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::array>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::array_t& arr)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::array;
+        j.m_data.m_value = arr;
+        j.set_parents();
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::array;
+        j.m_data.m_value = std::move(arr);
+        j.set_parents();
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleArrayType,
+               enable_if_t < !std::is_same<CompatibleArrayType, typename BasicJsonType::array_t>::value,
+                             int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleArrayType& arr)
+    {
+        using std::begin;
+        using std::end;
+
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::array;
+        j.m_data.m_value.array = j.template create<typename BasicJsonType::array_t>(begin(arr), end(arr));
+        j.set_parents();
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const std::vector<bool>& arr)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::array;
+        j.m_data.m_value = value_t::array;
+        j.m_data.m_value.array->reserve(arr.size());
+        for (const bool x : arr)
+        {
+            j.m_data.m_value.array->push_back(x);
+            j.set_parent(j.m_data.m_value.array->back());
+        }
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename T,
+             enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+    static void construct(BasicJsonType& j, const std::valarray<T>& arr)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::array;
+        j.m_data.m_value = value_t::array;
+        j.m_data.m_value.array->resize(arr.size());
+        if (arr.size() > 0)
+        {
+            std::copy(std::begin(arr), std::end(arr), j.m_data.m_value.array->begin());
+        }
+        j.set_parents();
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::object>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::object_t& obj)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::object;
+        j.m_data.m_value = obj;
+        j.set_parents();
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::object;
+        j.m_data.m_value = std::move(obj);
+        j.set_parents();
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleObjectType,
+               enable_if_t < !std::is_same<CompatibleObjectType, typename BasicJsonType::object_t>::value, int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleObjectType& obj)
+    {
+        using std::begin;
+        using std::end;
+
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::object;
+        j.m_data.m_value.object = j.template create<typename BasicJsonType::object_t>(begin(obj), end(obj));
+        j.set_parents();
+        j.assert_invariant();
+    }
+};
+
+/////////////
+// to_json //
+/////////////
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_same<T, typename BasicJsonType::boolean_t>::value, int> = 0>
+inline void to_json(BasicJsonType& j, T b) noexcept
+{
+    external_constructor<value_t::boolean>::construct(j, b);
+}
+
+template < typename BasicJsonType, typename BoolRef,
+           enable_if_t <
+               ((std::is_same<std::vector<bool>::reference, BoolRef>::value
+                 && !std::is_same <std::vector<bool>::reference, typename BasicJsonType::boolean_t&>::value)
+                || (std::is_same<std::vector<bool>::const_reference, BoolRef>::value
+                    && !std::is_same <detail::uncvref_t<std::vector<bool>::const_reference>,
+                                      typename BasicJsonType::boolean_t >::value))
+               && std::is_convertible<const BoolRef&, typename BasicJsonType::boolean_t>::value, int > = 0 >
+inline void to_json(BasicJsonType& j, const BoolRef& b) noexcept
+{
+    external_constructor<value_t::boolean>::construct(j, static_cast<typename BasicJsonType::boolean_t>(b));
+}
+
+template<typename BasicJsonType, typename CompatibleString,
+         enable_if_t<std::is_constructible<typename BasicJsonType::string_t, CompatibleString>::value, int> = 0>
+inline void to_json(BasicJsonType& j, const CompatibleString& s)
+{
+    external_constructor<value_t::string>::construct(j, s);
+}
+
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+{
+    external_constructor<value_t::string>::construct(j, std::move(s));
+}
+
+template<typename BasicJsonType, typename FloatType,
+         enable_if_t<std::is_floating_point<FloatType>::value, int> = 0>
+inline void to_json(BasicJsonType& j, FloatType val) noexcept
+{
+    external_constructor<value_t::number_float>::construct(j, static_cast<typename BasicJsonType::number_float_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberUnsignedType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_unsigned_t, CompatibleNumberUnsignedType>::value, int> = 0>
+inline void to_json(BasicJsonType& j, CompatibleNumberUnsignedType val) noexcept
+{
+    external_constructor<value_t::number_unsigned>::construct(j, static_cast<typename BasicJsonType::number_unsigned_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberIntegerType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_integer_t, CompatibleNumberIntegerType>::value, int> = 0>
+inline void to_json(BasicJsonType& j, CompatibleNumberIntegerType val) noexcept
+{
+    external_constructor<value_t::number_integer>::construct(j, static_cast<typename BasicJsonType::number_integer_t>(val));
+}
+
+#if !JSON_DISABLE_ENUM_SERIALIZATION
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+inline void to_json(BasicJsonType& j, EnumType e) noexcept
+{
+    using underlying_type = typename std::underlying_type<EnumType>::type;
+    external_constructor<value_t::number_integer>::construct(j, static_cast<underlying_type>(e));
+}
+#endif  // JSON_DISABLE_ENUM_SERIALIZATION
+
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, const std::vector<bool>& e)
+{
+    external_constructor<value_t::array>::construct(j, e);
+}
+
+template < typename BasicJsonType, typename CompatibleArrayType,
+           enable_if_t < is_compatible_array_type<BasicJsonType,
+                         CompatibleArrayType>::value&&
+                         !is_compatible_object_type<BasicJsonType, CompatibleArrayType>::value&&
+                         !is_compatible_string_type<BasicJsonType, CompatibleArrayType>::value&&
+                         !std::is_same<typename BasicJsonType::binary_t, CompatibleArrayType>::value&&
+                         !is_basic_json<CompatibleArrayType>::value,
+                         int > = 0 >
+inline void to_json(BasicJsonType& j, const CompatibleArrayType& arr)
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, const typename BasicJsonType::binary_t& bin)
+{
+    external_constructor<value_t::binary>::construct(j, bin);
+}
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+inline void to_json(BasicJsonType& j, const std::valarray<T>& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template < typename BasicJsonType, typename CompatibleObjectType,
+           enable_if_t < is_compatible_object_type<BasicJsonType, CompatibleObjectType>::value&& !is_basic_json<CompatibleObjectType>::value, int > = 0 >
+inline void to_json(BasicJsonType& j, const CompatibleObjectType& obj)
+{
+    external_constructor<value_t::object>::construct(j, obj);
+}
+
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+{
+    external_constructor<value_t::object>::construct(j, std::move(obj));
+}
+
+template <
+    typename BasicJsonType, typename T, std::size_t N,
+    enable_if_t < !std::is_constructible<typename BasicJsonType::string_t,
+                  const T(&)[N]>::value, // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+                  int > = 0 >
+inline void to_json(BasicJsonType& j, const T(&arr)[N]) // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template < typename BasicJsonType, typename T1, typename T2, enable_if_t < std::is_constructible<BasicJsonType, T1>::value&& std::is_constructible<BasicJsonType, T2>::value, int > = 0 >
+inline void to_json(BasicJsonType& j, const std::pair<T1, T2>& p)
+{
+    j = { p.first, p.second };
+}
+
+// for https://github.com/nlohmann/json/pull/1134
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_same<T, iteration_proxy_value<typename BasicJsonType::iterator>>::value, int> = 0>
+inline void to_json(BasicJsonType& j, const T& b)
+{
+    j = { {b.key(), b.value()} };
+}
+
+template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
+inline void to_json_tuple_impl(BasicJsonType& j, const Tuple& t, index_sequence<Idx...> /*unused*/)
+{
+    j = { std::get<Idx>(t)... };
+}
+
+template<typename BasicJsonType, typename T, enable_if_t<is_constructible_tuple<BasicJsonType, T>::value, int > = 0>
+inline void to_json(BasicJsonType& j, const T& t)
+{
+    to_json_tuple_impl(j, t, make_index_sequence<std::tuple_size<T>::value> {});
+}
+
+#if JSON_HAS_FILESYSTEM || JSON_HAS_EXPERIMENTAL_FILESYSTEM
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, const std_fs::path& p)
+{
+    j = p.string();
+}
+#endif
+
+struct to_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(BasicJsonType& j, T&& val) const noexcept(noexcept(to_json(j, std::forward<T>(val))))
+    -> decltype(to_json(j, std::forward<T>(val)), void())
+    {
+        return to_json(j, std::forward<T>(val));
+    }
+};
+}  // namespace detail
+
+#ifndef JSON_HAS_CPP_17
+/// namespace to hold default `to_json` function
+/// to see why this is required:
+/// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2015/n4381.html
+namespace // NOLINT(cert-dcl59-cpp,fuchsia-header-anon-namespaces,google-build-namespaces)
+{
+#endif
+JSON_INLINE_VARIABLE constexpr const auto& to_json = // NOLINT(misc-definitions-in-headers)
+    detail::static_const<detail::to_json_fn>::value;
+#ifndef JSON_HAS_CPP_17
+}  // namespace
+#endif
+
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/exceptions.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/exceptions.hpp
new file mode 100644
index 0000000..23b390c
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/exceptions.hpp
@@ -0,0 +1,258 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstddef> // nullptr_t
+#include <exception> // exception
+#if JSON_DIAGNOSTICS
+    #include <numeric> // accumulate
+#endif
+#include <stdexcept> // runtime_error
+#include <string> // to_string
+#include <vector> // vector
+
+#include <nlohmann/detail/value_t.hpp>
+#include <nlohmann/detail/string_escape.hpp>
+#include <nlohmann/detail/input/position_t.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/meta/cpp_future.hpp>
+#include <nlohmann/detail/meta/type_traits.hpp>
+#include <nlohmann/detail/string_concat.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+////////////////
+// exceptions //
+////////////////
+
+/// @brief general exception of the @ref basic_json class
+/// @sa https://json.nlohmann.me/api/basic_json/exception/
+class exception : public std::exception
+{
+  public:
+    /// returns the explanatory string
+    const char* what() const noexcept override
+    {
+        return m.what();
+    }
+
+    /// the id of the exception
+    const int id; // NOLINT(cppcoreguidelines-non-private-member-variables-in-classes)
+
+  protected:
+    JSON_HEDLEY_NON_NULL(3)
+    exception(int id_, const char* what_arg) : id(id_), m(what_arg) {} // NOLINT(bugprone-throw-keyword-missing)
+
+    static std::string name(const std::string& ename, int id_)
+    {
+        return concat("[json.exception.", ename, '.', std::to_string(id_), "] ");
+    }
+
+    static std::string diagnostics(std::nullptr_t /*leaf_element*/)
+    {
+        return "";
+    }
+
+    template<typename BasicJsonType>
+    static std::string diagnostics(const BasicJsonType* leaf_element)
+    {
+#if JSON_DIAGNOSTICS
+        std::vector<std::string> tokens;
+        for (const auto* current = leaf_element; current != nullptr && current->m_parent != nullptr; current = current->m_parent)
+        {
+            switch (current->m_parent->type())
+            {
+                case value_t::array:
+                {
+                    for (std::size_t i = 0; i < current->m_parent->m_data.m_value.array->size(); ++i)
+                    {
+                        if (&current->m_parent->m_data.m_value.array->operator[](i) == current)
+                        {
+                            tokens.emplace_back(std::to_string(i));
+                            break;
+                        }
+                    }
+                    break;
+                }
+
+                case value_t::object:
+                {
+                    for (const auto& element : *current->m_parent->m_data.m_value.object)
+                    {
+                        if (&element.second == current)
+                        {
+                            tokens.emplace_back(element.first.c_str());
+                            break;
+                        }
+                    }
+                    break;
+                }
+
+                case value_t::null: // LCOV_EXCL_LINE
+                case value_t::string: // LCOV_EXCL_LINE
+                case value_t::boolean: // LCOV_EXCL_LINE
+                case value_t::number_integer: // LCOV_EXCL_LINE
+                case value_t::number_unsigned: // LCOV_EXCL_LINE
+                case value_t::number_float: // LCOV_EXCL_LINE
+                case value_t::binary: // LCOV_EXCL_LINE
+                case value_t::discarded: // LCOV_EXCL_LINE
+                default:   // LCOV_EXCL_LINE
+                    break; // LCOV_EXCL_LINE
+            }
+        }
+
+        if (tokens.empty())
+        {
+            return "";
+        }
+
+        auto str = std::accumulate(tokens.rbegin(), tokens.rend(), std::string{},
+                                   [](const std::string & a, const std::string & b)
+        {
+            return concat(a, '/', detail::escape(b));
+        });
+        return concat('(', str, ") ");
+#else
+        static_cast<void>(leaf_element);
+        return "";
+#endif
+    }
+
+  private:
+    /// an exception object as storage for error messages
+    std::runtime_error m;
+};
+
+/// @brief exception indicating a parse error
+/// @sa https://json.nlohmann.me/api/basic_json/parse_error/
+class parse_error : public exception
+{
+  public:
+    /*!
+    @brief create a parse error exception
+    @param[in] id_       the id of the exception
+    @param[in] pos       the position where the error occurred (or with
+                         chars_read_total=0 if the position cannot be
+                         determined)
+    @param[in] what_arg  the explanatory string
+    @return parse_error object
+    */
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static parse_error create(int id_, const position_t& pos, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("parse_error", id_), "parse error",
+                                     position_string(pos), ": ", exception::diagnostics(context), what_arg);
+        return {id_, pos.chars_read_total, w.c_str()};
+    }
+
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static parse_error create(int id_, std::size_t byte_, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("parse_error", id_), "parse error",
+                                     (byte_ != 0 ? (concat(" at byte ", std::to_string(byte_))) : ""),
+                                     ": ", exception::diagnostics(context), what_arg);
+        return {id_, byte_, w.c_str()};
+    }
+
+    /*!
+    @brief byte index of the parse error
+
+    The byte index of the last read character in the input file.
+
+    @note For an input with n bytes, 1 is the index of the first character and
+          n+1 is the index of the terminating null byte or the end of file.
+          This also holds true when reading a byte vector (CBOR or MessagePack).
+    */
+    const std::size_t byte;
+
+  private:
+    parse_error(int id_, std::size_t byte_, const char* what_arg)
+        : exception(id_, what_arg), byte(byte_) {}
+
+    static std::string position_string(const position_t& pos)
+    {
+        return concat(" at line ", std::to_string(pos.lines_read + 1),
+                      ", column ", std::to_string(pos.chars_read_current_line));
+    }
+};
+
+/// @brief exception indicating errors with iterators
+/// @sa https://json.nlohmann.me/api/basic_json/invalid_iterator/
+class invalid_iterator : public exception
+{
+  public:
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static invalid_iterator create(int id_, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("invalid_iterator", id_), exception::diagnostics(context), what_arg);
+        return {id_, w.c_str()};
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    invalid_iterator(int id_, const char* what_arg)
+        : exception(id_, what_arg) {}
+};
+
+/// @brief exception indicating executing a member function with a wrong type
+/// @sa https://json.nlohmann.me/api/basic_json/type_error/
+class type_error : public exception
+{
+  public:
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static type_error create(int id_, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("type_error", id_), exception::diagnostics(context), what_arg);
+        return {id_, w.c_str()};
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    type_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/// @brief exception indicating access out of the defined range
+/// @sa https://json.nlohmann.me/api/basic_json/out_of_range/
+class out_of_range : public exception
+{
+  public:
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static out_of_range create(int id_, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("out_of_range", id_), exception::diagnostics(context), what_arg);
+        return {id_, w.c_str()};
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    out_of_range(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/// @brief exception indicating other library errors
+/// @sa https://json.nlohmann.me/api/basic_json/other_error/
+class other_error : public exception
+{
+  public:
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static other_error create(int id_, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("other_error", id_), exception::diagnostics(context), what_arg);
+        return {id_, w.c_str()};
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    other_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/hash.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/hash.hpp
new file mode 100644
index 0000000..3f05af8
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/hash.hpp
@@ -0,0 +1,129 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstdint> // uint8_t
+#include <cstddef> // size_t
+#include <functional> // hash
+
+#include <nlohmann/detail/abi_macros.hpp>
+#include <nlohmann/detail/value_t.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+// boost::hash_combine
+inline std::size_t combine(std::size_t seed, std::size_t h) noexcept
+{
+    seed ^= h + 0x9e3779b9 + (seed << 6U) + (seed >> 2U);
+    return seed;
+}
+
+/*!
+@brief hash a JSON value
+
+The hash function tries to rely on std::hash where possible. Furthermore, the
+type of the JSON value is taken into account to have different hash values for
+null, 0, 0U, and false, etc.
+
+@tparam BasicJsonType basic_json specialization
+@param j JSON value to hash
+@return hash value of j
+*/
+template<typename BasicJsonType>
+std::size_t hash(const BasicJsonType& j)
+{
+    using string_t = typename BasicJsonType::string_t;
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+
+    const auto type = static_cast<std::size_t>(j.type());
+    switch (j.type())
+    {
+        case BasicJsonType::value_t::null:
+        case BasicJsonType::value_t::discarded:
+        {
+            return combine(type, 0);
+        }
+
+        case BasicJsonType::value_t::object:
+        {
+            auto seed = combine(type, j.size());
+            for (const auto& element : j.items())
+            {
+                const auto h = std::hash<string_t> {}(element.key());
+                seed = combine(seed, h);
+                seed = combine(seed, hash(element.value()));
+            }
+            return seed;
+        }
+
+        case BasicJsonType::value_t::array:
+        {
+            auto seed = combine(type, j.size());
+            for (const auto& element : j)
+            {
+                seed = combine(seed, hash(element));
+            }
+            return seed;
+        }
+
+        case BasicJsonType::value_t::string:
+        {
+            const auto h = std::hash<string_t> {}(j.template get_ref<const string_t&>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::boolean:
+        {
+            const auto h = std::hash<bool> {}(j.template get<bool>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::number_integer:
+        {
+            const auto h = std::hash<number_integer_t> {}(j.template get<number_integer_t>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::number_unsigned:
+        {
+            const auto h = std::hash<number_unsigned_t> {}(j.template get<number_unsigned_t>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::number_float:
+        {
+            const auto h = std::hash<number_float_t> {}(j.template get<number_float_t>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::binary:
+        {
+            auto seed = combine(type, j.get_binary().size());
+            const auto h = std::hash<bool> {}(j.get_binary().has_subtype());
+            seed = combine(seed, h);
+            seed = combine(seed, static_cast<std::size_t>(j.get_binary().subtype()));
+            for (const auto byte : j.get_binary())
+            {
+                seed = combine(seed, std::hash<std::uint8_t> {}(byte));
+            }
+            return seed;
+        }
+
+        default:                   // LCOV_EXCL_LINE
+            JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+            return 0;              // LCOV_EXCL_LINE
+    }
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/binary_reader.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/binary_reader.hpp
new file mode 100644
index 0000000..832c36d
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/binary_reader.hpp
@@ -0,0 +1,3010 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <algorithm> // generate_n
+#include <array> // array
+#include <cmath> // ldexp
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstdio> // snprintf
+#include <cstring> // memcpy
+#include <iterator> // back_inserter
+#include <limits> // numeric_limits
+#include <string> // char_traits, string
+#include <utility> // make_pair, move
+#include <vector> // vector
+
+#include <nlohmann/detail/exceptions.hpp>
+#include <nlohmann/detail/input/input_adapters.hpp>
+#include <nlohmann/detail/input/json_sax.hpp>
+#include <nlohmann/detail/input/lexer.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/meta/is_sax.hpp>
+#include <nlohmann/detail/meta/type_traits.hpp>
+#include <nlohmann/detail/string_concat.hpp>
+#include <nlohmann/detail/value_t.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/// how to treat CBOR tags
+enum class cbor_tag_handler_t
+{
+    error,   ///< throw a parse_error exception in case of a tag
+    ignore,  ///< ignore tags
+    store    ///< store tags as binary type
+};
+
+/*!
+@brief determine system byte order
+
+@return true if and only if system's byte order is little endian
+
+@note from https://stackoverflow.com/a/1001328/266378
+*/
+static inline bool little_endianness(int num = 1) noexcept
+{
+    return *reinterpret_cast<char*>(&num) == 1;
+}
+
+
+///////////////////
+// binary reader //
+///////////////////
+
+/*!
+@brief deserialization of CBOR, MessagePack, and UBJSON values
+*/
+template<typename BasicJsonType, typename InputAdapterType, typename SAX = json_sax_dom_parser<BasicJsonType>>
+class binary_reader
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using json_sax_t = SAX;
+    using char_type = typename InputAdapterType::char_type;
+    using char_int_type = typename std::char_traits<char_type>::int_type;
+
+  public:
+    /*!
+    @brief create a binary reader
+
+    @param[in] adapter  input adapter to read from
+    */
+    explicit binary_reader(InputAdapterType&& adapter, const input_format_t format = input_format_t::json) noexcept : ia(std::move(adapter)), input_format(format)
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+    }
+
+    // make class move-only
+    binary_reader(const binary_reader&) = delete;
+    binary_reader(binary_reader&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    binary_reader& operator=(const binary_reader&) = delete;
+    binary_reader& operator=(binary_reader&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    ~binary_reader() = default;
+
+    /*!
+    @param[in] format  the binary format to parse
+    @param[in] sax_    a SAX event processor
+    @param[in] strict  whether to expect the input to be consumed completed
+    @param[in] tag_handler  how to treat CBOR tags
+
+    @return whether parsing was successful
+    */
+    JSON_HEDLEY_NON_NULL(3)
+    bool sax_parse(const input_format_t format,
+                   json_sax_t* sax_,
+                   const bool strict = true,
+                   const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        sax = sax_;
+        bool result = false;
+
+        switch (format)
+        {
+            case input_format_t::bson:
+                result = parse_bson_internal();
+                break;
+
+            case input_format_t::cbor:
+                result = parse_cbor_internal(true, tag_handler);
+                break;
+
+            case input_format_t::msgpack:
+                result = parse_msgpack_internal();
+                break;
+
+            case input_format_t::ubjson:
+            case input_format_t::bjdata:
+                result = parse_ubjson_internal();
+                break;
+
+            case input_format_t::json: // LCOV_EXCL_LINE
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        }
+
+        // strict mode: next byte must be EOF
+        if (result && strict)
+        {
+            if (input_format == input_format_t::ubjson || input_format == input_format_t::bjdata)
+            {
+                get_ignore_noop();
+            }
+            else
+            {
+                get();
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(current != std::char_traits<char_type>::eof()))
+            {
+                return sax->parse_error(chars_read, get_token_string(), parse_error::create(110, chars_read,
+                                        exception_message(input_format, concat("expected end of input; last byte: 0x", get_token_string()), "value"), nullptr));
+            }
+        }
+
+        return result;
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @brief Reads in a BSON-object and passes it to the SAX-parser.
+    @return whether a valid BSON-value was passed to the SAX parser
+    */
+    bool parse_bson_internal()
+    {
+        std::int32_t document_size{};
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(static_cast<std::size_t>(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_list(/*is_array*/false)))
+        {
+            return false;
+        }
+
+        return sax->end_object();
+    }
+
+    /*!
+    @brief Parses a C-style string from the BSON input.
+    @param[in,out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @return `true` if the \x00-byte indicating the end of the string was
+             encountered before the EOF; false` indicates an unexpected EOF.
+    */
+    bool get_bson_cstr(string_t& result)
+    {
+        auto out = std::back_inserter(result);
+        while (true)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::bson, "cstring")))
+            {
+                return false;
+            }
+            if (current == 0x00)
+            {
+                return true;
+            }
+            *out++ = static_cast<typename string_t::value_type>(current);
+        }
+    }
+
+    /*!
+    @brief Parses a zero-terminated string of length @a len from the BSON
+           input.
+    @param[in] len  The length (including the zero-byte at the end) of the
+                    string to be read.
+    @param[in,out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @tparam NumberType The type of the length @a len
+    @pre len >= 1
+    @return `true` if the string was successfully parsed
+    */
+    template<typename NumberType>
+    bool get_bson_string(const NumberType len, string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(len < 1))
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                    exception_message(input_format_t::bson, concat("string length must be at least 1, is ", std::to_string(len)), "string"), nullptr));
+        }
+
+        return get_string(input_format_t::bson, len - static_cast<NumberType>(1), result) && get() != std::char_traits<char_type>::eof();
+    }
+
+    /*!
+    @brief Parses a byte array input of length @a len from the BSON input.
+    @param[in] len  The length of the byte array to be read.
+    @param[in,out] result  A reference to the binary variable where the read
+                            array is to be stored.
+    @tparam NumberType The type of the length @a len
+    @pre len >= 0
+    @return `true` if the byte array was successfully parsed
+    */
+    template<typename NumberType>
+    bool get_bson_binary(const NumberType len, binary_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(len < 0))
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                    exception_message(input_format_t::bson, concat("byte array length cannot be negative, is ", std::to_string(len)), "binary"), nullptr));
+        }
+
+        // All BSON binary values have a subtype
+        std::uint8_t subtype{};
+        get_number<std::uint8_t>(input_format_t::bson, subtype);
+        result.set_subtype(subtype);
+
+        return get_binary(input_format_t::bson, len, result);
+    }
+
+    /*!
+    @brief Read a BSON document element of the given @a element_type.
+    @param[in] element_type The BSON element type, c.f. http://bsonspec.org/spec.html
+    @param[in] element_type_parse_position The position in the input stream,
+               where the `element_type` was read.
+    @warning Not all BSON element types are supported yet. An unsupported
+             @a element_type will give rise to a parse_error.114:
+             Unsupported BSON record type 0x...
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_internal(const char_int_type element_type,
+                                     const std::size_t element_type_parse_position)
+    {
+        switch (element_type)
+        {
+            case 0x01: // double
+            {
+                double number{};
+                return get_number<double, true>(input_format_t::bson, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0x02: // string
+            {
+                std::int32_t len{};
+                string_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, len) && get_bson_string(len, value) && sax->string(value);
+            }
+
+            case 0x03: // object
+            {
+                return parse_bson_internal();
+            }
+
+            case 0x04: // array
+            {
+                return parse_bson_array();
+            }
+
+            case 0x05: // binary
+            {
+                std::int32_t len{};
+                binary_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, len) && get_bson_binary(len, value) && sax->binary(value);
+            }
+
+            case 0x08: // boolean
+            {
+                return sax->boolean(get() != 0);
+            }
+
+            case 0x0A: // null
+            {
+                return sax->null();
+            }
+
+            case 0x10: // int32
+            {
+                std::int32_t value{};
+                return get_number<std::int32_t, true>(input_format_t::bson, value) && sax->number_integer(value);
+            }
+
+            case 0x12: // int64
+            {
+                std::int64_t value{};
+                return get_number<std::int64_t, true>(input_format_t::bson, value) && sax->number_integer(value);
+            }
+
+            default: // anything else not supported (yet)
+            {
+                std::array<char, 3> cr{{}};
+                static_cast<void>((std::snprintf)(cr.data(), cr.size(), "%.2hhX", static_cast<unsigned char>(element_type))); // NOLINT(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+                const std::string cr_str{cr.data()};
+                return sax->parse_error(element_type_parse_position, cr_str,
+                                        parse_error::create(114, element_type_parse_position, concat("Unsupported BSON record type 0x", cr_str), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @brief Read a BSON element list (as specified in the BSON-spec)
+
+    The same binary layout is used for objects and arrays, hence it must be
+    indicated with the argument @a is_array which one is expected
+    (true --> array, false --> object).
+
+    @param[in] is_array Determines if the element list being read is to be
+                        treated as an object (@a is_array == false), or as an
+                        array (@a is_array == true).
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_list(const bool is_array)
+    {
+        string_t key;
+
+        while (auto element_type = get())
+        {
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::bson, "element list")))
+            {
+                return false;
+            }
+
+            const std::size_t element_type_parse_position = chars_read;
+            if (JSON_HEDLEY_UNLIKELY(!get_bson_cstr(key)))
+            {
+                return false;
+            }
+
+            if (!is_array && !sax->key(key))
+            {
+                return false;
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_internal(element_type, element_type_parse_position)))
+            {
+                return false;
+            }
+
+            // get_bson_cstr only appends
+            key.clear();
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief Reads an array from the BSON input and passes it to the SAX-parser.
+    @return whether a valid BSON-array was passed to the SAX parser
+    */
+    bool parse_bson_array()
+    {
+        std::int32_t document_size{};
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(static_cast<std::size_t>(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_list(/*is_array*/true)))
+        {
+            return false;
+        }
+
+        return sax->end_array();
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true) or whether the last read character should
+                         be considered instead (false)
+    @param[in] tag_handler how CBOR tags should be treated
+
+    @return whether a valid CBOR value was passed to the SAX parser
+    */
+    bool parse_cbor_internal(const bool get_char,
+                             const cbor_tag_handler_t tag_handler)
+    {
+        switch (get_char ? get() : current)
+        {
+            // EOF
+            case std::char_traits<char_type>::eof():
+                return unexpect_eof(input_format_t::cbor, "value");
+
+            // Integer 0x00..0x17 (0..23)
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            case 0x18: // Unsigned integer (one-byte uint8_t follows)
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x19: // Unsigned integer (two-byte uint16_t follows)
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x1A: // Unsigned integer (four-byte uint32_t follows)
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x1B: // Unsigned integer (eight-byte uint64_t follows)
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            // Negative integer -1-0x00..-1-0x17 (-1..-24)
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+                return sax->number_integer(static_cast<std::int8_t>(0x20 - 1 - current));
+
+            case 0x38: // Negative integer (one-byte uint8_t follows)
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x39: // Negative integer -1-n (two-byte uint16_t follows)
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3A: // Negative integer -1-n (four-byte uint32_t follows)
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3B: // Negative integer -1-n (eight-byte uint64_t follows)
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1)
+                        - static_cast<number_integer_t>(number));
+            }
+
+            // Binary data (0x00..0x17 bytes follow)
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            case 0x58: // Binary data (one-byte uint8_t for n follows)
+            case 0x59: // Binary data (two-byte uint16_t for n follow)
+            case 0x5A: // Binary data (four-byte uint32_t for n follow)
+            case 0x5B: // Binary data (eight-byte uint64_t for n follow)
+            case 0x5F: // Binary data (indefinite length)
+            {
+                binary_t b;
+                return get_cbor_binary(b) && sax->binary(b);
+            }
+
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                string_t s;
+                return get_cbor_string(s) && sax->string(s);
+            }
+
+            // array (0x00..0x17 data items follow)
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+                return get_cbor_array(
+                           conditional_static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x1Fu), tag_handler);
+
+            case 0x98: // array (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x99: // array (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9A: // array (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(conditional_static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9B: // array (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(conditional_static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9F: // array (indefinite length)
+                return get_cbor_array(static_cast<std::size_t>(-1), tag_handler);
+
+            // map (0x00..0x17 pairs of data items follow)
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+                return get_cbor_object(conditional_static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x1Fu), tag_handler);
+
+            case 0xB8: // map (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xB9: // map (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBA: // map (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(conditional_static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBB: // map (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(conditional_static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBF: // map (indefinite length)
+                return get_cbor_object(static_cast<std::size_t>(-1), tag_handler);
+
+            case 0xC6: // tagged item
+            case 0xC7:
+            case 0xC8:
+            case 0xC9:
+            case 0xCA:
+            case 0xCB:
+            case 0xCC:
+            case 0xCD:
+            case 0xCE:
+            case 0xCF:
+            case 0xD0:
+            case 0xD1:
+            case 0xD2:
+            case 0xD3:
+            case 0xD4:
+            case 0xD8: // tagged item (1 bytes follow)
+            case 0xD9: // tagged item (2 bytes follow)
+            case 0xDA: // tagged item (4 bytes follow)
+            case 0xDB: // tagged item (8 bytes follow)
+            {
+                switch (tag_handler)
+                {
+                    case cbor_tag_handler_t::error:
+                    {
+                        auto last_token = get_token_string();
+                        return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                                exception_message(input_format_t::cbor, concat("invalid byte: 0x", last_token), "value"), nullptr));
+                    }
+
+                    case cbor_tag_handler_t::ignore:
+                    {
+                        // ignore binary subtype
+                        switch (current)
+                        {
+                            case 0xD8:
+                            {
+                                std::uint8_t subtype_to_ignore{};
+                                get_number(input_format_t::cbor, subtype_to_ignore);
+                                break;
+                            }
+                            case 0xD9:
+                            {
+                                std::uint16_t subtype_to_ignore{};
+                                get_number(input_format_t::cbor, subtype_to_ignore);
+                                break;
+                            }
+                            case 0xDA:
+                            {
+                                std::uint32_t subtype_to_ignore{};
+                                get_number(input_format_t::cbor, subtype_to_ignore);
+                                break;
+                            }
+                            case 0xDB:
+                            {
+                                std::uint64_t subtype_to_ignore{};
+                                get_number(input_format_t::cbor, subtype_to_ignore);
+                                break;
+                            }
+                            default:
+                                break;
+                        }
+                        return parse_cbor_internal(true, tag_handler);
+                    }
+
+                    case cbor_tag_handler_t::store:
+                    {
+                        binary_t b;
+                        // use binary subtype and store in binary container
+                        switch (current)
+                        {
+                            case 0xD8:
+                            {
+                                std::uint8_t subtype{};
+                                get_number(input_format_t::cbor, subtype);
+                                b.set_subtype(detail::conditional_static_cast<typename binary_t::subtype_type>(subtype));
+                                break;
+                            }
+                            case 0xD9:
+                            {
+                                std::uint16_t subtype{};
+                                get_number(input_format_t::cbor, subtype);
+                                b.set_subtype(detail::conditional_static_cast<typename binary_t::subtype_type>(subtype));
+                                break;
+                            }
+                            case 0xDA:
+                            {
+                                std::uint32_t subtype{};
+                                get_number(input_format_t::cbor, subtype);
+                                b.set_subtype(detail::conditional_static_cast<typename binary_t::subtype_type>(subtype));
+                                break;
+                            }
+                            case 0xDB:
+                            {
+                                std::uint64_t subtype{};
+                                get_number(input_format_t::cbor, subtype);
+                                b.set_subtype(detail::conditional_static_cast<typename binary_t::subtype_type>(subtype));
+                                break;
+                            }
+                            default:
+                                return parse_cbor_internal(true, tag_handler);
+                        }
+                        get();
+                        return get_cbor_binary(b) && sax->binary(b);
+                    }
+
+                    default:                 // LCOV_EXCL_LINE
+                        JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+                        return false;        // LCOV_EXCL_LINE
+                }
+            }
+
+            case 0xF4: // false
+                return sax->boolean(false);
+
+            case 0xF5: // true
+                return sax->boolean(true);
+
+            case 0xF6: // null
+                return sax->null();
+
+            case 0xF9: // Half-Precision Float (two-byte IEEE 754)
+            {
+                const auto byte1_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+                const auto byte2_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+
+                const auto byte1 = static_cast<unsigned char>(byte1_raw);
+                const auto byte2 = static_cast<unsigned char>(byte2_raw);
+
+                // code from RFC 7049, Appendix D, Figure 3:
+                // As half-precision floating-point numbers were only added
+                // to IEEE 754 in 2008, today's programming platforms often
+                // still only have limited support for them. It is very
+                // easy to include at least decoding support for them even
+                // without such support. An example of a small decoder for
+                // half-precision floating-point numbers in the C language
+                // is shown in Fig. 3.
+                const auto half = static_cast<unsigned int>((byte1 << 8u) + byte2);
+                const double val = [&half]
+                {
+                    const int exp = (half >> 10u) & 0x1Fu;
+                    const unsigned int mant = half & 0x3FFu;
+                    JSON_ASSERT(0 <= exp&& exp <= 32);
+                    JSON_ASSERT(mant <= 1024);
+                    switch (exp)
+                    {
+                        case 0:
+                            return std::ldexp(mant, -24);
+                        case 31:
+                            return (mant == 0)
+                            ? std::numeric_limits<double>::infinity()
+                            : std::numeric_limits<double>::quiet_NaN();
+                        default:
+                            return std::ldexp(mant + 1024, exp - 25);
+                    }
+                }();
+                return sax->number_float((half & 0x8000u) != 0
+                                         ? static_cast<number_float_t>(-val)
+                                         : static_cast<number_float_t>(val), "");
+            }
+
+            case 0xFA: // Single-Precision Float (four-byte IEEE 754)
+            {
+                float number{};
+                return get_number(input_format_t::cbor, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xFB: // Double-Precision Float (eight-byte IEEE 754)
+            {
+                double number{};
+                return get_number(input_format_t::cbor, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            default: // anything else (0xFF is handled inside the other types)
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                        exception_message(input_format_t::cbor, concat("invalid byte: 0x", last_token), "value"), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a CBOR string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+    Additionally, CBOR's strings with indefinite lengths are supported.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_cbor_string(string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            {
+                return get_string(input_format_t::cbor, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                while (get() != 0xFF)
+                {
+                    string_t chunk;
+                    if (!get_cbor_string(chunk))
+                    {
+                        return false;
+                    }
+                    result.append(chunk);
+                }
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read,
+                                        exception_message(input_format_t::cbor, concat("expected length specification (0x60-0x7B) or indefinite string type (0x7F); last byte: 0x", last_token), "string"), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a CBOR byte array
+
+    This function first reads starting bytes to determine the expected
+    byte array length and then copies this number of bytes into the byte array.
+    Additionally, CBOR's byte arrays with indefinite lengths are supported.
+
+    @param[out] result  created byte array
+
+    @return whether byte array creation completed
+    */
+    bool get_cbor_binary(binary_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "binary")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // Binary data (0x00..0x17 bytes follow)
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            {
+                return get_binary(input_format_t::cbor, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0x58: // Binary data (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x59: // Binary data (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5A: // Binary data (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5B: // Binary data (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5F: // Binary data (indefinite length)
+            {
+                while (get() != 0xFF)
+                {
+                    binary_t chunk;
+                    if (!get_cbor_binary(chunk))
+                    {
+                        return false;
+                    }
+                    result.insert(result.end(), chunk.begin(), chunk.end());
+                }
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read,
+                                        exception_message(input_format_t::cbor, concat("expected length specification (0x40-0x5B) or indefinite binary array type (0x5F); last byte: 0x", last_token), "binary"), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array or static_cast<std::size_t>(-1) for an
+                    array of indefinite size
+    @param[in] tag_handler how CBOR tags should be treated
+    @return whether array creation completed
+    */
+    bool get_cbor_array(const std::size_t len,
+                        const cbor_tag_handler_t tag_handler)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(len)))
+        {
+            return false;
+        }
+
+        if (len != static_cast<std::size_t>(-1))
+        {
+            for (std::size_t i = 0; i < len; ++i)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                {
+                    return false;
+                }
+            }
+        }
+        else
+        {
+            while (get() != 0xFF)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(false, tag_handler)))
+                {
+                    return false;
+                }
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object or static_cast<std::size_t>(-1) for an
+                    object of indefinite size
+    @param[in] tag_handler how CBOR tags should be treated
+    @return whether object creation completed
+    */
+    bool get_cbor_object(const std::size_t len,
+                         const cbor_tag_handler_t tag_handler)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(len)))
+        {
+            return false;
+        }
+
+        if (len != 0)
+        {
+            string_t key;
+            if (len != static_cast<std::size_t>(-1))
+            {
+                for (std::size_t i = 0; i < len; ++i)
+                {
+                    get();
+                    if (JSON_HEDLEY_UNLIKELY(!get_cbor_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+
+                    if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+            else
+            {
+                while (get() != 0xFF)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_cbor_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+
+                    if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    /*!
+    @return whether a valid MessagePack value was passed to the SAX parser
+    */
+    bool parse_msgpack_internal()
+    {
+        switch (get())
+        {
+            // EOF
+            case std::char_traits<char_type>::eof():
+                return unexpect_eof(input_format_t::msgpack, "value");
+
+            // positive fixint
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+            case 0x18:
+            case 0x19:
+            case 0x1A:
+            case 0x1B:
+            case 0x1C:
+            case 0x1D:
+            case 0x1E:
+            case 0x1F:
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+            case 0x38:
+            case 0x39:
+            case 0x3A:
+            case 0x3B:
+            case 0x3C:
+            case 0x3D:
+            case 0x3E:
+            case 0x3F:
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            case 0x58:
+            case 0x59:
+            case 0x5A:
+            case 0x5B:
+            case 0x5C:
+            case 0x5D:
+            case 0x5E:
+            case 0x5F:
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78:
+            case 0x79:
+            case 0x7A:
+            case 0x7B:
+            case 0x7C:
+            case 0x7D:
+            case 0x7E:
+            case 0x7F:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            // fixmap
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+                return get_msgpack_object(conditional_static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x0Fu));
+
+            // fixarray
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+            case 0x98:
+            case 0x99:
+            case 0x9A:
+            case 0x9B:
+            case 0x9C:
+            case 0x9D:
+            case 0x9E:
+            case 0x9F:
+                return get_msgpack_array(conditional_static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x0Fu));
+
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            case 0xD9: // str 8
+            case 0xDA: // str 16
+            case 0xDB: // str 32
+            {
+                string_t s;
+                return get_msgpack_string(s) && sax->string(s);
+            }
+
+            case 0xC0: // nil
+                return sax->null();
+
+            case 0xC2: // false
+                return sax->boolean(false);
+
+            case 0xC3: // true
+                return sax->boolean(true);
+
+            case 0xC4: // bin 8
+            case 0xC5: // bin 16
+            case 0xC6: // bin 32
+            case 0xC7: // ext 8
+            case 0xC8: // ext 16
+            case 0xC9: // ext 32
+            case 0xD4: // fixext 1
+            case 0xD5: // fixext 2
+            case 0xD6: // fixext 4
+            case 0xD7: // fixext 8
+            case 0xD8: // fixext 16
+            {
+                binary_t b;
+                return get_msgpack_binary(b) && sax->binary(b);
+            }
+
+            case 0xCA: // float 32
+            {
+                float number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCB: // float 64
+            {
+                double number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCC: // uint 8
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCD: // uint 16
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCE: // uint 32
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCF: // uint 64
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xD0: // int 8
+            {
+                std::int8_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD1: // int 16
+            {
+                std::int16_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD2: // int 32
+            {
+                std::int32_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD3: // int 64
+            {
+                std::int64_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xDC: // array 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_array(static_cast<std::size_t>(len));
+            }
+
+            case 0xDD: // array 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_array(conditional_static_cast<std::size_t>(len));
+            }
+
+            case 0xDE: // map 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xDF: // map 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_object(conditional_static_cast<std::size_t>(len));
+            }
+
+            // negative fixint
+            case 0xE0:
+            case 0xE1:
+            case 0xE2:
+            case 0xE3:
+            case 0xE4:
+            case 0xE5:
+            case 0xE6:
+            case 0xE7:
+            case 0xE8:
+            case 0xE9:
+            case 0xEA:
+            case 0xEB:
+            case 0xEC:
+            case 0xED:
+            case 0xEE:
+            case 0xEF:
+            case 0xF0:
+            case 0xF1:
+            case 0xF2:
+            case 0xF3:
+            case 0xF4:
+            case 0xF5:
+            case 0xF6:
+            case 0xF7:
+            case 0xF8:
+            case 0xF9:
+            case 0xFA:
+            case 0xFB:
+            case 0xFC:
+            case 0xFD:
+            case 0xFE:
+            case 0xFF:
+                return sax->number_integer(static_cast<std::int8_t>(current));
+
+            default: // anything else
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                        exception_message(input_format_t::msgpack, concat("invalid byte: 0x", last_token), "value"), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a MessagePack string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_msgpack_string(string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::msgpack, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            {
+                return get_string(input_format_t::msgpack, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0xD9: // str 8
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDA: // str 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDB: // str 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read,
+                                        exception_message(input_format_t::msgpack, concat("expected length specification (0xA0-0xBF, 0xD9-0xDB); last byte: 0x", last_token), "string"), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a MessagePack byte array
+
+    This function first reads starting bytes to determine the expected
+    byte array length and then copies this number of bytes into a byte array.
+
+    @param[out] result  created byte array
+
+    @return whether byte array creation completed
+    */
+    bool get_msgpack_binary(binary_t& result)
+    {
+        // helper function to set the subtype
+        auto assign_and_return_true = [&result](std::int8_t subtype)
+        {
+            result.set_subtype(static_cast<std::uint8_t>(subtype));
+            return true;
+        };
+
+        switch (current)
+        {
+            case 0xC4: // bin 8
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC5: // bin 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC6: // bin 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC7: // ext 8
+            {
+                std::uint8_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xC8: // ext 16
+            {
+                std::uint16_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xC9: // ext 32
+            {
+                std::uint32_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD4: // fixext 1
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 1, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD5: // fixext 2
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 2, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD6: // fixext 4
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 4, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD7: // fixext 8
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 8, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD8: // fixext 16
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 16, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            default:           // LCOV_EXCL_LINE
+                return false;  // LCOV_EXCL_LINE
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array
+    @return whether array creation completed
+    */
+    bool get_msgpack_array(const std::size_t len)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(len)))
+        {
+            return false;
+        }
+
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!parse_msgpack_internal()))
+            {
+                return false;
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object
+    @return whether object creation completed
+    */
+    bool get_msgpack_object(const std::size_t len)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(len)))
+        {
+            return false;
+        }
+
+        string_t key;
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!get_msgpack_string(key) || !sax->key(key)))
+            {
+                return false;
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(!parse_msgpack_internal()))
+            {
+                return false;
+            }
+            key.clear();
+        }
+
+        return sax->end_object();
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether a valid UBJSON value was passed to the SAX parser
+    */
+    bool parse_ubjson_internal(const bool get_char = true)
+    {
+        return get_ubjson_value(get_char ? get_ignore_noop() : current);
+    }
+
+    /*!
+    @brief reads a UBJSON string
+
+    This function is either called after reading the 'S' byte explicitly
+    indicating a string, or in case of an object key where the 'S' byte can be
+    left out.
+
+    @param[out] result   created string
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether string creation completed
+    */
+    bool get_ubjson_string(string_t& result, const bool get_char = true)
+    {
+        if (get_char)
+        {
+            get();  // TODO(niels): may we ignore N here?
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "value")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            case 'U':
+            {
+                std::uint8_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'i':
+            {
+                std::int8_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'I':
+            {
+                std::int16_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'l':
+            {
+                std::int32_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'L':
+            {
+                std::int64_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'u':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint16_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'm':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint32_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'M':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint64_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            default:
+                break;
+        }
+        auto last_token = get_token_string();
+        std::string message;
+
+        if (input_format != input_format_t::bjdata)
+        {
+            message = "expected length type specification (U, i, I, l, L); last byte: 0x" + last_token;
+        }
+        else
+        {
+            message = "expected length type specification (U, i, u, I, m, l, M, L); last byte: 0x" + last_token;
+        }
+        return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format, message, "string"), nullptr));
+    }
+
+    /*!
+    @param[out] dim  an integer vector storing the ND array dimensions
+    @return whether reading ND array size vector is successful
+    */
+    bool get_ubjson_ndarray_size(std::vector<size_t>& dim)
+    {
+        std::pair<std::size_t, char_int_type> size_and_type;
+        size_t dimlen = 0;
+        bool no_ndarray = true;
+
+        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_type(size_and_type, no_ndarray)))
+        {
+            return false;
+        }
+
+        if (size_and_type.first != npos)
+        {
+            if (size_and_type.second != 0)
+            {
+                if (size_and_type.second != 'N')
+                {
+                    for (std::size_t i = 0; i < size_and_type.first; ++i)
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_value(dimlen, no_ndarray, size_and_type.second)))
+                        {
+                            return false;
+                        }
+                        dim.push_back(dimlen);
+                    }
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_value(dimlen, no_ndarray)))
+                    {
+                        return false;
+                    }
+                    dim.push_back(dimlen);
+                }
+            }
+        }
+        else
+        {
+            while (current != ']')
+            {
+                if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_value(dimlen, no_ndarray, current)))
+                {
+                    return false;
+                }
+                dim.push_back(dimlen);
+                get_ignore_noop();
+            }
+        }
+        return true;
+    }
+
+    /*!
+    @param[out] result  determined size
+    @param[in,out] is_ndarray  for input, `true` means already inside an ndarray vector
+                               or ndarray dimension is not allowed; `false` means ndarray
+                               is allowed; for output, `true` means an ndarray is found;
+                               is_ndarray can only return `true` when its initial value
+                               is `false`
+    @param[in] prefix  type marker if already read, otherwise set to 0
+
+    @return whether size determination completed
+    */
+    bool get_ubjson_size_value(std::size_t& result, bool& is_ndarray, char_int_type prefix = 0)
+    {
+        if (prefix == 0)
+        {
+            prefix = get_ignore_noop();
+        }
+
+        switch (prefix)
+        {
+            case 'U':
+            {
+                std::uint8_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'i':
+            {
+                std::int8_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                if (number < 0)
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(113, chars_read,
+                                            exception_message(input_format, "count in an optimized container must be positive", "size"), nullptr));
+                }
+                result = static_cast<std::size_t>(number); // NOLINT(bugprone-signed-char-misuse,cert-str34-c): number is not a char
+                return true;
+            }
+
+            case 'I':
+            {
+                std::int16_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                if (number < 0)
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(113, chars_read,
+                                            exception_message(input_format, "count in an optimized container must be positive", "size"), nullptr));
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'l':
+            {
+                std::int32_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                if (number < 0)
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(113, chars_read,
+                                            exception_message(input_format, "count in an optimized container must be positive", "size"), nullptr));
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'L':
+            {
+                std::int64_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                if (number < 0)
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(113, chars_read,
+                                            exception_message(input_format, "count in an optimized container must be positive", "size"), nullptr));
+                }
+                if (!value_in_range_of<std::size_t>(number))
+                {
+                    return sax->parse_error(chars_read, get_token_string(), out_of_range::create(408,
+                                            exception_message(input_format, "integer value overflow", "size"), nullptr));
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'u':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint16_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'm':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint32_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                result = conditional_static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'M':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint64_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                if (!value_in_range_of<std::size_t>(number))
+                {
+                    return sax->parse_error(chars_read, get_token_string(), out_of_range::create(408,
+                                            exception_message(input_format, "integer value overflow", "size"), nullptr));
+                }
+                result = detail::conditional_static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case '[':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                if (is_ndarray) // ndarray dimensional vector can only contain integers, and can not embed another array
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(113, chars_read, exception_message(input_format, "ndarray dimensional vector is not allowed", "size"), nullptr));
+                }
+                std::vector<size_t> dim;
+                if (JSON_HEDLEY_UNLIKELY(!get_ubjson_ndarray_size(dim)))
+                {
+                    return false;
+                }
+                if (dim.size() == 1 || (dim.size() == 2 && dim.at(0) == 1)) // return normal array size if 1D row vector
+                {
+                    result = dim.at(dim.size() - 1);
+                    return true;
+                }
+                if (!dim.empty())  // if ndarray, convert to an object in JData annotated array format
+                {
+                    for (auto i : dim) // test if any dimension in an ndarray is 0, if so, return a 1D empty container
+                    {
+                        if ( i == 0 )
+                        {
+                            result = 0;
+                            return true;
+                        }
+                    }
+
+                    string_t key = "_ArraySize_";
+                    if (JSON_HEDLEY_UNLIKELY(!sax->start_object(3) || !sax->key(key) || !sax->start_array(dim.size())))
+                    {
+                        return false;
+                    }
+                    result = 1;
+                    for (auto i : dim)
+                    {
+                        result *= i;
+                        if (result == 0 || result == npos) // because dim elements shall not have zeros, result = 0 means overflow happened; it also can't be npos as it is used to initialize size in get_ubjson_size_type()
+                        {
+                            return sax->parse_error(chars_read, get_token_string(), out_of_range::create(408, exception_message(input_format, "excessive ndarray size caused overflow", "size"), nullptr));
+                        }
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_unsigned(static_cast<number_unsigned_t>(i))))
+                        {
+                            return false;
+                        }
+                    }
+                    is_ndarray = true;
+                    return sax->end_array();
+                }
+                result = 0;
+                return true;
+            }
+
+            default:
+                break;
+        }
+        auto last_token = get_token_string();
+        std::string message;
+
+        if (input_format != input_format_t::bjdata)
+        {
+            message = "expected length type specification (U, i, I, l, L) after '#'; last byte: 0x" + last_token;
+        }
+        else
+        {
+            message = "expected length type specification (U, i, u, I, m, l, M, L) after '#'; last byte: 0x" + last_token;
+        }
+        return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format, message, "size"), nullptr));
+    }
+
+    /*!
+    @brief determine the type and size for a container
+
+    In the optimized UBJSON format, a type and a size can be provided to allow
+    for a more compact representation.
+
+    @param[out] result  pair of the size and the type
+    @param[in] inside_ndarray  whether the parser is parsing an ND array dimensional vector
+
+    @return whether pair creation completed
+    */
+    bool get_ubjson_size_type(std::pair<std::size_t, char_int_type>& result, bool inside_ndarray = false)
+    {
+        result.first = npos; // size
+        result.second = 0; // type
+        bool is_ndarray = false;
+
+        get_ignore_noop();
+
+        if (current == '$')
+        {
+            result.second = get();  // must not ignore 'N', because 'N' maybe the type
+            if (input_format == input_format_t::bjdata
+                    && JSON_HEDLEY_UNLIKELY(std::binary_search(bjd_optimized_type_markers.begin(), bjd_optimized_type_markers.end(), result.second)))
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                        exception_message(input_format, concat("marker 0x", last_token, " is not a permitted optimized array type"), "type"), nullptr));
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "type")))
+            {
+                return false;
+            }
+
+            get_ignore_noop();
+            if (JSON_HEDLEY_UNLIKELY(current != '#'))
+            {
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "value")))
+                {
+                    return false;
+                }
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                        exception_message(input_format, concat("expected '#' after type information; last byte: 0x", last_token), "size"), nullptr));
+            }
+
+            const bool is_error = get_ubjson_size_value(result.first, is_ndarray);
+            if (input_format == input_format_t::bjdata && is_ndarray)
+            {
+                if (inside_ndarray)
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(112, chars_read,
+                                            exception_message(input_format, "ndarray can not be recursive", "size"), nullptr));
+                }
+                result.second |= (1 << 8); // use bit 8 to indicate ndarray, all UBJSON and BJData markers should be ASCII letters
+            }
+            return is_error;
+        }
+
+        if (current == '#')
+        {
+            const bool is_error = get_ubjson_size_value(result.first, is_ndarray);
+            if (input_format == input_format_t::bjdata && is_ndarray)
+            {
+                return sax->parse_error(chars_read, get_token_string(), parse_error::create(112, chars_read,
+                                        exception_message(input_format, "ndarray requires both type and size", "size"), nullptr));
+            }
+            return is_error;
+        }
+
+        return true;
+    }
+
+    /*!
+    @param prefix  the previously read or set type prefix
+    @return whether value creation completed
+    */
+    bool get_ubjson_value(const char_int_type prefix)
+    {
+        switch (prefix)
+        {
+            case std::char_traits<char_type>::eof():  // EOF
+                return unexpect_eof(input_format, "value");
+
+            case 'T':  // true
+                return sax->boolean(true);
+            case 'F':  // false
+                return sax->boolean(false);
+
+            case 'Z':  // null
+                return sax->null();
+
+            case 'U':
+            {
+                std::uint8_t number{};
+                return get_number(input_format, number) && sax->number_unsigned(number);
+            }
+
+            case 'i':
+            {
+                std::int8_t number{};
+                return get_number(input_format, number) && sax->number_integer(number);
+            }
+
+            case 'I':
+            {
+                std::int16_t number{};
+                return get_number(input_format, number) && sax->number_integer(number);
+            }
+
+            case 'l':
+            {
+                std::int32_t number{};
+                return get_number(input_format, number) && sax->number_integer(number);
+            }
+
+            case 'L':
+            {
+                std::int64_t number{};
+                return get_number(input_format, number) && sax->number_integer(number);
+            }
+
+            case 'u':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint16_t number{};
+                return get_number(input_format, number) && sax->number_unsigned(number);
+            }
+
+            case 'm':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint32_t number{};
+                return get_number(input_format, number) && sax->number_unsigned(number);
+            }
+
+            case 'M':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint64_t number{};
+                return get_number(input_format, number) && sax->number_unsigned(number);
+            }
+
+            case 'h':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                const auto byte1_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "number")))
+                {
+                    return false;
+                }
+                const auto byte2_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "number")))
+                {
+                    return false;
+                }
+
+                const auto byte1 = static_cast<unsigned char>(byte1_raw);
+                const auto byte2 = static_cast<unsigned char>(byte2_raw);
+
+                // code from RFC 7049, Appendix D, Figure 3:
+                // As half-precision floating-point numbers were only added
+                // to IEEE 754 in 2008, today's programming platforms often
+                // still only have limited support for them. It is very
+                // easy to include at least decoding support for them even
+                // without such support. An example of a small decoder for
+                // half-precision floating-point numbers in the C language
+                // is shown in Fig. 3.
+                const auto half = static_cast<unsigned int>((byte2 << 8u) + byte1);
+                const double val = [&half]
+                {
+                    const int exp = (half >> 10u) & 0x1Fu;
+                    const unsigned int mant = half & 0x3FFu;
+                    JSON_ASSERT(0 <= exp&& exp <= 32);
+                    JSON_ASSERT(mant <= 1024);
+                    switch (exp)
+                    {
+                        case 0:
+                            return std::ldexp(mant, -24);
+                        case 31:
+                            return (mant == 0)
+                            ? std::numeric_limits<double>::infinity()
+                            : std::numeric_limits<double>::quiet_NaN();
+                        default:
+                            return std::ldexp(mant + 1024, exp - 25);
+                    }
+                }();
+                return sax->number_float((half & 0x8000u) != 0
+                                         ? static_cast<number_float_t>(-val)
+                                         : static_cast<number_float_t>(val), "");
+            }
+
+            case 'd':
+            {
+                float number{};
+                return get_number(input_format, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'D':
+            {
+                double number{};
+                return get_number(input_format, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'H':
+            {
+                return get_ubjson_high_precision_number();
+            }
+
+            case 'C':  // char
+            {
+                get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "char")))
+                {
+                    return false;
+                }
+                if (JSON_HEDLEY_UNLIKELY(current > 127))
+                {
+                    auto last_token = get_token_string();
+                    return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read,
+                                            exception_message(input_format, concat("byte after 'C' must be in range 0x00..0x7F; last byte: 0x", last_token), "char"), nullptr));
+                }
+                string_t s(1, static_cast<typename string_t::value_type>(current));
+                return sax->string(s);
+            }
+
+            case 'S':  // string
+            {
+                string_t s;
+                return get_ubjson_string(s) && sax->string(s);
+            }
+
+            case '[':  // array
+                return get_ubjson_array();
+
+            case '{':  // object
+                return get_ubjson_object();
+
+            default: // anything else
+                break;
+        }
+        auto last_token = get_token_string();
+        return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format, "invalid byte: 0x" + last_token, "value"), nullptr));
+    }
+
+    /*!
+    @return whether array creation completed
+    */
+    bool get_ubjson_array()
+    {
+        std::pair<std::size_t, char_int_type> size_and_type;
+        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        // if bit-8 of size_and_type.second is set to 1, encode bjdata ndarray as an object in JData annotated array format (https://github.com/NeuroJSON/jdata):
+        // {"_ArrayType_" : "typeid", "_ArraySize_" : [n1, n2, ...], "_ArrayData_" : [v1, v2, ...]}
+
+        if (input_format == input_format_t::bjdata && size_and_type.first != npos && (size_and_type.second & (1 << 8)) != 0)
+        {
+            size_and_type.second &= ~(static_cast<char_int_type>(1) << 8);  // use bit 8 to indicate ndarray, here we remove the bit to restore the type marker
+            auto it = std::lower_bound(bjd_types_map.begin(), bjd_types_map.end(), size_and_type.second, [](const bjd_type & p, char_int_type t)
+            {
+                return p.first < t;
+            });
+            string_t key = "_ArrayType_";
+            if (JSON_HEDLEY_UNLIKELY(it == bjd_types_map.end() || it->first != size_and_type.second))
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                        exception_message(input_format, "invalid byte: 0x" + last_token, "type"), nullptr));
+            }
+
+            string_t type = it->second; // sax->string() takes a reference
+            if (JSON_HEDLEY_UNLIKELY(!sax->key(key) || !sax->string(type)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second == 'C')
+            {
+                size_and_type.second = 'U';
+            }
+
+            key = "_ArrayData_";
+            if (JSON_HEDLEY_UNLIKELY(!sax->key(key) || !sax->start_array(size_and_type.first) ))
+            {
+                return false;
+            }
+
+            for (std::size_t i = 0; i < size_and_type.first; ++i)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!get_ubjson_value(size_and_type.second)))
+                {
+                    return false;
+                }
+            }
+
+            return (sax->end_array() && sax->end_object());
+        }
+
+        if (size_and_type.first != npos)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_array(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                if (size_and_type.second != 'N')
+                {
+                    for (std::size_t i = 0; i < size_and_type.first; ++i)
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_value(size_and_type.second)))
+                        {
+                            return false;
+                        }
+                    }
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                }
+            }
+        }
+        else
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_array(static_cast<std::size_t>(-1))))
+            {
+                return false;
+            }
+
+            while (current != ']')
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal(false)))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @return whether object creation completed
+    */
+    bool get_ubjson_object()
+    {
+        std::pair<std::size_t, char_int_type> size_and_type;
+        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        // do not accept ND-array size in objects in BJData
+        if (input_format == input_format_t::bjdata && size_and_type.first != npos && (size_and_type.second & (1 << 8)) != 0)
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                    exception_message(input_format, "BJData object does not support ND-array size in optimized format", "object"), nullptr));
+        }
+
+        string_t key;
+        if (size_and_type.first != npos)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_object(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_value(size_and_type.second)))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+        }
+        else
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_object(static_cast<std::size_t>(-1))))
+            {
+                return false;
+            }
+
+            while (current != '}')
+            {
+                if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key, false) || !sax->key(key)))
+                {
+                    return false;
+                }
+                if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+                key.clear();
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    // Note, no reader for UBJSON binary types is implemented because they do
+    // not exist
+
+    bool get_ubjson_high_precision_number()
+    {
+        // get size of following number string
+        std::size_t size{};
+        bool no_ndarray = true;
+        auto res = get_ubjson_size_value(size, no_ndarray);
+        if (JSON_HEDLEY_UNLIKELY(!res))
+        {
+            return res;
+        }
+
+        // get number string
+        std::vector<char> number_vector;
+        for (std::size_t i = 0; i < size; ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "number")))
+            {
+                return false;
+            }
+            number_vector.push_back(static_cast<char>(current));
+        }
+
+        // parse number string
+        using ia_type = decltype(detail::input_adapter(number_vector));
+        auto number_lexer = detail::lexer<BasicJsonType, ia_type>(detail::input_adapter(number_vector), false);
+        const auto result_number = number_lexer.scan();
+        const auto number_string = number_lexer.get_token_string();
+        const auto result_remainder = number_lexer.scan();
+
+        using token_type = typename detail::lexer_base<BasicJsonType>::token_type;
+
+        if (JSON_HEDLEY_UNLIKELY(result_remainder != token_type::end_of_input))
+        {
+            return sax->parse_error(chars_read, number_string, parse_error::create(115, chars_read,
+                                    exception_message(input_format, concat("invalid number text: ", number_lexer.get_token_string()), "high-precision number"), nullptr));
+        }
+
+        switch (result_number)
+        {
+            case token_type::value_integer:
+                return sax->number_integer(number_lexer.get_number_integer());
+            case token_type::value_unsigned:
+                return sax->number_unsigned(number_lexer.get_number_unsigned());
+            case token_type::value_float:
+                return sax->number_float(number_lexer.get_number_float(), std::move(number_string));
+            case token_type::uninitialized:
+            case token_type::literal_true:
+            case token_type::literal_false:
+            case token_type::literal_null:
+            case token_type::value_string:
+            case token_type::begin_array:
+            case token_type::begin_object:
+            case token_type::end_array:
+            case token_type::end_object:
+            case token_type::name_separator:
+            case token_type::value_separator:
+            case token_type::parse_error:
+            case token_type::end_of_input:
+            case token_type::literal_or_value:
+            default:
+                return sax->parse_error(chars_read, number_string, parse_error::create(115, chars_read,
+                                        exception_message(input_format, concat("invalid number text: ", number_lexer.get_token_string()), "high-precision number"), nullptr));
+        }
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*!
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a -'ve valued
+    `std::char_traits<char_type>::eof()` in that case.
+
+    @return character read from the input
+    */
+    char_int_type get()
+    {
+        ++chars_read;
+        return current = ia.get_character();
+    }
+
+    /*!
+    @return character read from the input after ignoring all 'N' entries
+    */
+    char_int_type get_ignore_noop()
+    {
+        do
+        {
+            get();
+        }
+        while (current == 'N');
+
+        return current;
+    }
+
+    /*
+    @brief read a number from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format   the current format (for diagnostics)
+    @param[out] result  number of type @a NumberType
+
+    @return whether conversion completed
+
+    @note This function needs to respect the system's endianness, because
+          bytes in CBOR, MessagePack, and UBJSON are stored in network order
+          (big endian) and therefore need reordering on little endian systems.
+          On the other hand, BSON and BJData use little endian and should reorder
+          on big endian systems.
+    */
+    template<typename NumberType, bool InputIsLittleEndian = false>
+    bool get_number(const input_format_t format, NumberType& result)
+    {
+        // step 1: read input into array with system's byte order
+        std::array<std::uint8_t, sizeof(NumberType)> vec{};
+        for (std::size_t i = 0; i < sizeof(NumberType); ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "number")))
+            {
+                return false;
+            }
+
+            // reverse byte order prior to conversion if necessary
+            if (is_little_endian != (InputIsLittleEndian || format == input_format_t::bjdata))
+            {
+                vec[sizeof(NumberType) - i - 1] = static_cast<std::uint8_t>(current);
+            }
+            else
+            {
+                vec[i] = static_cast<std::uint8_t>(current); // LCOV_EXCL_LINE
+            }
+        }
+
+        // step 2: convert array into number of type T and return
+        std::memcpy(&result, vec.data(), sizeof(NumberType));
+        return true;
+    }
+
+    /*!
+    @brief create a string by reading characters from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format the current format (for diagnostics)
+    @param[in] len number of characters to read
+    @param[out] result string created by reading @a len bytes
+
+    @return whether string creation completed
+
+    @note We can not reserve @a len bytes for the result, because @a len
+          may be too large. Usually, @ref unexpect_eof() detects the end of
+          the input before we run out of string memory.
+    */
+    template<typename NumberType>
+    bool get_string(const input_format_t format,
+                    const NumberType len,
+                    string_t& result)
+    {
+        bool success = true;
+        for (NumberType i = 0; i < len; i++)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "string")))
+            {
+                success = false;
+                break;
+            }
+            result.push_back(static_cast<typename string_t::value_type>(current));
+        }
+        return success;
+    }
+
+    /*!
+    @brief create a byte array by reading bytes from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format the current format (for diagnostics)
+    @param[in] len number of bytes to read
+    @param[out] result byte array created by reading @a len bytes
+
+    @return whether byte array creation completed
+
+    @note We can not reserve @a len bytes for the result, because @a len
+          may be too large. Usually, @ref unexpect_eof() detects the end of
+          the input before we run out of memory.
+    */
+    template<typename NumberType>
+    bool get_binary(const input_format_t format,
+                    const NumberType len,
+                    binary_t& result)
+    {
+        bool success = true;
+        for (NumberType i = 0; i < len; i++)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "binary")))
+            {
+                success = false;
+                break;
+            }
+            result.push_back(static_cast<std::uint8_t>(current));
+        }
+        return success;
+    }
+
+    /*!
+    @param[in] format   the current format (for diagnostics)
+    @param[in] context  further context information (for diagnostics)
+    @return whether the last read character is not EOF
+    */
+    JSON_HEDLEY_NON_NULL(3)
+    bool unexpect_eof(const input_format_t format, const char* context) const
+    {
+        if (JSON_HEDLEY_UNLIKELY(current == std::char_traits<char_type>::eof()))
+        {
+            return sax->parse_error(chars_read, "<end of file>",
+                                    parse_error::create(110, chars_read, exception_message(format, "unexpected end of input", context), nullptr));
+        }
+        return true;
+    }
+
+    /*!
+    @return a string representation of the last read byte
+    */
+    std::string get_token_string() const
+    {
+        std::array<char, 3> cr{{}};
+        static_cast<void>((std::snprintf)(cr.data(), cr.size(), "%.2hhX", static_cast<unsigned char>(current))); // NOLINT(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+        return std::string{cr.data()};
+    }
+
+    /*!
+    @param[in] format   the current format
+    @param[in] detail   a detailed error message
+    @param[in] context  further context information
+    @return a message string to use in the parse_error exceptions
+    */
+    std::string exception_message(const input_format_t format,
+                                  const std::string& detail,
+                                  const std::string& context) const
+    {
+        std::string error_msg = "syntax error while parsing ";
+
+        switch (format)
+        {
+            case input_format_t::cbor:
+                error_msg += "CBOR";
+                break;
+
+            case input_format_t::msgpack:
+                error_msg += "MessagePack";
+                break;
+
+            case input_format_t::ubjson:
+                error_msg += "UBJSON";
+                break;
+
+            case input_format_t::bson:
+                error_msg += "BSON";
+                break;
+
+            case input_format_t::bjdata:
+                error_msg += "BJData";
+                break;
+
+            case input_format_t::json: // LCOV_EXCL_LINE
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        }
+
+        return concat(error_msg, ' ', context, ": ", detail);
+    }
+
+  private:
+    static JSON_INLINE_VARIABLE constexpr std::size_t npos = static_cast<std::size_t>(-1);
+
+    /// input adapter
+    InputAdapterType ia;
+
+    /// the current character
+    char_int_type current = std::char_traits<char_type>::eof();
+
+    /// the number of characters read
+    std::size_t chars_read = 0;
+
+    /// whether we can assume little endianness
+    const bool is_little_endian = little_endianness();
+
+    /// input format
+    const input_format_t input_format = input_format_t::json;
+
+    /// the SAX parser
+    json_sax_t* sax = nullptr;
+
+    // excluded markers in bjdata optimized type
+#define JSON_BINARY_READER_MAKE_BJD_OPTIMIZED_TYPE_MARKERS_ \
+    make_array<char_int_type>('F', 'H', 'N', 'S', 'T', 'Z', '[', '{')
+
+#define JSON_BINARY_READER_MAKE_BJD_TYPES_MAP_ \
+    make_array<bjd_type>(                      \
+    bjd_type{'C', "char"},                     \
+    bjd_type{'D', "double"},                   \
+    bjd_type{'I', "int16"},                    \
+    bjd_type{'L', "int64"},                    \
+    bjd_type{'M', "uint64"},                   \
+    bjd_type{'U', "uint8"},                    \
+    bjd_type{'d', "single"},                   \
+    bjd_type{'i', "int8"},                     \
+    bjd_type{'l', "int32"},                    \
+    bjd_type{'m', "uint32"},                   \
+    bjd_type{'u', "uint16"})
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    // lookup tables
+    // NOLINTNEXTLINE(cppcoreguidelines-non-private-member-variables-in-classes)
+    const decltype(JSON_BINARY_READER_MAKE_BJD_OPTIMIZED_TYPE_MARKERS_) bjd_optimized_type_markers =
+        JSON_BINARY_READER_MAKE_BJD_OPTIMIZED_TYPE_MARKERS_;
+
+    using bjd_type = std::pair<char_int_type, string_t>;
+    // NOLINTNEXTLINE(cppcoreguidelines-non-private-member-variables-in-classes)
+    const decltype(JSON_BINARY_READER_MAKE_BJD_TYPES_MAP_) bjd_types_map =
+        JSON_BINARY_READER_MAKE_BJD_TYPES_MAP_;
+
+#undef JSON_BINARY_READER_MAKE_BJD_OPTIMIZED_TYPE_MARKERS_
+#undef JSON_BINARY_READER_MAKE_BJD_TYPES_MAP_
+};
+
+#ifndef JSON_HAS_CPP_17
+    template<typename BasicJsonType, typename InputAdapterType, typename SAX>
+    constexpr std::size_t binary_reader<BasicJsonType, InputAdapterType, SAX>::npos;
+#endif
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/input_adapters.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/input_adapters.hpp
new file mode 100644
index 0000000..cf53b1d
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/input_adapters.hpp
@@ -0,0 +1,494 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <array> // array
+#include <cstddef> // size_t
+#include <cstring> // strlen
+#include <iterator> // begin, end, iterator_traits, random_access_iterator_tag, distance, next
+#include <memory> // shared_ptr, make_shared, addressof
+#include <numeric> // accumulate
+#include <string> // string, char_traits
+#include <type_traits> // enable_if, is_base_of, is_pointer, is_integral, remove_pointer
+#include <utility> // pair, declval
+
+#ifndef JSON_NO_IO
+    #include <cstdio>   // FILE *
+    #include <istream>  // istream
+#endif                  // JSON_NO_IO
+
+#include <nlohmann/detail/iterators/iterator_traits.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/// the supported input formats
+enum class input_format_t { json, cbor, msgpack, ubjson, bson, bjdata };
+
+////////////////////
+// input adapters //
+////////////////////
+
+#ifndef JSON_NO_IO
+/*!
+Input adapter for stdio file access. This adapter read only 1 byte and do not use any
+ buffer. This adapter is a very low level adapter.
+*/
+class file_input_adapter
+{
+  public:
+    using char_type = char;
+
+    JSON_HEDLEY_NON_NULL(2)
+    explicit file_input_adapter(std::FILE* f) noexcept
+        : m_file(f)
+    {
+        JSON_ASSERT(m_file != nullptr);
+    }
+
+    // make class move-only
+    file_input_adapter(const file_input_adapter&) = delete;
+    file_input_adapter(file_input_adapter&&) noexcept = default;
+    file_input_adapter& operator=(const file_input_adapter&) = delete;
+    file_input_adapter& operator=(file_input_adapter&&) = delete;
+    ~file_input_adapter() = default;
+
+    std::char_traits<char>::int_type get_character() noexcept
+    {
+        return std::fgetc(m_file);
+    }
+
+  private:
+    /// the file pointer to read from
+    std::FILE* m_file;
+};
+
+
+/*!
+Input adapter for a (caching) istream. Ignores a UFT Byte Order Mark at
+beginning of input. Does not support changing the underlying std::streambuf
+in mid-input. Maintains underlying std::istream and std::streambuf to support
+subsequent use of standard std::istream operations to process any input
+characters following those used in parsing the JSON input.  Clears the
+std::istream flags; any input errors (e.g., EOF) will be detected by the first
+subsequent call for input from the std::istream.
+*/
+class input_stream_adapter
+{
+  public:
+    using char_type = char;
+
+    ~input_stream_adapter()
+    {
+        // clear stream flags; we use underlying streambuf I/O, do not
+        // maintain ifstream flags, except eof
+        if (is != nullptr)
+        {
+            is->clear(is->rdstate() & std::ios::eofbit);
+        }
+    }
+
+    explicit input_stream_adapter(std::istream& i)
+        : is(&i), sb(i.rdbuf())
+    {}
+
+    // delete because of pointer members
+    input_stream_adapter(const input_stream_adapter&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&&) = delete;
+
+    input_stream_adapter(input_stream_adapter&& rhs) noexcept
+        : is(rhs.is), sb(rhs.sb)
+    {
+        rhs.is = nullptr;
+        rhs.sb = nullptr;
+    }
+
+    // std::istream/std::streambuf use std::char_traits<char>::to_int_type, to
+    // ensure that std::char_traits<char>::eof() and the character 0xFF do not
+    // end up as the same value, e.g. 0xFFFFFFFF.
+    std::char_traits<char>::int_type get_character()
+    {
+        auto res = sb->sbumpc();
+        // set eof manually, as we don't use the istream interface.
+        if (JSON_HEDLEY_UNLIKELY(res == std::char_traits<char>::eof()))
+        {
+            is->clear(is->rdstate() | std::ios::eofbit);
+        }
+        return res;
+    }
+
+  private:
+    /// the associated input stream
+    std::istream* is = nullptr;
+    std::streambuf* sb = nullptr;
+};
+#endif  // JSON_NO_IO
+
+// General-purpose iterator-based adapter. It might not be as fast as
+// theoretically possible for some containers, but it is extremely versatile.
+template<typename IteratorType>
+class iterator_input_adapter
+{
+  public:
+    using char_type = typename std::iterator_traits<IteratorType>::value_type;
+
+    iterator_input_adapter(IteratorType first, IteratorType last)
+        : current(std::move(first)), end(std::move(last))
+    {}
+
+    typename std::char_traits<char_type>::int_type get_character()
+    {
+        if (JSON_HEDLEY_LIKELY(current != end))
+        {
+            auto result = std::char_traits<char_type>::to_int_type(*current);
+            std::advance(current, 1);
+            return result;
+        }
+
+        return std::char_traits<char_type>::eof();
+    }
+
+  private:
+    IteratorType current;
+    IteratorType end;
+
+    template<typename BaseInputAdapter, size_t T>
+    friend struct wide_string_input_helper;
+
+    bool empty() const
+    {
+        return current == end;
+    }
+};
+
+
+template<typename BaseInputAdapter, size_t T>
+struct wide_string_input_helper;
+
+template<typename BaseInputAdapter>
+struct wide_string_input_helper<BaseInputAdapter, 4>
+{
+    // UTF-32
+    static void fill_buffer(BaseInputAdapter& input,
+                            std::array<std::char_traits<char>::int_type, 4>& utf8_bytes,
+                            size_t& utf8_bytes_index,
+                            size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (JSON_HEDLEY_UNLIKELY(input.empty()))
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = input.get_character();
+
+            // UTF-32 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xC0u | ((static_cast<unsigned int>(wc) >> 6u) & 0x1Fu));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 2;
+            }
+            else if (wc <= 0xFFFF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xE0u | ((static_cast<unsigned int>(wc) >> 12u) & 0x0Fu));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 3;
+            }
+            else if (wc <= 0x10FFFF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xF0u | ((static_cast<unsigned int>(wc) >> 18u) & 0x07u));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 12u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[3] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 4;
+            }
+            else
+            {
+                // unknown character
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+        }
+    }
+};
+
+template<typename BaseInputAdapter>
+struct wide_string_input_helper<BaseInputAdapter, 2>
+{
+    // UTF-16
+    static void fill_buffer(BaseInputAdapter& input,
+                            std::array<std::char_traits<char>::int_type, 4>& utf8_bytes,
+                            size_t& utf8_bytes_index,
+                            size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (JSON_HEDLEY_UNLIKELY(input.empty()))
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = input.get_character();
+
+            // UTF-16 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xC0u | ((static_cast<unsigned int>(wc) >> 6u)));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 2;
+            }
+            else if (0xD800 > wc || wc >= 0xE000)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xE0u | ((static_cast<unsigned int>(wc) >> 12u)));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 3;
+            }
+            else
+            {
+                if (JSON_HEDLEY_UNLIKELY(!input.empty()))
+                {
+                    const auto wc2 = static_cast<unsigned int>(input.get_character());
+                    const auto charcode = 0x10000u + (((static_cast<unsigned int>(wc) & 0x3FFu) << 10u) | (wc2 & 0x3FFu));
+                    utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xF0u | (charcode >> 18u));
+                    utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((charcode >> 12u) & 0x3Fu));
+                    utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | ((charcode >> 6u) & 0x3Fu));
+                    utf8_bytes[3] = static_cast<std::char_traits<char>::int_type>(0x80u | (charcode & 0x3Fu));
+                    utf8_bytes_filled = 4;
+                }
+                else
+                {
+                    utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                    utf8_bytes_filled = 1;
+                }
+            }
+        }
+    }
+};
+
+// Wraps another input apdater to convert wide character types into individual bytes.
+template<typename BaseInputAdapter, typename WideCharType>
+class wide_string_input_adapter
+{
+  public:
+    using char_type = char;
+
+    wide_string_input_adapter(BaseInputAdapter base)
+        : base_adapter(base) {}
+
+    typename std::char_traits<char>::int_type get_character() noexcept
+    {
+        // check if buffer needs to be filled
+        if (utf8_bytes_index == utf8_bytes_filled)
+        {
+            fill_buffer<sizeof(WideCharType)>();
+
+            JSON_ASSERT(utf8_bytes_filled > 0);
+            JSON_ASSERT(utf8_bytes_index == 0);
+        }
+
+        // use buffer
+        JSON_ASSERT(utf8_bytes_filled > 0);
+        JSON_ASSERT(utf8_bytes_index < utf8_bytes_filled);
+        return utf8_bytes[utf8_bytes_index++];
+    }
+
+  private:
+    BaseInputAdapter base_adapter;
+
+    template<size_t T>
+    void fill_buffer()
+    {
+        wide_string_input_helper<BaseInputAdapter, T>::fill_buffer(base_adapter, utf8_bytes, utf8_bytes_index, utf8_bytes_filled);
+    }
+
+    /// a buffer for UTF-8 bytes
+    std::array<std::char_traits<char>::int_type, 4> utf8_bytes = {{0, 0, 0, 0}};
+
+    /// index to the utf8_codes array for the next valid byte
+    std::size_t utf8_bytes_index = 0;
+    /// number of valid bytes in the utf8_codes array
+    std::size_t utf8_bytes_filled = 0;
+};
+
+
+template<typename IteratorType, typename Enable = void>
+struct iterator_input_adapter_factory
+{
+    using iterator_type = IteratorType;
+    using char_type = typename std::iterator_traits<iterator_type>::value_type;
+    using adapter_type = iterator_input_adapter<iterator_type>;
+
+    static adapter_type create(IteratorType first, IteratorType last)
+    {
+        return adapter_type(std::move(first), std::move(last));
+    }
+};
+
+template<typename T>
+struct is_iterator_of_multibyte
+{
+    using value_type = typename std::iterator_traits<T>::value_type;
+    enum
+    {
+        value = sizeof(value_type) > 1
+    };
+};
+
+template<typename IteratorType>
+struct iterator_input_adapter_factory<IteratorType, enable_if_t<is_iterator_of_multibyte<IteratorType>::value>>
+{
+    using iterator_type = IteratorType;
+    using char_type = typename std::iterator_traits<iterator_type>::value_type;
+    using base_adapter_type = iterator_input_adapter<iterator_type>;
+    using adapter_type = wide_string_input_adapter<base_adapter_type, char_type>;
+
+    static adapter_type create(IteratorType first, IteratorType last)
+    {
+        return adapter_type(base_adapter_type(std::move(first), std::move(last)));
+    }
+};
+
+// General purpose iterator-based input
+template<typename IteratorType>
+typename iterator_input_adapter_factory<IteratorType>::adapter_type input_adapter(IteratorType first, IteratorType last)
+{
+    using factory_type = iterator_input_adapter_factory<IteratorType>;
+    return factory_type::create(first, last);
+}
+
+// Convenience shorthand from container to iterator
+// Enables ADL on begin(container) and end(container)
+// Encloses the using declarations in namespace for not to leak them to outside scope
+
+namespace container_input_adapter_factory_impl
+{
+
+using std::begin;
+using std::end;
+
+template<typename ContainerType, typename Enable = void>
+struct container_input_adapter_factory {};
+
+template<typename ContainerType>
+struct container_input_adapter_factory< ContainerType,
+       void_t<decltype(begin(std::declval<ContainerType>()), end(std::declval<ContainerType>()))>>
+       {
+           using adapter_type = decltype(input_adapter(begin(std::declval<ContainerType>()), end(std::declval<ContainerType>())));
+
+           static adapter_type create(const ContainerType& container)
+{
+    return input_adapter(begin(container), end(container));
+}
+       };
+
+}  // namespace container_input_adapter_factory_impl
+
+template<typename ContainerType>
+typename container_input_adapter_factory_impl::container_input_adapter_factory<ContainerType>::adapter_type input_adapter(const ContainerType& container)
+{
+    return container_input_adapter_factory_impl::container_input_adapter_factory<ContainerType>::create(container);
+}
+
+#ifndef JSON_NO_IO
+// Special cases with fast paths
+inline file_input_adapter input_adapter(std::FILE* file)
+{
+    return file_input_adapter(file);
+}
+
+inline input_stream_adapter input_adapter(std::istream& stream)
+{
+    return input_stream_adapter(stream);
+}
+
+inline input_stream_adapter input_adapter(std::istream&& stream)
+{
+    return input_stream_adapter(stream);
+}
+#endif  // JSON_NO_IO
+
+using contiguous_bytes_input_adapter = decltype(input_adapter(std::declval<const char*>(), std::declval<const char*>()));
+
+// Null-delimited strings, and the like.
+template < typename CharT,
+           typename std::enable_if <
+               std::is_pointer<CharT>::value&&
+               !std::is_array<CharT>::value&&
+               std::is_integral<typename std::remove_pointer<CharT>::type>::value&&
+               sizeof(typename std::remove_pointer<CharT>::type) == 1,
+               int >::type = 0 >
+contiguous_bytes_input_adapter input_adapter(CharT b)
+{
+    auto length = std::strlen(reinterpret_cast<const char*>(b));
+    const auto* ptr = reinterpret_cast<const char*>(b);
+    return input_adapter(ptr, ptr + length);
+}
+
+template<typename T, std::size_t N>
+auto input_adapter(T (&array)[N]) -> decltype(input_adapter(array, array + N)) // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+{
+    return input_adapter(array, array + N);
+}
+
+// This class only handles inputs of input_buffer_adapter type.
+// It's required so that expressions like {ptr, len} can be implicitly cast
+// to the correct adapter.
+class span_input_adapter
+{
+  public:
+    template < typename CharT,
+               typename std::enable_if <
+                   std::is_pointer<CharT>::value&&
+                   std::is_integral<typename std::remove_pointer<CharT>::type>::value&&
+                   sizeof(typename std::remove_pointer<CharT>::type) == 1,
+                   int >::type = 0 >
+    span_input_adapter(CharT b, std::size_t l)
+        : ia(reinterpret_cast<const char*>(b), reinterpret_cast<const char*>(b) + l) {}
+
+    template<class IteratorType,
+             typename std::enable_if<
+                 std::is_same<typename iterator_traits<IteratorType>::iterator_category, std::random_access_iterator_tag>::value,
+                 int>::type = 0>
+    span_input_adapter(IteratorType first, IteratorType last)
+        : ia(input_adapter(first, last)) {}
+
+    contiguous_bytes_input_adapter&& get()
+    {
+        return std::move(ia); // NOLINT(hicpp-move-const-arg,performance-move-const-arg)
+    }
+
+  private:
+    contiguous_bytes_input_adapter ia;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/json_sax.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/json_sax.hpp
new file mode 100644
index 0000000..1bf46c2
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/json_sax.hpp
@@ -0,0 +1,728 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstddef>
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+#include <nlohmann/detail/exceptions.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/string_concat.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/*!
+@brief SAX interface
+
+This class describes the SAX interface used by @ref nlohmann::json::sax_parse.
+Each function is called in different situations while the input is parsed. The
+boolean return value informs the parser whether to continue processing the
+input.
+*/
+template<typename BasicJsonType>
+struct json_sax
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    /*!
+    @brief a null value was read
+    @return whether parsing should proceed
+    */
+    virtual bool null() = 0;
+
+    /*!
+    @brief a boolean value was read
+    @param[in] val  boolean value
+    @return whether parsing should proceed
+    */
+    virtual bool boolean(bool val) = 0;
+
+    /*!
+    @brief an integer number was read
+    @param[in] val  integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_integer(number_integer_t val) = 0;
+
+    /*!
+    @brief an unsigned integer number was read
+    @param[in] val  unsigned integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_unsigned(number_unsigned_t val) = 0;
+
+    /*!
+    @brief a floating-point number was read
+    @param[in] val  floating-point value
+    @param[in] s    raw token value
+    @return whether parsing should proceed
+    */
+    virtual bool number_float(number_float_t val, const string_t& s) = 0;
+
+    /*!
+    @brief a string value was read
+    @param[in] val  string value
+    @return whether parsing should proceed
+    @note It is safe to move the passed string value.
+    */
+    virtual bool string(string_t& val) = 0;
+
+    /*!
+    @brief a binary value was read
+    @param[in] val  binary value
+    @return whether parsing should proceed
+    @note It is safe to move the passed binary value.
+    */
+    virtual bool binary(binary_t& val) = 0;
+
+    /*!
+    @brief the beginning of an object was read
+    @param[in] elements  number of object elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_object(std::size_t elements) = 0;
+
+    /*!
+    @brief an object key was read
+    @param[in] val  object key
+    @return whether parsing should proceed
+    @note It is safe to move the passed string.
+    */
+    virtual bool key(string_t& val) = 0;
+
+    /*!
+    @brief the end of an object was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_object() = 0;
+
+    /*!
+    @brief the beginning of an array was read
+    @param[in] elements  number of array elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_array(std::size_t elements) = 0;
+
+    /*!
+    @brief the end of an array was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_array() = 0;
+
+    /*!
+    @brief a parse error occurred
+    @param[in] position    the position in the input where the error occurs
+    @param[in] last_token  the last read token
+    @param[in] ex          an exception object describing the error
+    @return whether parsing should proceed (must return false)
+    */
+    virtual bool parse_error(std::size_t position,
+                             const std::string& last_token,
+                             const detail::exception& ex) = 0;
+
+    json_sax() = default;
+    json_sax(const json_sax&) = default;
+    json_sax(json_sax&&) noexcept = default;
+    json_sax& operator=(const json_sax&) = default;
+    json_sax& operator=(json_sax&&) noexcept = default;
+    virtual ~json_sax() = default;
+};
+
+
+namespace detail
+{
+/*!
+@brief SAX implementation to create a JSON value from SAX events
+
+This class implements the @ref json_sax interface and processes the SAX events
+to create a JSON value which makes it basically a DOM parser. The structure or
+hierarchy of the JSON value is managed by the stack `ref_stack` which contains
+a pointer to the respective array or object for each recursion depth.
+
+After successful parsing, the value that is passed by reference to the
+constructor contains the parsed value.
+
+@tparam BasicJsonType  the JSON type
+*/
+template<typename BasicJsonType>
+class json_sax_dom_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    /*!
+    @param[in,out] r  reference to a JSON value that is manipulated while
+                       parsing
+    @param[in] allow_exceptions_  whether parse errors yield exceptions
+    */
+    explicit json_sax_dom_parser(BasicJsonType& r, const bool allow_exceptions_ = true)
+        : root(r), allow_exceptions(allow_exceptions_)
+    {}
+
+    // make class move-only
+    json_sax_dom_parser(const json_sax_dom_parser&) = delete;
+    json_sax_dom_parser(json_sax_dom_parser&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    json_sax_dom_parser& operator=(const json_sax_dom_parser&) = delete;
+    json_sax_dom_parser& operator=(json_sax_dom_parser&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    ~json_sax_dom_parser() = default;
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool binary(binary_t& val)
+    {
+        handle_value(std::move(val));
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::object));
+
+        if (JSON_HEDLEY_UNLIKELY(len != static_cast<std::size_t>(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, concat("excessive object size: ", std::to_string(len)), ref_stack.back()));
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(ref_stack.back()->is_object());
+
+        // add null at given key and store the reference for later
+        object_element = &(ref_stack.back()->m_data.m_value.object->operator[](val));
+        return true;
+    }
+
+    bool end_object()
+    {
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(ref_stack.back()->is_object());
+
+        ref_stack.back()->set_parents();
+        ref_stack.pop_back();
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::array));
+
+        if (JSON_HEDLEY_UNLIKELY(len != static_cast<std::size_t>(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, concat("excessive array size: ", std::to_string(len)), ref_stack.back()));
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(ref_stack.back()->is_array());
+
+        ref_stack.back()->set_parents();
+        ref_stack.pop_back();
+        return true;
+    }
+
+    template<class Exception>
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const Exception& ex)
+    {
+        errored = true;
+        static_cast<void>(ex);
+        if (allow_exceptions)
+        {
+            JSON_THROW(ex);
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+    */
+    template<typename Value>
+    JSON_HEDLEY_RETURNS_NON_NULL
+    BasicJsonType* handle_value(Value&& v)
+    {
+        if (ref_stack.empty())
+        {
+            root = BasicJsonType(std::forward<Value>(v));
+            return &root;
+        }
+
+        JSON_ASSERT(ref_stack.back()->is_array() || ref_stack.back()->is_object());
+
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_data.m_value.array->emplace_back(std::forward<Value>(v));
+            return &(ref_stack.back()->m_data.m_value.array->back());
+        }
+
+        JSON_ASSERT(ref_stack.back()->is_object());
+        JSON_ASSERT(object_element);
+        *object_element = BasicJsonType(std::forward<Value>(v));
+        return object_element;
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack {};
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+
+template<typename BasicJsonType>
+class json_sax_dom_callback_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using parser_callback_t = typename BasicJsonType::parser_callback_t;
+    using parse_event_t = typename BasicJsonType::parse_event_t;
+
+    json_sax_dom_callback_parser(BasicJsonType& r,
+                                 const parser_callback_t cb,
+                                 const bool allow_exceptions_ = true)
+        : root(r), callback(cb), allow_exceptions(allow_exceptions_)
+    {
+        keep_stack.push_back(true);
+    }
+
+    // make class move-only
+    json_sax_dom_callback_parser(const json_sax_dom_callback_parser&) = delete;
+    json_sax_dom_callback_parser(json_sax_dom_callback_parser&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    json_sax_dom_callback_parser& operator=(const json_sax_dom_callback_parser&) = delete;
+    json_sax_dom_callback_parser& operator=(json_sax_dom_callback_parser&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    ~json_sax_dom_callback_parser() = default;
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool binary(binary_t& val)
+    {
+        handle_value(std::move(val));
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        // check callback for object start
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::object_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::object, true);
+        ref_stack.push_back(val.second);
+
+        // check object limit
+        if (ref_stack.back() && JSON_HEDLEY_UNLIKELY(len != static_cast<std::size_t>(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, concat("excessive object size: ", std::to_string(len)), ref_stack.back()));
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        BasicJsonType k = BasicJsonType(val);
+
+        // check callback for key
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::key, k);
+        key_keep_stack.push_back(keep);
+
+        // add discarded value at given key and store the reference for later
+        if (keep && ref_stack.back())
+        {
+            object_element = &(ref_stack.back()->m_data.m_value.object->operator[](val) = discarded);
+        }
+
+        return true;
+    }
+
+    bool end_object()
+    {
+        if (ref_stack.back())
+        {
+            if (!callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::object_end, *ref_stack.back()))
+            {
+                // discard object
+                *ref_stack.back() = discarded;
+            }
+            else
+            {
+                ref_stack.back()->set_parents();
+            }
+        }
+
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(!keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        if (!ref_stack.empty() && ref_stack.back() && ref_stack.back()->is_structured())
+        {
+            // remove discarded value
+            for (auto it = ref_stack.back()->begin(); it != ref_stack.back()->end(); ++it)
+            {
+                if (it->is_discarded())
+                {
+                    ref_stack.back()->erase(it);
+                    break;
+                }
+            }
+        }
+
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::array_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::array, true);
+        ref_stack.push_back(val.second);
+
+        // check array limit
+        if (ref_stack.back() && JSON_HEDLEY_UNLIKELY(len != static_cast<std::size_t>(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, concat("excessive array size: ", std::to_string(len)), ref_stack.back()));
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        bool keep = true;
+
+        if (ref_stack.back())
+        {
+            keep = callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::array_end, *ref_stack.back());
+            if (keep)
+            {
+                ref_stack.back()->set_parents();
+            }
+            else
+            {
+                // discard array
+                *ref_stack.back() = discarded;
+            }
+        }
+
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(!keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        // remove discarded value
+        if (!keep && !ref_stack.empty() && ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_data.m_value.array->pop_back();
+        }
+
+        return true;
+    }
+
+    template<class Exception>
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const Exception& ex)
+    {
+        errored = true;
+        static_cast<void>(ex);
+        if (allow_exceptions)
+        {
+            JSON_THROW(ex);
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @param[in] v  value to add to the JSON value we build during parsing
+    @param[in] skip_callback  whether we should skip calling the callback
+               function; this is required after start_array() and
+               start_object() SAX events, because otherwise we would call the
+               callback function with an empty array or object, respectively.
+
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+
+    @return pair of boolean (whether value should be kept) and pointer (to the
+            passed value in the ref_stack hierarchy; nullptr if not kept)
+    */
+    template<typename Value>
+    std::pair<bool, BasicJsonType*> handle_value(Value&& v, const bool skip_callback = false)
+    {
+        JSON_ASSERT(!keep_stack.empty());
+
+        // do not handle this value if we know it would be added to a discarded
+        // container
+        if (!keep_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // create value
+        auto value = BasicJsonType(std::forward<Value>(v));
+
+        // check callback
+        const bool keep = skip_callback || callback(static_cast<int>(ref_stack.size()), parse_event_t::value, value);
+
+        // do not handle this value if we just learnt it shall be discarded
+        if (!keep)
+        {
+            return {false, nullptr};
+        }
+
+        if (ref_stack.empty())
+        {
+            root = std::move(value);
+            return {true, &root};
+        }
+
+        // skip this value if we already decided to skip the parent
+        // (https://github.com/nlohmann/json/issues/971#issuecomment-413678360)
+        if (!ref_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // we now only expect arrays and objects
+        JSON_ASSERT(ref_stack.back()->is_array() || ref_stack.back()->is_object());
+
+        // array
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_data.m_value.array->emplace_back(std::move(value));
+            return {true, &(ref_stack.back()->m_data.m_value.array->back())};
+        }
+
+        // object
+        JSON_ASSERT(ref_stack.back()->is_object());
+        // check if we should store an element for the current key
+        JSON_ASSERT(!key_keep_stack.empty());
+        const bool store_element = key_keep_stack.back();
+        key_keep_stack.pop_back();
+
+        if (!store_element)
+        {
+            return {false, nullptr};
+        }
+
+        JSON_ASSERT(object_element);
+        *object_element = std::move(value);
+        return {true, object_element};
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack {};
+    /// stack to manage which values to keep
+    std::vector<bool> keep_stack {};
+    /// stack to manage which object keys to keep
+    std::vector<bool> key_keep_stack {};
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// callback function
+    const parser_callback_t callback = nullptr;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+    /// a discarded value for the callback
+    BasicJsonType discarded = BasicJsonType::value_t::discarded;
+};
+
+template<typename BasicJsonType>
+class json_sax_acceptor
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    bool null()
+    {
+        return true;
+    }
+
+    bool boolean(bool /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_integer(number_integer_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_float(number_float_t /*unused*/, const string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool string(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool binary(binary_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool start_object(std::size_t /*unused*/ = static_cast<std::size_t>(-1))
+    {
+        return true;
+    }
+
+    bool key(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool end_object()
+    {
+        return true;
+    }
+
+    bool start_array(std::size_t /*unused*/ = static_cast<std::size_t>(-1))
+    {
+        return true;
+    }
+
+    bool end_array()
+    {
+        return true;
+    }
+
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/, const detail::exception& /*unused*/)
+    {
+        return false;
+    }
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/lexer.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/lexer.hpp
new file mode 100644
index 0000000..72e9951
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/lexer.hpp
@@ -0,0 +1,1632 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <array> // array
+#include <clocale> // localeconv
+#include <cstddef> // size_t
+#include <cstdio> // snprintf
+#include <cstdlib> // strtof, strtod, strtold, strtoll, strtoull
+#include <initializer_list> // initializer_list
+#include <string> // char_traits, string
+#include <utility> // move
+#include <vector> // vector
+
+#include <nlohmann/detail/input/input_adapters.hpp>
+#include <nlohmann/detail/input/position_t.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+///////////
+// lexer //
+///////////
+
+template<typename BasicJsonType>
+class lexer_base
+{
+  public:
+    /// token types for the parser
+    enum class token_type
+    {
+        uninitialized,    ///< indicating the scanner is uninitialized
+        literal_true,     ///< the `true` literal
+        literal_false,    ///< the `false` literal
+        literal_null,     ///< the `null` literal
+        value_string,     ///< a string -- use get_string() for actual value
+        value_unsigned,   ///< an unsigned integer -- use get_number_unsigned() for actual value
+        value_integer,    ///< a signed integer -- use get_number_integer() for actual value
+        value_float,      ///< an floating point number -- use get_number_float() for actual value
+        begin_array,      ///< the character for array begin `[`
+        begin_object,     ///< the character for object begin `{`
+        end_array,        ///< the character for array end `]`
+        end_object,       ///< the character for object end `}`
+        name_separator,   ///< the name separator `:`
+        value_separator,  ///< the value separator `,`
+        parse_error,      ///< indicating a parse error
+        end_of_input,     ///< indicating the end of the input buffer
+        literal_or_value  ///< a literal or the begin of a value (only for diagnostics)
+    };
+
+    /// return name of values of type token_type (only used for errors)
+    JSON_HEDLEY_RETURNS_NON_NULL
+    JSON_HEDLEY_CONST
+    static const char* token_type_name(const token_type t) noexcept
+    {
+        switch (t)
+        {
+            case token_type::uninitialized:
+                return "<uninitialized>";
+            case token_type::literal_true:
+                return "true literal";
+            case token_type::literal_false:
+                return "false literal";
+            case token_type::literal_null:
+                return "null literal";
+            case token_type::value_string:
+                return "string literal";
+            case token_type::value_unsigned:
+            case token_type::value_integer:
+            case token_type::value_float:
+                return "number literal";
+            case token_type::begin_array:
+                return "'['";
+            case token_type::begin_object:
+                return "'{'";
+            case token_type::end_array:
+                return "']'";
+            case token_type::end_object:
+                return "'}'";
+            case token_type::name_separator:
+                return "':'";
+            case token_type::value_separator:
+                return "','";
+            case token_type::parse_error:
+                return "<parse error>";
+            case token_type::end_of_input:
+                return "end of input";
+            case token_type::literal_or_value:
+                return "'[', '{', or a literal";
+            // LCOV_EXCL_START
+            default: // catch non-enum values
+                return "unknown token";
+                // LCOV_EXCL_STOP
+        }
+    }
+};
+/*!
+@brief lexical analysis
+
+This class organizes the lexical analysis during JSON deserialization.
+*/
+template<typename BasicJsonType, typename InputAdapterType>
+class lexer : public lexer_base<BasicJsonType>
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using char_type = typename InputAdapterType::char_type;
+    using char_int_type = typename std::char_traits<char_type>::int_type;
+
+  public:
+    using token_type = typename lexer_base<BasicJsonType>::token_type;
+
+    explicit lexer(InputAdapterType&& adapter, bool ignore_comments_ = false) noexcept
+        : ia(std::move(adapter))
+        , ignore_comments(ignore_comments_)
+        , decimal_point_char(static_cast<char_int_type>(get_decimal_point()))
+    {}
+
+    // delete because of pointer members
+    lexer(const lexer&) = delete;
+    lexer(lexer&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    lexer& operator=(lexer&) = delete;
+    lexer& operator=(lexer&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    ~lexer() = default;
+
+  private:
+    /////////////////////
+    // locales
+    /////////////////////
+
+    /// return the locale-dependent decimal point
+    JSON_HEDLEY_PURE
+    static char get_decimal_point() noexcept
+    {
+        const auto* loc = localeconv();
+        JSON_ASSERT(loc != nullptr);
+        return (loc->decimal_point == nullptr) ? '.' : *(loc->decimal_point);
+    }
+
+    /////////////////////
+    // scan functions
+    /////////////////////
+
+    /*!
+    @brief get codepoint from 4 hex characters following `\u`
+
+    For input "\u c1 c2 c3 c4" the codepoint is:
+      (c1 * 0x1000) + (c2 * 0x0100) + (c3 * 0x0010) + c4
+    = (c1 << 12) + (c2 << 8) + (c3 << 4) + (c4 << 0)
+
+    Furthermore, the possible characters '0'..'9', 'A'..'F', and 'a'..'f'
+    must be converted to the integers 0x0..0x9, 0xA..0xF, 0xA..0xF, resp. The
+    conversion is done by subtracting the offset (0x30, 0x37, and 0x57)
+    between the ASCII value of the character and the desired integer value.
+
+    @return codepoint (0x0000..0xFFFF) or -1 in case of an error (e.g. EOF or
+            non-hex character)
+    */
+    int get_codepoint()
+    {
+        // this function only makes sense after reading `\u`
+        JSON_ASSERT(current == 'u');
+        int codepoint = 0;
+
+        const auto factors = { 12u, 8u, 4u, 0u };
+        for (const auto factor : factors)
+        {
+            get();
+
+            if (current >= '0' && current <= '9')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x30u) << factor);
+            }
+            else if (current >= 'A' && current <= 'F')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x37u) << factor);
+            }
+            else if (current >= 'a' && current <= 'f')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x57u) << factor);
+            }
+            else
+            {
+                return -1;
+            }
+        }
+
+        JSON_ASSERT(0x0000 <= codepoint && codepoint <= 0xFFFF);
+        return codepoint;
+    }
+
+    /*!
+    @brief check if the next byte(s) are inside a given range
+
+    Adds the current byte and, for each passed range, reads a new byte and
+    checks if it is inside the range. If a violation was detected, set up an
+    error message and return false. Otherwise, return true.
+
+    @param[in] ranges  list of integers; interpreted as list of pairs of
+                       inclusive lower and upper bound, respectively
+
+    @pre The passed list @a ranges must have 2, 4, or 6 elements; that is,
+         1, 2, or 3 pairs. This precondition is enforced by an assertion.
+
+    @return true if and only if no range violation was detected
+    */
+    bool next_byte_in_range(std::initializer_list<char_int_type> ranges)
+    {
+        JSON_ASSERT(ranges.size() == 2 || ranges.size() == 4 || ranges.size() == 6);
+        add(current);
+
+        for (auto range = ranges.begin(); range != ranges.end(); ++range)
+        {
+            get();
+            if (JSON_HEDLEY_LIKELY(*range <= current && current <= *(++range)))
+            {
+                add(current);
+            }
+            else
+            {
+                error_message = "invalid string: ill-formed UTF-8 byte";
+                return false;
+            }
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief scan a string literal
+
+    This function scans a string according to Sect. 7 of RFC 8259. While
+    scanning, bytes are escaped and copied into buffer token_buffer. Then the
+    function returns successfully, token_buffer is *not* null-terminated (as it
+    may contain \0 bytes), and token_buffer.size() is the number of bytes in the
+    string.
+
+    @return token_type::value_string if string could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note In case of errors, variable error_message contains a textual
+          description.
+    */
+    token_type scan_string()
+    {
+        // reset token_buffer (ignore opening quote)
+        reset();
+
+        // we entered the function by reading an open quote
+        JSON_ASSERT(current == '\"');
+
+        while (true)
+        {
+            // get next character
+            switch (get())
+            {
+                // end of file while parsing string
+                case std::char_traits<char_type>::eof():
+                {
+                    error_message = "invalid string: missing closing quote";
+                    return token_type::parse_error;
+                }
+
+                // closing quote
+                case '\"':
+                {
+                    return token_type::value_string;
+                }
+
+                // escapes
+                case '\\':
+                {
+                    switch (get())
+                    {
+                        // quotation mark
+                        case '\"':
+                            add('\"');
+                            break;
+                        // reverse solidus
+                        case '\\':
+                            add('\\');
+                            break;
+                        // solidus
+                        case '/':
+                            add('/');
+                            break;
+                        // backspace
+                        case 'b':
+                            add('\b');
+                            break;
+                        // form feed
+                        case 'f':
+                            add('\f');
+                            break;
+                        // line feed
+                        case 'n':
+                            add('\n');
+                            break;
+                        // carriage return
+                        case 'r':
+                            add('\r');
+                            break;
+                        // tab
+                        case 't':
+                            add('\t');
+                            break;
+
+                        // unicode escapes
+                        case 'u':
+                        {
+                            const int codepoint1 = get_codepoint();
+                            int codepoint = codepoint1; // start with codepoint1
+
+                            if (JSON_HEDLEY_UNLIKELY(codepoint1 == -1))
+                            {
+                                error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                return token_type::parse_error;
+                            }
+
+                            // check if code point is a high surrogate
+                            if (0xD800 <= codepoint1 && codepoint1 <= 0xDBFF)
+                            {
+                                // expect next \uxxxx entry
+                                if (JSON_HEDLEY_LIKELY(get() == '\\' && get() == 'u'))
+                                {
+                                    const int codepoint2 = get_codepoint();
+
+                                    if (JSON_HEDLEY_UNLIKELY(codepoint2 == -1))
+                                    {
+                                        error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                        return token_type::parse_error;
+                                    }
+
+                                    // check if codepoint2 is a low surrogate
+                                    if (JSON_HEDLEY_LIKELY(0xDC00 <= codepoint2 && codepoint2 <= 0xDFFF))
+                                    {
+                                        // overwrite codepoint
+                                        codepoint = static_cast<int>(
+                                                        // high surrogate occupies the most significant 22 bits
+                                                        (static_cast<unsigned int>(codepoint1) << 10u)
+                                                        // low surrogate occupies the least significant 15 bits
+                                                        + static_cast<unsigned int>(codepoint2)
+                                                        // there is still the 0xD800, 0xDC00 and 0x10000 noise
+                                                        // in the result, so we have to subtract with:
+                                                        // (0xD800 << 10) + DC00 - 0x10000 = 0x35FDC00
+                                                        - 0x35FDC00u);
+                                    }
+                                    else
+                                    {
+                                        error_message = "invalid string: surrogate U+D800..U+DBFF must be followed by U+DC00..U+DFFF";
+                                        return token_type::parse_error;
+                                    }
+                                }
+                                else
+                                {
+                                    error_message = "invalid string: surrogate U+D800..U+DBFF must be followed by U+DC00..U+DFFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+                            else
+                            {
+                                if (JSON_HEDLEY_UNLIKELY(0xDC00 <= codepoint1 && codepoint1 <= 0xDFFF))
+                                {
+                                    error_message = "invalid string: surrogate U+DC00..U+DFFF must follow U+D800..U+DBFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+
+                            // result of the above calculation yields a proper codepoint
+                            JSON_ASSERT(0x00 <= codepoint && codepoint <= 0x10FFFF);
+
+                            // translate codepoint into bytes
+                            if (codepoint < 0x80)
+                            {
+                                // 1-byte characters: 0xxxxxxx (ASCII)
+                                add(static_cast<char_int_type>(codepoint));
+                            }
+                            else if (codepoint <= 0x7FF)
+                            {
+                                // 2-byte characters: 110xxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xC0u | (static_cast<unsigned int>(codepoint) >> 6u)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+                            else if (codepoint <= 0xFFFF)
+                            {
+                                // 3-byte characters: 1110xxxx 10xxxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xE0u | (static_cast<unsigned int>(codepoint) >> 12u)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 6u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+                            else
+                            {
+                                // 4-byte characters: 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xF0u | (static_cast<unsigned int>(codepoint) >> 18u)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 12u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 6u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+
+                            break;
+                        }
+
+                        // other characters after escape
+                        default:
+                            error_message = "invalid string: forbidden character after backslash";
+                            return token_type::parse_error;
+                    }
+
+                    break;
+                }
+
+                // invalid control characters
+                case 0x00:
+                {
+                    error_message = "invalid string: control character U+0000 (NUL) must be escaped to \\u0000";
+                    return token_type::parse_error;
+                }
+
+                case 0x01:
+                {
+                    error_message = "invalid string: control character U+0001 (SOH) must be escaped to \\u0001";
+                    return token_type::parse_error;
+                }
+
+                case 0x02:
+                {
+                    error_message = "invalid string: control character U+0002 (STX) must be escaped to \\u0002";
+                    return token_type::parse_error;
+                }
+
+                case 0x03:
+                {
+                    error_message = "invalid string: control character U+0003 (ETX) must be escaped to \\u0003";
+                    return token_type::parse_error;
+                }
+
+                case 0x04:
+                {
+                    error_message = "invalid string: control character U+0004 (EOT) must be escaped to \\u0004";
+                    return token_type::parse_error;
+                }
+
+                case 0x05:
+                {
+                    error_message = "invalid string: control character U+0005 (ENQ) must be escaped to \\u0005";
+                    return token_type::parse_error;
+                }
+
+                case 0x06:
+                {
+                    error_message = "invalid string: control character U+0006 (ACK) must be escaped to \\u0006";
+                    return token_type::parse_error;
+                }
+
+                case 0x07:
+                {
+                    error_message = "invalid string: control character U+0007 (BEL) must be escaped to \\u0007";
+                    return token_type::parse_error;
+                }
+
+                case 0x08:
+                {
+                    error_message = "invalid string: control character U+0008 (BS) must be escaped to \\u0008 or \\b";
+                    return token_type::parse_error;
+                }
+
+                case 0x09:
+                {
+                    error_message = "invalid string: control character U+0009 (HT) must be escaped to \\u0009 or \\t";
+                    return token_type::parse_error;
+                }
+
+                case 0x0A:
+                {
+                    error_message = "invalid string: control character U+000A (LF) must be escaped to \\u000A or \\n";
+                    return token_type::parse_error;
+                }
+
+                case 0x0B:
+                {
+                    error_message = "invalid string: control character U+000B (VT) must be escaped to \\u000B";
+                    return token_type::parse_error;
+                }
+
+                case 0x0C:
+                {
+                    error_message = "invalid string: control character U+000C (FF) must be escaped to \\u000C or \\f";
+                    return token_type::parse_error;
+                }
+
+                case 0x0D:
+                {
+                    error_message = "invalid string: control character U+000D (CR) must be escaped to \\u000D or \\r";
+                    return token_type::parse_error;
+                }
+
+                case 0x0E:
+                {
+                    error_message = "invalid string: control character U+000E (SO) must be escaped to \\u000E";
+                    return token_type::parse_error;
+                }
+
+                case 0x0F:
+                {
+                    error_message = "invalid string: control character U+000F (SI) must be escaped to \\u000F";
+                    return token_type::parse_error;
+                }
+
+                case 0x10:
+                {
+                    error_message = "invalid string: control character U+0010 (DLE) must be escaped to \\u0010";
+                    return token_type::parse_error;
+                }
+
+                case 0x11:
+                {
+                    error_message = "invalid string: control character U+0011 (DC1) must be escaped to \\u0011";
+                    return token_type::parse_error;
+                }
+
+                case 0x12:
+                {
+                    error_message = "invalid string: control character U+0012 (DC2) must be escaped to \\u0012";
+                    return token_type::parse_error;
+                }
+
+                case 0x13:
+                {
+                    error_message = "invalid string: control character U+0013 (DC3) must be escaped to \\u0013";
+                    return token_type::parse_error;
+                }
+
+                case 0x14:
+                {
+                    error_message = "invalid string: control character U+0014 (DC4) must be escaped to \\u0014";
+                    return token_type::parse_error;
+                }
+
+                case 0x15:
+                {
+                    error_message = "invalid string: control character U+0015 (NAK) must be escaped to \\u0015";
+                    return token_type::parse_error;
+                }
+
+                case 0x16:
+                {
+                    error_message = "invalid string: control character U+0016 (SYN) must be escaped to \\u0016";
+                    return token_type::parse_error;
+                }
+
+                case 0x17:
+                {
+                    error_message = "invalid string: control character U+0017 (ETB) must be escaped to \\u0017";
+                    return token_type::parse_error;
+                }
+
+                case 0x18:
+                {
+                    error_message = "invalid string: control character U+0018 (CAN) must be escaped to \\u0018";
+                    return token_type::parse_error;
+                }
+
+                case 0x19:
+                {
+                    error_message = "invalid string: control character U+0019 (EM) must be escaped to \\u0019";
+                    return token_type::parse_error;
+                }
+
+                case 0x1A:
+                {
+                    error_message = "invalid string: control character U+001A (SUB) must be escaped to \\u001A";
+                    return token_type::parse_error;
+                }
+
+                case 0x1B:
+                {
+                    error_message = "invalid string: control character U+001B (ESC) must be escaped to \\u001B";
+                    return token_type::parse_error;
+                }
+
+                case 0x1C:
+                {
+                    error_message = "invalid string: control character U+001C (FS) must be escaped to \\u001C";
+                    return token_type::parse_error;
+                }
+
+                case 0x1D:
+                {
+                    error_message = "invalid string: control character U+001D (GS) must be escaped to \\u001D";
+                    return token_type::parse_error;
+                }
+
+                case 0x1E:
+                {
+                    error_message = "invalid string: control character U+001E (RS) must be escaped to \\u001E";
+                    return token_type::parse_error;
+                }
+
+                case 0x1F:
+                {
+                    error_message = "invalid string: control character U+001F (US) must be escaped to \\u001F";
+                    return token_type::parse_error;
+                }
+
+                // U+0020..U+007F (except U+0022 (quote) and U+005C (backspace))
+                case 0x20:
+                case 0x21:
+                case 0x23:
+                case 0x24:
+                case 0x25:
+                case 0x26:
+                case 0x27:
+                case 0x28:
+                case 0x29:
+                case 0x2A:
+                case 0x2B:
+                case 0x2C:
+                case 0x2D:
+                case 0x2E:
+                case 0x2F:
+                case 0x30:
+                case 0x31:
+                case 0x32:
+                case 0x33:
+                case 0x34:
+                case 0x35:
+                case 0x36:
+                case 0x37:
+                case 0x38:
+                case 0x39:
+                case 0x3A:
+                case 0x3B:
+                case 0x3C:
+                case 0x3D:
+                case 0x3E:
+                case 0x3F:
+                case 0x40:
+                case 0x41:
+                case 0x42:
+                case 0x43:
+                case 0x44:
+                case 0x45:
+                case 0x46:
+                case 0x47:
+                case 0x48:
+                case 0x49:
+                case 0x4A:
+                case 0x4B:
+                case 0x4C:
+                case 0x4D:
+                case 0x4E:
+                case 0x4F:
+                case 0x50:
+                case 0x51:
+                case 0x52:
+                case 0x53:
+                case 0x54:
+                case 0x55:
+                case 0x56:
+                case 0x57:
+                case 0x58:
+                case 0x59:
+                case 0x5A:
+                case 0x5B:
+                case 0x5D:
+                case 0x5E:
+                case 0x5F:
+                case 0x60:
+                case 0x61:
+                case 0x62:
+                case 0x63:
+                case 0x64:
+                case 0x65:
+                case 0x66:
+                case 0x67:
+                case 0x68:
+                case 0x69:
+                case 0x6A:
+                case 0x6B:
+                case 0x6C:
+                case 0x6D:
+                case 0x6E:
+                case 0x6F:
+                case 0x70:
+                case 0x71:
+                case 0x72:
+                case 0x73:
+                case 0x74:
+                case 0x75:
+                case 0x76:
+                case 0x77:
+                case 0x78:
+                case 0x79:
+                case 0x7A:
+                case 0x7B:
+                case 0x7C:
+                case 0x7D:
+                case 0x7E:
+                case 0x7F:
+                {
+                    add(current);
+                    break;
+                }
+
+                // U+0080..U+07FF: bytes C2..DF 80..BF
+                case 0xC2:
+                case 0xC3:
+                case 0xC4:
+                case 0xC5:
+                case 0xC6:
+                case 0xC7:
+                case 0xC8:
+                case 0xC9:
+                case 0xCA:
+                case 0xCB:
+                case 0xCC:
+                case 0xCD:
+                case 0xCE:
+                case 0xCF:
+                case 0xD0:
+                case 0xD1:
+                case 0xD2:
+                case 0xD3:
+                case 0xD4:
+                case 0xD5:
+                case 0xD6:
+                case 0xD7:
+                case 0xD8:
+                case 0xD9:
+                case 0xDA:
+                case 0xDB:
+                case 0xDC:
+                case 0xDD:
+                case 0xDE:
+                case 0xDF:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!next_byte_in_range({0x80, 0xBF})))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+0800..U+0FFF: bytes E0 A0..BF 80..BF
+                case 0xE0:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0xA0, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+1000..U+CFFF: bytes E1..EC 80..BF 80..BF
+                // U+E000..U+FFFF: bytes EE..EF 80..BF 80..BF
+                case 0xE1:
+                case 0xE2:
+                case 0xE3:
+                case 0xE4:
+                case 0xE5:
+                case 0xE6:
+                case 0xE7:
+                case 0xE8:
+                case 0xE9:
+                case 0xEA:
+                case 0xEB:
+                case 0xEC:
+                case 0xEE:
+                case 0xEF:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+D000..U+D7FF: bytes ED 80..9F 80..BF
+                case 0xED:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0x9F, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+10000..U+3FFFF F0 90..BF 80..BF 80..BF
+                case 0xF0:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x90, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+40000..U+FFFFF F1..F3 80..BF 80..BF 80..BF
+                case 0xF1:
+                case 0xF2:
+                case 0xF3:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+100000..U+10FFFF F4 80..8F 80..BF 80..BF
+                case 0xF4:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0x8F, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // remaining bytes (80..C1 and F5..FF) are ill-formed
+                default:
+                {
+                    error_message = "invalid string: ill-formed UTF-8 byte";
+                    return token_type::parse_error;
+                }
+            }
+        }
+    }
+
+    /*!
+     * @brief scan a comment
+     * @return whether comment could be scanned successfully
+     */
+    bool scan_comment()
+    {
+        switch (get())
+        {
+            // single-line comments skip input until a newline or EOF is read
+            case '/':
+            {
+                while (true)
+                {
+                    switch (get())
+                    {
+                        case '\n':
+                        case '\r':
+                        case std::char_traits<char_type>::eof():
+                        case '\0':
+                            return true;
+
+                        default:
+                            break;
+                    }
+                }
+            }
+
+            // multi-line comments skip input until */ is read
+            case '*':
+            {
+                while (true)
+                {
+                    switch (get())
+                    {
+                        case std::char_traits<char_type>::eof():
+                        case '\0':
+                        {
+                            error_message = "invalid comment; missing closing '*/'";
+                            return false;
+                        }
+
+                        case '*':
+                        {
+                            switch (get())
+                            {
+                                case '/':
+                                    return true;
+
+                                default:
+                                {
+                                    unget();
+                                    continue;
+                                }
+                            }
+                        }
+
+                        default:
+                            continue;
+                    }
+                }
+            }
+
+            // unexpected character after reading '/'
+            default:
+            {
+                error_message = "invalid comment; expecting '/' or '*' after '/'";
+                return false;
+            }
+        }
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(float& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtof(str, endptr);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtod(str, endptr);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(long double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtold(str, endptr);
+    }
+
+    /*!
+    @brief scan a number literal
+
+    This function scans a string according to Sect. 6 of RFC 8259.
+
+    The function is realized with a deterministic finite state machine derived
+    from the grammar described in RFC 8259. Starting in state "init", the
+    input is read and used to determined the next state. Only state "done"
+    accepts the number. State "error" is a trap state to model errors. In the
+    table below, "anything" means any character but the ones listed before.
+
+    state    | 0        | 1-9      | e E      | +       | -       | .        | anything
+    ---------|----------|----------|----------|---------|---------|----------|-----------
+    init     | zero     | any1     | [error]  | [error] | minus   | [error]  | [error]
+    minus    | zero     | any1     | [error]  | [error] | [error] | [error]  | [error]
+    zero     | done     | done     | exponent | done    | done    | decimal1 | done
+    any1     | any1     | any1     | exponent | done    | done    | decimal1 | done
+    decimal1 | decimal2 | decimal2 | [error]  | [error] | [error] | [error]  | [error]
+    decimal2 | decimal2 | decimal2 | exponent | done    | done    | done     | done
+    exponent | any2     | any2     | [error]  | sign    | sign    | [error]  | [error]
+    sign     | any2     | any2     | [error]  | [error] | [error] | [error]  | [error]
+    any2     | any2     | any2     | done     | done    | done    | done     | done
+
+    The state machine is realized with one label per state (prefixed with
+    "scan_number_") and `goto` statements between them. The state machine
+    contains cycles, but any cycle can be left when EOF is read. Therefore,
+    the function is guaranteed to terminate.
+
+    During scanning, the read bytes are stored in token_buffer. This string is
+    then converted to a signed integer, an unsigned integer, or a
+    floating-point number.
+
+    @return token_type::value_unsigned, token_type::value_integer, or
+            token_type::value_float if number could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note The scanner is independent of the current locale. Internally, the
+          locale's decimal point is used instead of `.` to work with the
+          locale-dependent converters.
+    */
+    token_type scan_number()  // lgtm [cpp/use-of-goto]
+    {
+        // reset token_buffer to store the number's bytes
+        reset();
+
+        // the type of the parsed number; initially set to unsigned; will be
+        // changed if minus sign, decimal point or exponent is read
+        token_type number_type = token_type::value_unsigned;
+
+        // state (init): we just found out we need to scan a number
+        switch (current)
+        {
+            case '-':
+            {
+                add(current);
+                goto scan_number_minus;
+            }
+
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            // all other characters are rejected outside scan_number()
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        }
+
+scan_number_minus:
+        // state: we just parsed a leading minus sign
+        number_type = token_type::value_integer;
+        switch (get())
+        {
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '-'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_zero:
+        // state: we just parse a zero (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_any1:
+        // state: we just parsed a number 0-9 (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_decimal1:
+        // state: we just parsed a decimal point
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '.'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_decimal2:
+        // we just parsed at least one number after a decimal point
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_exponent:
+        // we just parsed an exponent
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '+':
+            case '-':
+            {
+                add(current);
+                goto scan_number_sign;
+            }
+
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message =
+                    "invalid number; expected '+', '-', or digit after exponent";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_sign:
+        // we just parsed an exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after exponent sign";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_any2:
+        // we just parsed a number after the exponent or exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_done:
+        // unget the character after the number (we only read it to know that
+        // we are done scanning a number)
+        unget();
+
+        char* endptr = nullptr; // NOLINT(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+        errno = 0;
+
+        // try to parse integers first and fall back to floats
+        if (number_type == token_type::value_unsigned)
+        {
+            const auto x = std::strtoull(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_unsigned = static_cast<number_unsigned_t>(x);
+                if (value_unsigned == x)
+                {
+                    return token_type::value_unsigned;
+                }
+            }
+        }
+        else if (number_type == token_type::value_integer)
+        {
+            const auto x = std::strtoll(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_integer = static_cast<number_integer_t>(x);
+                if (value_integer == x)
+                {
+                    return token_type::value_integer;
+                }
+            }
+        }
+
+        // this code is reached if we parse a floating-point number or if an
+        // integer conversion above failed
+        strtof(value_float, token_buffer.data(), &endptr);
+
+        // we checked the number format before
+        JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+        return token_type::value_float;
+    }
+
+    /*!
+    @param[in] literal_text  the literal text to expect
+    @param[in] length        the length of the passed literal text
+    @param[in] return_type   the token type to return on success
+    */
+    JSON_HEDLEY_NON_NULL(2)
+    token_type scan_literal(const char_type* literal_text, const std::size_t length,
+                            token_type return_type)
+    {
+        JSON_ASSERT(std::char_traits<char_type>::to_char_type(current) == literal_text[0]);
+        for (std::size_t i = 1; i < length; ++i)
+        {
+            if (JSON_HEDLEY_UNLIKELY(std::char_traits<char_type>::to_char_type(get()) != literal_text[i]))
+            {
+                error_message = "invalid literal";
+                return token_type::parse_error;
+            }
+        }
+        return return_type;
+    }
+
+    /////////////////////
+    // input management
+    /////////////////////
+
+    /// reset token_buffer; current character is beginning of token
+    void reset() noexcept
+    {
+        token_buffer.clear();
+        token_string.clear();
+        token_string.push_back(std::char_traits<char_type>::to_char_type(current));
+    }
+
+    /*
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a
+    `std::char_traits<char>::eof()` in that case.  Stores the scanned characters
+    for use in error messages.
+
+    @return character read from the input
+    */
+    char_int_type get()
+    {
+        ++position.chars_read_total;
+        ++position.chars_read_current_line;
+
+        if (next_unget)
+        {
+            // just reset the next_unget variable and work with current
+            next_unget = false;
+        }
+        else
+        {
+            current = ia.get_character();
+        }
+
+        if (JSON_HEDLEY_LIKELY(current != std::char_traits<char_type>::eof()))
+        {
+            token_string.push_back(std::char_traits<char_type>::to_char_type(current));
+        }
+
+        if (current == '\n')
+        {
+            ++position.lines_read;
+            position.chars_read_current_line = 0;
+        }
+
+        return current;
+    }
+
+    /*!
+    @brief unget current character (read it again on next get)
+
+    We implement unget by setting variable next_unget to true. The input is not
+    changed - we just simulate ungetting by modifying chars_read_total,
+    chars_read_current_line, and token_string. The next call to get() will
+    behave as if the unget character is read again.
+    */
+    void unget()
+    {
+        next_unget = true;
+
+        --position.chars_read_total;
+
+        // in case we "unget" a newline, we have to also decrement the lines_read
+        if (position.chars_read_current_line == 0)
+        {
+            if (position.lines_read > 0)
+            {
+                --position.lines_read;
+            }
+        }
+        else
+        {
+            --position.chars_read_current_line;
+        }
+
+        if (JSON_HEDLEY_LIKELY(current != std::char_traits<char_type>::eof()))
+        {
+            JSON_ASSERT(!token_string.empty());
+            token_string.pop_back();
+        }
+    }
+
+    /// add a character to token_buffer
+    void add(char_int_type c)
+    {
+        token_buffer.push_back(static_cast<typename string_t::value_type>(c));
+    }
+
+  public:
+    /////////////////////
+    // value getters
+    /////////////////////
+
+    /// return integer value
+    constexpr number_integer_t get_number_integer() const noexcept
+    {
+        return value_integer;
+    }
+
+    /// return unsigned integer value
+    constexpr number_unsigned_t get_number_unsigned() const noexcept
+    {
+        return value_unsigned;
+    }
+
+    /// return floating-point value
+    constexpr number_float_t get_number_float() const noexcept
+    {
+        return value_float;
+    }
+
+    /// return current string value (implicitly resets the token; useful only once)
+    string_t& get_string()
+    {
+        return token_buffer;
+    }
+
+    /////////////////////
+    // diagnostics
+    /////////////////////
+
+    /// return position of last read token
+    constexpr position_t get_position() const noexcept
+    {
+        return position;
+    }
+
+    /// return the last read token (for errors only).  Will never contain EOF
+    /// (an arbitrary value that is not a valid char value, often -1), because
+    /// 255 may legitimately occur.  May contain NUL, which should be escaped.
+    std::string get_token_string() const
+    {
+        // escape control characters
+        std::string result;
+        for (const auto c : token_string)
+        {
+            if (static_cast<unsigned char>(c) <= '\x1F')
+            {
+                // escape control characters
+                std::array<char, 9> cs{{}};
+                static_cast<void>((std::snprintf)(cs.data(), cs.size(), "<U+%.4X>", static_cast<unsigned char>(c))); // NOLINT(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+                result += cs.data();
+            }
+            else
+            {
+                // add character as is
+                result.push_back(static_cast<std::string::value_type>(c));
+            }
+        }
+
+        return result;
+    }
+
+    /// return syntax error message
+    JSON_HEDLEY_RETURNS_NON_NULL
+    constexpr const char* get_error_message() const noexcept
+    {
+        return error_message;
+    }
+
+    /////////////////////
+    // actual scanner
+    /////////////////////
+
+    /*!
+    @brief skip the UTF-8 byte order mark
+    @return true iff there is no BOM or the correct BOM has been skipped
+    */
+    bool skip_bom()
+    {
+        if (get() == 0xEF)
+        {
+            // check if we completely parse the BOM
+            return get() == 0xBB && get() == 0xBF;
+        }
+
+        // the first character is not the beginning of the BOM; unget it to
+        // process is later
+        unget();
+        return true;
+    }
+
+    void skip_whitespace()
+    {
+        do
+        {
+            get();
+        }
+        while (current == ' ' || current == '\t' || current == '\n' || current == '\r');
+    }
+
+    token_type scan()
+    {
+        // initially, skip the BOM
+        if (position.chars_read_total == 0 && !skip_bom())
+        {
+            error_message = "invalid BOM; must be 0xEF 0xBB 0xBF if given";
+            return token_type::parse_error;
+        }
+
+        // read next character and ignore whitespace
+        skip_whitespace();
+
+        // ignore comments
+        while (ignore_comments && current == '/')
+        {
+            if (!scan_comment())
+            {
+                return token_type::parse_error;
+            }
+
+            // skip following whitespace
+            skip_whitespace();
+        }
+
+        switch (current)
+        {
+            // structural characters
+            case '[':
+                return token_type::begin_array;
+            case ']':
+                return token_type::end_array;
+            case '{':
+                return token_type::begin_object;
+            case '}':
+                return token_type::end_object;
+            case ':':
+                return token_type::name_separator;
+            case ',':
+                return token_type::value_separator;
+
+            // literals
+            case 't':
+            {
+                std::array<char_type, 4> true_literal = {{static_cast<char_type>('t'), static_cast<char_type>('r'), static_cast<char_type>('u'), static_cast<char_type>('e')}};
+                return scan_literal(true_literal.data(), true_literal.size(), token_type::literal_true);
+            }
+            case 'f':
+            {
+                std::array<char_type, 5> false_literal = {{static_cast<char_type>('f'), static_cast<char_type>('a'), static_cast<char_type>('l'), static_cast<char_type>('s'), static_cast<char_type>('e')}};
+                return scan_literal(false_literal.data(), false_literal.size(), token_type::literal_false);
+            }
+            case 'n':
+            {
+                std::array<char_type, 4> null_literal = {{static_cast<char_type>('n'), static_cast<char_type>('u'), static_cast<char_type>('l'), static_cast<char_type>('l')}};
+                return scan_literal(null_literal.data(), null_literal.size(), token_type::literal_null);
+            }
+
+            // string
+            case '\"':
+                return scan_string();
+
+            // number
+            case '-':
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+                return scan_number();
+
+            // end of input (the null byte is needed when parsing from
+            // string literals)
+            case '\0':
+            case std::char_traits<char_type>::eof():
+                return token_type::end_of_input;
+
+            // error
+            default:
+                error_message = "invalid literal";
+                return token_type::parse_error;
+        }
+    }
+
+  private:
+    /// input adapter
+    InputAdapterType ia;
+
+    /// whether comments should be ignored (true) or signaled as errors (false)
+    const bool ignore_comments = false;
+
+    /// the current character
+    char_int_type current = std::char_traits<char_type>::eof();
+
+    /// whether the next get() call should just return current
+    bool next_unget = false;
+
+    /// the start position of the current token
+    position_t position {};
+
+    /// raw input token string (for error messages)
+    std::vector<char_type> token_string {};
+
+    /// buffer for variable-length tokens (numbers, strings)
+    string_t token_buffer {};
+
+    /// a description of occurred lexer errors
+    const char* error_message = "";
+
+    // number values
+    number_integer_t value_integer = 0;
+    number_unsigned_t value_unsigned = 0;
+    number_float_t value_float = 0;
+
+    /// the decimal point
+    const char_int_type decimal_point_char = '.';
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/parser.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/parser.hpp
new file mode 100644
index 0000000..8acbd4f
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/parser.hpp
@@ -0,0 +1,507 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cmath> // isfinite
+#include <cstdint> // uint8_t
+#include <functional> // function
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+#include <nlohmann/detail/exceptions.hpp>
+#include <nlohmann/detail/input/input_adapters.hpp>
+#include <nlohmann/detail/input/json_sax.hpp>
+#include <nlohmann/detail/input/lexer.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/meta/is_sax.hpp>
+#include <nlohmann/detail/string_concat.hpp>
+#include <nlohmann/detail/value_t.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+////////////
+// parser //
+////////////
+
+enum class parse_event_t : std::uint8_t
+{
+    /// the parser read `{` and started to process a JSON object
+    object_start,
+    /// the parser read `}` and finished processing a JSON object
+    object_end,
+    /// the parser read `[` and started to process a JSON array
+    array_start,
+    /// the parser read `]` and finished processing a JSON array
+    array_end,
+    /// the parser read a key of a value in an object
+    key,
+    /// the parser finished reading a JSON value
+    value
+};
+
+template<typename BasicJsonType>
+using parser_callback_t =
+    std::function<bool(int /*depth*/, parse_event_t /*event*/, BasicJsonType& /*parsed*/)>;
+
+/*!
+@brief syntax analysis
+
+This class implements a recursive descent parser.
+*/
+template<typename BasicJsonType, typename InputAdapterType>
+class parser
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using lexer_t = lexer<BasicJsonType, InputAdapterType>;
+    using token_type = typename lexer_t::token_type;
+
+  public:
+    /// a parser reading from an input adapter
+    explicit parser(InputAdapterType&& adapter,
+                    const parser_callback_t<BasicJsonType> cb = nullptr,
+                    const bool allow_exceptions_ = true,
+                    const bool skip_comments = false)
+        : callback(cb)
+        , m_lexer(std::move(adapter), skip_comments)
+        , allow_exceptions(allow_exceptions_)
+    {
+        // read first token
+        get_token();
+    }
+
+    /*!
+    @brief public parser interface
+
+    @param[in] strict      whether to expect the last token to be EOF
+    @param[in,out] result  parsed JSON value
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+    */
+    void parse(const bool strict, BasicJsonType& result)
+    {
+        if (callback)
+        {
+            json_sax_dom_callback_parser<BasicJsonType> sdp(result, callback, allow_exceptions);
+            sax_parse_internal(&sdp);
+
+            // in strict mode, input must be completely read
+            if (strict && (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(),
+                                                    exception_message(token_type::end_of_input, "value"), nullptr));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+
+            // set top-level value to null if it was discarded by the callback
+            // function
+            if (result.is_discarded())
+            {
+                result = nullptr;
+            }
+        }
+        else
+        {
+            json_sax_dom_parser<BasicJsonType> sdp(result, allow_exceptions);
+            sax_parse_internal(&sdp);
+
+            // in strict mode, input must be completely read
+            if (strict && (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(), exception_message(token_type::end_of_input, "value"), nullptr));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+        }
+
+        result.assert_invariant();
+    }
+
+    /*!
+    @brief public accept interface
+
+    @param[in] strict  whether to expect the last token to be EOF
+    @return whether the input is a proper JSON text
+    */
+    bool accept(const bool strict = true)
+    {
+        json_sax_acceptor<BasicJsonType> sax_acceptor;
+        return sax_parse(&sax_acceptor, strict);
+    }
+
+    template<typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    bool sax_parse(SAX* sax, const bool strict = true)
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+        const bool result = sax_parse_internal(sax);
+
+        // strict mode: next byte must be EOF
+        if (result && strict && (get_token() != token_type::end_of_input))
+        {
+            return sax->parse_error(m_lexer.get_position(),
+                                    m_lexer.get_token_string(),
+                                    parse_error::create(101, m_lexer.get_position(), exception_message(token_type::end_of_input, "value"), nullptr));
+        }
+
+        return result;
+    }
+
+  private:
+    template<typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    bool sax_parse_internal(SAX* sax)
+    {
+        // stack to remember the hierarchy of structured values we are parsing
+        // true = array; false = object
+        std::vector<bool> states;
+        // value to avoid a goto (see comment where set to true)
+        bool skip_to_state_evaluation = false;
+
+        while (true)
+        {
+            if (!skip_to_state_evaluation)
+            {
+                // invariant: get_token() was called before each iteration
+                switch (last_token)
+                {
+                    case token_type::begin_object:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(static_cast<std::size_t>(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing } -> we are done
+                        if (get_token() == token_type::end_object)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!sax->end_object()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // parse key
+                        if (JSON_HEDLEY_UNLIKELY(last_token != token_type::value_string))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(), exception_message(token_type::value_string, "object key"), nullptr));
+                        }
+                        if (JSON_HEDLEY_UNLIKELY(!sax->key(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+
+                        // parse separator (:)
+                        if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::name_separator))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(), exception_message(token_type::name_separator, "object separator"), nullptr));
+                        }
+
+                        // remember we are now inside an object
+                        states.push_back(false);
+
+                        // parse values
+                        get_token();
+                        continue;
+                    }
+
+                    case token_type::begin_array:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(static_cast<std::size_t>(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing ] -> we are done
+                        if (get_token() == token_type::end_array)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!sax->end_array()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // remember we are now inside an array
+                        states.push_back(true);
+
+                        // parse values (no need to call get_token)
+                        continue;
+                    }
+
+                    case token_type::value_float:
+                    {
+                        const auto res = m_lexer.get_number_float();
+
+                        if (JSON_HEDLEY_UNLIKELY(!std::isfinite(res)))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    out_of_range::create(406, concat("number overflow parsing '", m_lexer.get_token_string(), '\''), nullptr));
+                        }
+
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_float(res, m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+
+                        break;
+                    }
+
+                    case token_type::literal_false:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->boolean(false)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_null:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->null()))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_true:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->boolean(true)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_integer:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_integer(m_lexer.get_number_integer())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_string:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->string(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_unsigned:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_unsigned(m_lexer.get_number_unsigned())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::parse_error:
+                    {
+                        // using "uninitialized" to avoid "expected" message
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(), exception_message(token_type::uninitialized, "value"), nullptr));
+                    }
+
+                    case token_type::uninitialized:
+                    case token_type::end_array:
+                    case token_type::end_object:
+                    case token_type::name_separator:
+                    case token_type::value_separator:
+                    case token_type::end_of_input:
+                    case token_type::literal_or_value:
+                    default: // the last token was unexpected
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(), exception_message(token_type::literal_or_value, "value"), nullptr));
+                    }
+                }
+            }
+            else
+            {
+                skip_to_state_evaluation = false;
+            }
+
+            // we reached this line after we successfully parsed a value
+            if (states.empty())
+            {
+                // empty stack: we reached the end of the hierarchy: done
+                return true;
+            }
+
+            if (states.back())  // array
+            {
+                // comma -> next value
+                if (get_token() == token_type::value_separator)
+                {
+                    // parse a new value
+                    get_token();
+                    continue;
+                }
+
+                // closing ]
+                if (JSON_HEDLEY_LIKELY(last_token == token_type::end_array))
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!sax->end_array()))
+                    {
+                        return false;
+                    }
+
+                    // We are done with this array. Before we can parse a
+                    // new value, we need to evaluate the new state first.
+                    // By setting skip_to_state_evaluation to false, we
+                    // are effectively jumping to the beginning of this if.
+                    JSON_ASSERT(!states.empty());
+                    states.pop_back();
+                    skip_to_state_evaluation = true;
+                    continue;
+                }
+
+                return sax->parse_error(m_lexer.get_position(),
+                                        m_lexer.get_token_string(),
+                                        parse_error::create(101, m_lexer.get_position(), exception_message(token_type::end_array, "array"), nullptr));
+            }
+
+            // states.back() is false -> object
+
+            // comma -> next value
+            if (get_token() == token_type::value_separator)
+            {
+                // parse key
+                if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::value_string))
+                {
+                    return sax->parse_error(m_lexer.get_position(),
+                                            m_lexer.get_token_string(),
+                                            parse_error::create(101, m_lexer.get_position(), exception_message(token_type::value_string, "object key"), nullptr));
+                }
+
+                if (JSON_HEDLEY_UNLIKELY(!sax->key(m_lexer.get_string())))
+                {
+                    return false;
+                }
+
+                // parse separator (:)
+                if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::name_separator))
+                {
+                    return sax->parse_error(m_lexer.get_position(),
+                                            m_lexer.get_token_string(),
+                                            parse_error::create(101, m_lexer.get_position(), exception_message(token_type::name_separator, "object separator"), nullptr));
+                }
+
+                // parse values
+                get_token();
+                continue;
+            }
+
+            // closing }
+            if (JSON_HEDLEY_LIKELY(last_token == token_type::end_object))
+            {
+                if (JSON_HEDLEY_UNLIKELY(!sax->end_object()))
+                {
+                    return false;
+                }
+
+                // We are done with this object. Before we can parse a
+                // new value, we need to evaluate the new state first.
+                // By setting skip_to_state_evaluation to false, we
+                // are effectively jumping to the beginning of this if.
+                JSON_ASSERT(!states.empty());
+                states.pop_back();
+                skip_to_state_evaluation = true;
+                continue;
+            }
+
+            return sax->parse_error(m_lexer.get_position(),
+                                    m_lexer.get_token_string(),
+                                    parse_error::create(101, m_lexer.get_position(), exception_message(token_type::end_object, "object"), nullptr));
+        }
+    }
+
+    /// get next token from lexer
+    token_type get_token()
+    {
+        return last_token = m_lexer.scan();
+    }
+
+    std::string exception_message(const token_type expected, const std::string& context)
+    {
+        std::string error_msg = "syntax error ";
+
+        if (!context.empty())
+        {
+            error_msg += concat("while parsing ", context, ' ');
+        }
+
+        error_msg += "- ";
+
+        if (last_token == token_type::parse_error)
+        {
+            error_msg += concat(m_lexer.get_error_message(), "; last read: '",
+                                m_lexer.get_token_string(), '\'');
+        }
+        else
+        {
+            error_msg += concat("unexpected ", lexer_t::token_type_name(last_token));
+        }
+
+        if (expected != token_type::uninitialized)
+        {
+            error_msg += concat("; expected ", lexer_t::token_type_name(expected));
+        }
+
+        return error_msg;
+    }
+
+  private:
+    /// callback function
+    const parser_callback_t<BasicJsonType> callback = nullptr;
+    /// the type of the last read token
+    token_type last_token = token_type::uninitialized;
+    /// the lexer
+    lexer_t m_lexer;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/position_t.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/position_t.hpp
new file mode 100644
index 0000000..396db0e
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/input/position_t.hpp
@@ -0,0 +1,37 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstddef> // size_t
+
+#include <nlohmann/detail/abi_macros.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/// struct to capture the start position of the current token
+struct position_t
+{
+    /// the total number of characters read
+    std::size_t chars_read_total = 0;
+    /// the number of characters read in the current line
+    std::size_t chars_read_current_line = 0;
+    /// the number of lines read
+    std::size_t lines_read = 0;
+
+    /// conversion to size_t to preserve SAX interface
+    constexpr operator size_t() const
+    {
+        return chars_read_total;
+    }
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/internal_iterator.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/internal_iterator.hpp
new file mode 100644
index 0000000..13a212c
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/internal_iterator.hpp
@@ -0,0 +1,35 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <nlohmann/detail/abi_macros.hpp>
+#include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/*!
+@brief an iterator value
+
+@note This structure could easily be a union, but MSVC currently does not allow
+unions members with complex constructors, see https://github.com/nlohmann/json/pull/105.
+*/
+template<typename BasicJsonType> struct internal_iterator
+{
+    /// iterator for JSON objects
+    typename BasicJsonType::object_t::iterator object_iterator {};
+    /// iterator for JSON arrays
+    typename BasicJsonType::array_t::iterator array_iterator {};
+    /// generic iterator for all other types
+    primitive_iterator_t primitive_iterator {};
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/iter_impl.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/iter_impl.hpp
new file mode 100644
index 0000000..028de6e
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/iter_impl.hpp
@@ -0,0 +1,751 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <iterator> // iterator, random_access_iterator_tag, bidirectional_iterator_tag, advance, next
+#include <type_traits> // conditional, is_const, remove_const
+
+#include <nlohmann/detail/exceptions.hpp>
+#include <nlohmann/detail/iterators/internal_iterator.hpp>
+#include <nlohmann/detail/iterators/primitive_iterator.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/meta/cpp_future.hpp>
+#include <nlohmann/detail/meta/type_traits.hpp>
+#include <nlohmann/detail/value_t.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+// forward declare, to be able to friend it later on
+template<typename IteratorType> class iteration_proxy;
+template<typename IteratorType> class iteration_proxy_value;
+
+/*!
+@brief a template for a bidirectional iterator for the @ref basic_json class
+This class implements a both iterators (iterator and const_iterator) for the
+@ref basic_json class.
+@note An iterator is called *initialized* when a pointer to a JSON value has
+      been set (e.g., by a constructor or a copy assignment). If the iterator is
+      default-constructed, it is *uninitialized* and most methods are undefined.
+      **The library uses assertions to detect calls on uninitialized iterators.**
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+@since version 1.0.0, simplified in version 2.0.9, change to bidirectional
+       iterators in version 3.0.0 (see https://github.com/nlohmann/json/issues/593)
+*/
+template<typename BasicJsonType>
+class iter_impl // NOLINT(cppcoreguidelines-special-member-functions,hicpp-special-member-functions)
+{
+    /// the iterator with BasicJsonType of different const-ness
+    using other_iter_impl = iter_impl<typename std::conditional<std::is_const<BasicJsonType>::value, typename std::remove_const<BasicJsonType>::type, const BasicJsonType>::type>;
+    /// allow basic_json to access private members
+    friend other_iter_impl;
+    friend BasicJsonType;
+    friend iteration_proxy<iter_impl>;
+    friend iteration_proxy_value<iter_impl>;
+
+    using object_t = typename BasicJsonType::object_t;
+    using array_t = typename BasicJsonType::array_t;
+    // make sure BasicJsonType is basic_json or const basic_json
+    static_assert(is_basic_json<typename std::remove_const<BasicJsonType>::type>::value,
+                  "iter_impl only accepts (const) basic_json");
+    // superficial check for the LegacyBidirectionalIterator named requirement
+    static_assert(std::is_base_of<std::bidirectional_iterator_tag, std::bidirectional_iterator_tag>::value
+                  &&  std::is_base_of<std::bidirectional_iterator_tag, typename std::iterator_traits<typename array_t::iterator>::iterator_category>::value,
+                  "basic_json iterator assumes array and object type iterators satisfy the LegacyBidirectionalIterator named requirement.");
+
+  public:
+    /// The std::iterator class template (used as a base class to provide typedefs) is deprecated in C++17.
+    /// The C++ Standard has never required user-defined iterators to derive from std::iterator.
+    /// A user-defined iterator should provide publicly accessible typedefs named
+    /// iterator_category, value_type, difference_type, pointer, and reference.
+    /// Note that value_type is required to be non-const, even for constant iterators.
+    using iterator_category = std::bidirectional_iterator_tag;
+
+    /// the type of the values when the iterator is dereferenced
+    using value_type = typename BasicJsonType::value_type;
+    /// a type to represent differences between iterators
+    using difference_type = typename BasicJsonType::difference_type;
+    /// defines a pointer to the type iterated over (value_type)
+    using pointer = typename std::conditional<std::is_const<BasicJsonType>::value,
+          typename BasicJsonType::const_pointer,
+          typename BasicJsonType::pointer>::type;
+    /// defines a reference to the type iterated over (value_type)
+    using reference =
+        typename std::conditional<std::is_const<BasicJsonType>::value,
+        typename BasicJsonType::const_reference,
+        typename BasicJsonType::reference>::type;
+
+    iter_impl() = default;
+    ~iter_impl() = default;
+    iter_impl(iter_impl&&) noexcept = default;
+    iter_impl& operator=(iter_impl&&) noexcept = default;
+
+    /*!
+    @brief constructor for a given JSON instance
+    @param[in] object  pointer to a JSON object for this iterator
+    @pre object != nullptr
+    @post The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    explicit iter_impl(pointer object) noexcept : m_object(object)
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = typename object_t::iterator();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = typename array_t::iterator();
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                m_it.primitive_iterator = primitive_iterator_t();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @note The conventional copy constructor and copy assignment are implicitly
+          defined. Combined with the following converting constructor and
+          assignment, they support: (1) copy from iterator to iterator, (2)
+          copy from const iterator to const iterator, and (3) conversion from
+          iterator to const iterator. However conversion from const iterator
+          to iterator is not defined.
+    */
+
+    /*!
+    @brief const copy constructor
+    @param[in] other const iterator to copy from
+    @note This copy constructor had to be defined explicitly to circumvent a bug
+          occurring on msvc v19.0 compiler (VS 2015) debug build. For more
+          information refer to: https://github.com/nlohmann/json/issues/1608
+    */
+    iter_impl(const iter_impl<const BasicJsonType>& other) noexcept
+        : m_object(other.m_object), m_it(other.m_it)
+    {}
+
+    /*!
+    @brief converting assignment
+    @param[in] other const iterator to copy from
+    @return const/non-const iterator
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl& operator=(const iter_impl<const BasicJsonType>& other) noexcept
+    {
+        if (&other != this)
+        {
+            m_object = other.m_object;
+            m_it = other.m_it;
+        }
+        return *this;
+    }
+
+    /*!
+    @brief converting constructor
+    @param[in] other  non-const iterator to copy from
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept
+        : m_object(other.m_object), m_it(other.m_it)
+    {}
+
+    /*!
+    @brief converting assignment
+    @param[in] other  non-const iterator to copy from
+    @return const/non-const iterator
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl& operator=(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept // NOLINT(cert-oop54-cpp)
+    {
+        m_object = other.m_object;
+        m_it = other.m_it;
+        return *this;
+    }
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    /*!
+    @brief set the iterator to the first value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_begin() noexcept
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_data.m_value.object->begin();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_data.m_value.array->begin();
+                break;
+            }
+
+            case value_t::null:
+            {
+                // set to end so begin()==end() is true: null is empty
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                m_it.primitive_iterator.set_begin();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @brief set the iterator past the last value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_end() noexcept
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_data.m_value.object->end();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_data.m_value.array->end();
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+        }
+    }
+
+  public:
+    /*!
+    @brief return a reference to the value pointed to by the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator*() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                JSON_ASSERT(m_it.object_iterator != m_object->m_data.m_value.object->end());
+                return m_it.object_iterator->second;
+            }
+
+            case value_t::array:
+            {
+                JSON_ASSERT(m_it.array_iterator != m_object->m_data.m_value.array->end());
+                return *m_it.array_iterator;
+            }
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value", m_object));
+
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value", m_object));
+            }
+        }
+    }
+
+    /*!
+    @brief dereference the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    pointer operator->() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                JSON_ASSERT(m_it.object_iterator != m_object->m_data.m_value.object->end());
+                return &(m_it.object_iterator->second);
+            }
+
+            case value_t::array:
+            {
+                JSON_ASSERT(m_it.array_iterator != m_object->m_data.m_value.array->end());
+                return &*m_it.array_iterator;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value", m_object));
+            }
+        }
+    }
+
+    /*!
+    @brief post-increment (it++)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator++(int)& // NOLINT(cert-dcl21-cpp)
+    {
+        auto result = *this;
+        ++(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-increment (++it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator++()
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, 1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, 1);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                ++m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief post-decrement (it--)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator--(int)& // NOLINT(cert-dcl21-cpp)
+    {
+        auto result = *this;
+        --(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-decrement (--it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator--()
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, -1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, -1);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                --m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief comparison: equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    template < typename IterImpl, detail::enable_if_t < (std::is_same<IterImpl, iter_impl>::value || std::is_same<IterImpl, other_iter_impl>::value), std::nullptr_t > = nullptr >
+    bool operator==(const IterImpl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_HEDLEY_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers", m_object));
+        }
+
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+                return (m_it.object_iterator == other.m_it.object_iterator);
+
+            case value_t::array:
+                return (m_it.array_iterator == other.m_it.array_iterator);
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                return (m_it.primitive_iterator == other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief comparison: not equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    template < typename IterImpl, detail::enable_if_t < (std::is_same<IterImpl, iter_impl>::value || std::is_same<IterImpl, other_iter_impl>::value), std::nullptr_t > = nullptr >
+    bool operator!=(const IterImpl& other) const
+    {
+        return !operator==(other);
+    }
+
+    /*!
+    @brief comparison: smaller
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<(const iter_impl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_HEDLEY_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers", m_object));
+        }
+
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(213, "cannot compare order of object iterators", m_object));
+
+            case value_t::array:
+                return (m_it.array_iterator < other.m_it.array_iterator);
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                return (m_it.primitive_iterator < other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief comparison: less than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<=(const iter_impl& other) const
+    {
+        return !other.operator < (*this);
+    }
+
+    /*!
+    @brief comparison: greater than
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>(const iter_impl& other) const
+    {
+        return !operator<=(other);
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>=(const iter_impl& other) const
+    {
+        return !operator<(other);
+    }
+
+    /*!
+    @brief add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator+=(difference_type i)
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators", m_object));
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, i);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                m_it.primitive_iterator += i;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator-=(difference_type i)
+    {
+        return operator+=(-i);
+    }
+
+    /*!
+    @brief add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator+(difference_type i) const
+    {
+        auto result = *this;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief addition of distance and iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    friend iter_impl operator+(difference_type i, const iter_impl& it)
+    {
+        auto result = it;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator-(difference_type i) const
+    {
+        auto result = *this;
+        result -= i;
+        return result;
+    }
+
+    /*!
+    @brief return difference
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    difference_type operator-(const iter_impl& other) const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators", m_object));
+
+            case value_t::array:
+                return m_it.array_iterator - other.m_it.array_iterator;
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                return m_it.primitive_iterator - other.m_it.primitive_iterator;
+        }
+    }
+
+    /*!
+    @brief access to successor
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator[](difference_type n) const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(208, "cannot use operator[] for object iterators", m_object));
+
+            case value_t::array:
+                return *std::next(m_it.array_iterator, n);
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value", m_object));
+
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.get_value() == -n))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value", m_object));
+            }
+        }
+    }
+
+    /*!
+    @brief return the key of an object iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    const typename object_t::key_type& key() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        if (JSON_HEDLEY_LIKELY(m_object->is_object()))
+        {
+            return m_it.object_iterator->first;
+        }
+
+        JSON_THROW(invalid_iterator::create(207, "cannot use key() for non-object iterators", m_object));
+    }
+
+    /*!
+    @brief return the value of an iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference value() const
+    {
+        return operator*();
+    }
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    /// associated JSON instance
+    pointer m_object = nullptr;
+    /// the actual iterator of the associated instance
+    internal_iterator<typename std::remove_const<BasicJsonType>::type> m_it {};
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/iteration_proxy.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/iteration_proxy.hpp
new file mode 100644
index 0000000..33bfc36
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/iteration_proxy.hpp
@@ -0,0 +1,242 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstddef> // size_t
+#include <iterator> // input_iterator_tag
+#include <string> // string, to_string
+#include <tuple> // tuple_size, get, tuple_element
+#include <utility> // move
+
+#if JSON_HAS_RANGES
+    #include <ranges> // enable_borrowed_range
+#endif
+
+#include <nlohmann/detail/abi_macros.hpp>
+#include <nlohmann/detail/meta/type_traits.hpp>
+#include <nlohmann/detail/value_t.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename string_type>
+void int_to_string( string_type& target, std::size_t value )
+{
+    // For ADL
+    using std::to_string;
+    target = to_string(value);
+}
+template<typename IteratorType> class iteration_proxy_value
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    using value_type = iteration_proxy_value;
+    using pointer = value_type *;
+    using reference = value_type &;
+    using iterator_category = std::input_iterator_tag;
+    using string_type = typename std::remove_cv< typename std::remove_reference<decltype( std::declval<IteratorType>().key() ) >::type >::type;
+
+  private:
+    /// the iterator
+    IteratorType anchor{};
+    /// an index for arrays (used to create key names)
+    std::size_t array_index = 0;
+    /// last stringified array index
+    mutable std::size_t array_index_last = 0;
+    /// a string representation of the array index
+    mutable string_type array_index_str = "0";
+    /// an empty string (to return a reference for primitive values)
+    string_type empty_str{};
+
+  public:
+    explicit iteration_proxy_value() = default;
+    explicit iteration_proxy_value(IteratorType it, std::size_t array_index_ = 0)
+    noexcept(std::is_nothrow_move_constructible<IteratorType>::value
+             && std::is_nothrow_default_constructible<string_type>::value)
+        : anchor(std::move(it))
+        , array_index(array_index_)
+    {}
+
+    iteration_proxy_value(iteration_proxy_value const&) = default;
+    iteration_proxy_value& operator=(iteration_proxy_value const&) = default;
+    // older GCCs are a bit fussy and require explicit noexcept specifiers on defaulted functions
+    iteration_proxy_value(iteration_proxy_value&&)
+    noexcept(std::is_nothrow_move_constructible<IteratorType>::value
+             && std::is_nothrow_move_constructible<string_type>::value) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    iteration_proxy_value& operator=(iteration_proxy_value&&)
+    noexcept(std::is_nothrow_move_assignable<IteratorType>::value
+             && std::is_nothrow_move_assignable<string_type>::value) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    ~iteration_proxy_value() = default;
+
+    /// dereference operator (needed for range-based for)
+    const iteration_proxy_value& operator*() const
+    {
+        return *this;
+    }
+
+    /// increment operator (needed for range-based for)
+    iteration_proxy_value& operator++()
+    {
+        ++anchor;
+        ++array_index;
+
+        return *this;
+    }
+
+    iteration_proxy_value operator++(int)& // NOLINT(cert-dcl21-cpp)
+    {
+        auto tmp = iteration_proxy_value(anchor, array_index);
+        ++anchor;
+        ++array_index;
+        return tmp;
+    }
+
+    /// equality operator (needed for InputIterator)
+    bool operator==(const iteration_proxy_value& o) const
+    {
+        return anchor == o.anchor;
+    }
+
+    /// inequality operator (needed for range-based for)
+    bool operator!=(const iteration_proxy_value& o) const
+    {
+        return anchor != o.anchor;
+    }
+
+    /// return key of the iterator
+    const string_type& key() const
+    {
+        JSON_ASSERT(anchor.m_object != nullptr);
+
+        switch (anchor.m_object->type())
+        {
+            // use integer array index as key
+            case value_t::array:
+            {
+                if (array_index != array_index_last)
+                {
+                    int_to_string( array_index_str, array_index );
+                    array_index_last = array_index;
+                }
+                return array_index_str;
+            }
+
+            // use key from the object
+            case value_t::object:
+                return anchor.key();
+
+            // use an empty key for all primitive types
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                return empty_str;
+        }
+    }
+
+    /// return value of the iterator
+    typename IteratorType::reference value() const
+    {
+        return anchor.value();
+    }
+};
+
+/// proxy class for the items() function
+template<typename IteratorType> class iteration_proxy
+{
+  private:
+    /// the container to iterate
+    typename IteratorType::pointer container = nullptr;
+
+  public:
+    explicit iteration_proxy() = default;
+
+    /// construct iteration proxy from a container
+    explicit iteration_proxy(typename IteratorType::reference cont) noexcept
+        : container(&cont) {}
+
+    iteration_proxy(iteration_proxy const&) = default;
+    iteration_proxy& operator=(iteration_proxy const&) = default;
+    iteration_proxy(iteration_proxy&&) noexcept = default;
+    iteration_proxy& operator=(iteration_proxy&&) noexcept = default;
+    ~iteration_proxy() = default;
+
+    /// return iterator begin (needed for range-based for)
+    iteration_proxy_value<IteratorType> begin() const noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container->begin());
+    }
+
+    /// return iterator end (needed for range-based for)
+    iteration_proxy_value<IteratorType> end() const noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container->end());
+    }
+};
+
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template<std::size_t N, typename IteratorType, enable_if_t<N == 0, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.key())
+{
+    return i.key();
+}
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template<std::size_t N, typename IteratorType, enable_if_t<N == 1, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.value())
+{
+    return i.value();
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// The Addition to the STD Namespace is required to add
+// Structured Bindings Support to the iteration_proxy_value class
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+namespace std
+{
+
+#if defined(__clang__)
+    // Fix: https://github.com/nlohmann/json/issues/1401
+    #pragma clang diagnostic push
+    #pragma clang diagnostic ignored "-Wmismatched-tags"
+#endif
+template<typename IteratorType>
+class tuple_size<::nlohmann::detail::iteration_proxy_value<IteratorType>> // NOLINT(cert-dcl58-cpp)
+            : public std::integral_constant<std::size_t, 2> {};
+
+template<std::size_t N, typename IteratorType>
+class tuple_element<N, ::nlohmann::detail::iteration_proxy_value<IteratorType >> // NOLINT(cert-dcl58-cpp)
+{
+  public:
+    using type = decltype(
+                     get<N>(std::declval <
+                            ::nlohmann::detail::iteration_proxy_value<IteratorType >> ()));
+};
+#if defined(__clang__)
+    #pragma clang diagnostic pop
+#endif
+
+}  // namespace std
+
+#if JSON_HAS_RANGES
+    template <typename IteratorType>
+    inline constexpr bool ::std::ranges::enable_borrowed_range<::nlohmann::detail::iteration_proxy<IteratorType>> = true;
+#endif
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/iterator_traits.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/iterator_traits.hpp
new file mode 100644
index 0000000..34a20ee
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/iterator_traits.hpp
@@ -0,0 +1,61 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <iterator> // random_access_iterator_tag
+
+#include <nlohmann/detail/abi_macros.hpp>
+#include <nlohmann/detail/meta/void_t.hpp>
+#include <nlohmann/detail/meta/cpp_future.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename It, typename = void>
+struct iterator_types {};
+
+template<typename It>
+struct iterator_types <
+    It,
+    void_t<typename It::difference_type, typename It::value_type, typename It::pointer,
+    typename It::reference, typename It::iterator_category >>
+{
+    using difference_type = typename It::difference_type;
+    using value_type = typename It::value_type;
+    using pointer = typename It::pointer;
+    using reference = typename It::reference;
+    using iterator_category = typename It::iterator_category;
+};
+
+// This is required as some compilers implement std::iterator_traits in a way that
+// doesn't work with SFINAE. See https://github.com/nlohmann/json/issues/1341.
+template<typename T, typename = void>
+struct iterator_traits
+{
+};
+
+template<typename T>
+struct iterator_traits < T, enable_if_t < !std::is_pointer<T>::value >>
+            : iterator_types<T>
+{
+};
+
+template<typename T>
+struct iterator_traits<T*, enable_if_t<std::is_object<T>::value>>
+{
+    using iterator_category = std::random_access_iterator_tag;
+    using value_type = T;
+    using difference_type = ptrdiff_t;
+    using pointer = T*;
+    using reference = T&;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/json_reverse_iterator.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/json_reverse_iterator.hpp
new file mode 100644
index 0000000..eb450e9
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/json_reverse_iterator.hpp
@@ -0,0 +1,130 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstddef> // ptrdiff_t
+#include <iterator> // reverse_iterator
+#include <utility> // declval
+
+#include <nlohmann/detail/abi_macros.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+//////////////////////
+// reverse_iterator //
+//////////////////////
+
+/*!
+@brief a template for a reverse iterator class
+
+@tparam Base the base iterator type to reverse. Valid types are @ref
+iterator (to create @ref reverse_iterator) and @ref const_iterator (to
+create @ref const_reverse_iterator).
+
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+- [OutputIterator](https://en.cppreference.com/w/cpp/named_req/OutputIterator):
+  It is possible to write to the pointed-to element (only if @a Base is
+  @ref iterator).
+
+@since version 1.0.0
+*/
+template<typename Base>
+class json_reverse_iterator : public std::reverse_iterator<Base>
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    /// shortcut to the reverse iterator adapter
+    using base_iterator = std::reverse_iterator<Base>;
+    /// the reference type for the pointed-to element
+    using reference = typename Base::reference;
+
+    /// create reverse iterator from iterator
+    explicit json_reverse_iterator(const typename base_iterator::iterator_type& it) noexcept
+        : base_iterator(it) {}
+
+    /// create reverse iterator from base class
+    explicit json_reverse_iterator(const base_iterator& it) noexcept : base_iterator(it) {}
+
+    /// post-increment (it++)
+    json_reverse_iterator operator++(int)& // NOLINT(cert-dcl21-cpp)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator++(1));
+    }
+
+    /// pre-increment (++it)
+    json_reverse_iterator& operator++()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator++());
+    }
+
+    /// post-decrement (it--)
+    json_reverse_iterator operator--(int)& // NOLINT(cert-dcl21-cpp)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator--(1));
+    }
+
+    /// pre-decrement (--it)
+    json_reverse_iterator& operator--()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator--());
+    }
+
+    /// add to iterator
+    json_reverse_iterator& operator+=(difference_type i)
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator+=(i));
+    }
+
+    /// add to iterator
+    json_reverse_iterator operator+(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator+(i));
+    }
+
+    /// subtract from iterator
+    json_reverse_iterator operator-(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator-(i));
+    }
+
+    /// return difference
+    difference_type operator-(const json_reverse_iterator& other) const
+    {
+        return base_iterator(*this) - base_iterator(other);
+    }
+
+    /// access to successor
+    reference operator[](difference_type n) const
+    {
+        return *(this->operator+(n));
+    }
+
+    /// return the key of an object iterator
+    auto key() const -> decltype(std::declval<Base>().key())
+    {
+        auto it = --this->base();
+        return it.key();
+    }
+
+    /// return the value of an iterator
+    reference value() const
+    {
+        auto it = --this->base();
+        return it.operator * ();
+    }
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/primitive_iterator.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/primitive_iterator.hpp
new file mode 100644
index 0000000..0bc3ca8
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/iterators/primitive_iterator.hpp
@@ -0,0 +1,132 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstddef> // ptrdiff_t
+#include <limits>  // numeric_limits
+
+#include <nlohmann/detail/macro_scope.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/*
+@brief an iterator for primitive JSON types
+
+This class models an iterator for primitive JSON types (boolean, number,
+string). It's only purpose is to allow the iterator/const_iterator classes
+to "iterate" over primitive values. Internally, the iterator is modeled by
+a `difference_type` variable. Value begin_value (`0`) models the begin,
+end_value (`1`) models past the end.
+*/
+class primitive_iterator_t
+{
+  private:
+    using difference_type = std::ptrdiff_t;
+    static constexpr difference_type begin_value = 0;
+    static constexpr difference_type end_value = begin_value + 1;
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    /// iterator as signed integer type
+    difference_type m_it = (std::numeric_limits<std::ptrdiff_t>::min)();
+
+  public:
+    constexpr difference_type get_value() const noexcept
+    {
+        return m_it;
+    }
+
+    /// set iterator to a defined beginning
+    void set_begin() noexcept
+    {
+        m_it = begin_value;
+    }
+
+    /// set iterator to a defined past the end
+    void set_end() noexcept
+    {
+        m_it = end_value;
+    }
+
+    /// return whether the iterator can be dereferenced
+    constexpr bool is_begin() const noexcept
+    {
+        return m_it == begin_value;
+    }
+
+    /// return whether the iterator is at end
+    constexpr bool is_end() const noexcept
+    {
+        return m_it == end_value;
+    }
+
+    friend constexpr bool operator==(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it == rhs.m_it;
+    }
+
+    friend constexpr bool operator<(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it < rhs.m_it;
+    }
+
+    primitive_iterator_t operator+(difference_type n) noexcept
+    {
+        auto result = *this;
+        result += n;
+        return result;
+    }
+
+    friend constexpr difference_type operator-(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it - rhs.m_it;
+    }
+
+    primitive_iterator_t& operator++() noexcept
+    {
+        ++m_it;
+        return *this;
+    }
+
+    primitive_iterator_t operator++(int)& noexcept // NOLINT(cert-dcl21-cpp)
+    {
+        auto result = *this;
+        ++m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator--() noexcept
+    {
+        --m_it;
+        return *this;
+    }
+
+    primitive_iterator_t operator--(int)& noexcept // NOLINT(cert-dcl21-cpp)
+    {
+        auto result = *this;
+        --m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator+=(difference_type n) noexcept
+    {
+        m_it += n;
+        return *this;
+    }
+
+    primitive_iterator_t& operator-=(difference_type n) noexcept
+    {
+        m_it -= n;
+        return *this;
+    }
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/json_custom_base_class.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/json_custom_base_class.hpp
new file mode 100644
index 0000000..ff06653
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/json_custom_base_class.hpp
@@ -0,0 +1,31 @@
+#pragma once
+
+#include <type_traits> // conditional, is_same
+
+#include <nlohmann/detail/abi_macros.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/*!
+@brief Default base class of the @ref basic_json class.
+
+So that the correct implementations of the copy / move ctors / assign operators
+of @ref basic_json do not require complex case distinctions
+(no base class / custom base class used as customization point),
+@ref basic_json always has a base class.
+By default, this class is used because it is empty and thus has no effect
+on the behavior of @ref basic_json.
+*/
+struct json_default_base {};
+
+template<class T>
+using json_base_class = typename std::conditional <
+                        std::is_same<T, void>::value,
+                        json_default_base,
+                        T
+                        >::type;
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/json_pointer.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/json_pointer.hpp
new file mode 100644
index 0000000..eb712ed
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/json_pointer.hpp
@@ -0,0 +1,988 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <algorithm> // all_of
+#include <cctype> // isdigit
+#include <cerrno> // errno, ERANGE
+#include <cstdlib> // strtoull
+#ifndef JSON_NO_IO
+    #include <iosfwd> // ostream
+#endif  // JSON_NO_IO
+#include <limits> // max
+#include <numeric> // accumulate
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+#include <nlohmann/detail/exceptions.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/string_concat.hpp>
+#include <nlohmann/detail/string_escape.hpp>
+#include <nlohmann/detail/value_t.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/// @brief JSON Pointer defines a string syntax for identifying a specific value within a JSON document
+/// @sa https://json.nlohmann.me/api/json_pointer/
+template<typename RefStringType>
+class json_pointer
+{
+    // allow basic_json to access private members
+    NLOHMANN_BASIC_JSON_TPL_DECLARATION
+    friend class basic_json;
+
+    template<typename>
+    friend class json_pointer;
+
+    template<typename T>
+    struct string_t_helper
+    {
+        using type = T;
+    };
+
+    NLOHMANN_BASIC_JSON_TPL_DECLARATION
+    struct string_t_helper<NLOHMANN_BASIC_JSON_TPL>
+    {
+        using type = StringType;
+    };
+
+  public:
+    // for backwards compatibility accept BasicJsonType
+    using string_t = typename string_t_helper<RefStringType>::type;
+
+    /// @brief create JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/json_pointer/
+    explicit json_pointer(const string_t& s = "")
+        : reference_tokens(split(s))
+    {}
+
+    /// @brief return a string representation of the JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/to_string/
+    string_t to_string() const
+    {
+        return std::accumulate(reference_tokens.begin(), reference_tokens.end(),
+                               string_t{},
+                               [](const string_t& a, const string_t& b)
+        {
+            return detail::concat(a, '/', detail::escape(b));
+        });
+    }
+
+    /// @brief return a string representation of the JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_string/
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, to_string())
+    operator string_t() const
+    {
+        return to_string();
+    }
+
+#ifndef JSON_NO_IO
+    /// @brief write string representation of the JSON pointer to stream
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ltlt/
+    friend std::ostream& operator<<(std::ostream& o, const json_pointer& ptr)
+    {
+        o << ptr.to_string();
+        return o;
+    }
+#endif
+
+    /// @brief append another JSON pointer at the end of this JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slasheq/
+    json_pointer& operator/=(const json_pointer& ptr)
+    {
+        reference_tokens.insert(reference_tokens.end(),
+                                ptr.reference_tokens.begin(),
+                                ptr.reference_tokens.end());
+        return *this;
+    }
+
+    /// @brief append an unescaped reference token at the end of this JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slasheq/
+    json_pointer& operator/=(string_t token)
+    {
+        push_back(std::move(token));
+        return *this;
+    }
+
+    /// @brief append an array index at the end of this JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slasheq/
+    json_pointer& operator/=(std::size_t array_idx)
+    {
+        return *this /= std::to_string(array_idx);
+    }
+
+    /// @brief create a new JSON pointer by appending the right JSON pointer at the end of the left JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slash/
+    friend json_pointer operator/(const json_pointer& lhs,
+                                  const json_pointer& rhs)
+    {
+        return json_pointer(lhs) /= rhs;
+    }
+
+    /// @brief create a new JSON pointer by appending the unescaped token at the end of the JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slash/
+    friend json_pointer operator/(const json_pointer& lhs, string_t token) // NOLINT(performance-unnecessary-value-param)
+    {
+        return json_pointer(lhs) /= std::move(token);
+    }
+
+    /// @brief create a new JSON pointer by appending the array-index-token at the end of the JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slash/
+    friend json_pointer operator/(const json_pointer& lhs, std::size_t array_idx)
+    {
+        return json_pointer(lhs) /= array_idx;
+    }
+
+    /// @brief returns the parent of this JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/parent_pointer/
+    json_pointer parent_pointer() const
+    {
+        if (empty())
+        {
+            return *this;
+        }
+
+        json_pointer res = *this;
+        res.pop_back();
+        return res;
+    }
+
+    /// @brief remove last reference token
+    /// @sa https://json.nlohmann.me/api/json_pointer/pop_back/
+    void pop_back()
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent", nullptr));
+        }
+
+        reference_tokens.pop_back();
+    }
+
+    /// @brief return last reference token
+    /// @sa https://json.nlohmann.me/api/json_pointer/back/
+    const string_t& back() const
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent", nullptr));
+        }
+
+        return reference_tokens.back();
+    }
+
+    /// @brief append an unescaped token at the end of the reference pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/push_back/
+    void push_back(const string_t& token)
+    {
+        reference_tokens.push_back(token);
+    }
+
+    /// @brief append an unescaped token at the end of the reference pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/push_back/
+    void push_back(string_t&& token)
+    {
+        reference_tokens.push_back(std::move(token));
+    }
+
+    /// @brief return whether pointer points to the root document
+    /// @sa https://json.nlohmann.me/api/json_pointer/empty/
+    bool empty() const noexcept
+    {
+        return reference_tokens.empty();
+    }
+
+  private:
+    /*!
+    @param[in] s  reference token to be converted into an array index
+
+    @return integer representation of @a s
+
+    @throw parse_error.106  if an array index begins with '0'
+    @throw parse_error.109  if an array index begins not with a digit
+    @throw out_of_range.404 if string @a s could not be converted to an integer
+    @throw out_of_range.410 if an array index exceeds size_type
+    */
+    template<typename BasicJsonType>
+    static typename BasicJsonType::size_type array_index(const string_t& s)
+    {
+        using size_type = typename BasicJsonType::size_type;
+
+        // error condition (cf. RFC 6901, Sect. 4)
+        if (JSON_HEDLEY_UNLIKELY(s.size() > 1 && s[0] == '0'))
+        {
+            JSON_THROW(detail::parse_error::create(106, 0, detail::concat("array index '", s, "' must not begin with '0'"), nullptr));
+        }
+
+        // error condition (cf. RFC 6901, Sect. 4)
+        if (JSON_HEDLEY_UNLIKELY(s.size() > 1 && !(s[0] >= '1' && s[0] <= '9')))
+        {
+            JSON_THROW(detail::parse_error::create(109, 0, detail::concat("array index '", s, "' is not a number"), nullptr));
+        }
+
+        const char* p = s.c_str();
+        char* p_end = nullptr;
+        errno = 0; // strtoull doesn't reset errno
+        const unsigned long long res = std::strtoull(p, &p_end, 10); // NOLINT(runtime/int)
+        if (p == p_end // invalid input or empty string
+                || errno == ERANGE // out of range
+                || JSON_HEDLEY_UNLIKELY(static_cast<std::size_t>(p_end - p) != s.size())) // incomplete read
+        {
+            JSON_THROW(detail::out_of_range::create(404, detail::concat("unresolved reference token '", s, "'"), nullptr));
+        }
+
+        // only triggered on special platforms (like 32bit), see also
+        // https://github.com/nlohmann/json/pull/2203
+        if (res >= static_cast<unsigned long long>((std::numeric_limits<size_type>::max)()))  // NOLINT(runtime/int)
+        {
+            JSON_THROW(detail::out_of_range::create(410, detail::concat("array index ", s, " exceeds size_type"), nullptr));   // LCOV_EXCL_LINE
+        }
+
+        return static_cast<size_type>(res);
+    }
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    json_pointer top() const
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent", nullptr));
+        }
+
+        json_pointer result = *this;
+        result.reference_tokens = {reference_tokens[0]};
+        return result;
+    }
+
+  private:
+    /*!
+    @brief create and return a reference to the pointed to value
+
+    @complexity Linear in the number of reference tokens.
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.313 if value cannot be unflattened
+    */
+    template<typename BasicJsonType>
+    BasicJsonType& get_and_create(BasicJsonType& j) const
+    {
+        auto* result = &j;
+
+        // in case no reference tokens exist, return a reference to the JSON value
+        // j which will be overwritten by a primitive value
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (result->type())
+            {
+                case detail::value_t::null:
+                {
+                    if (reference_token == "0")
+                    {
+                        // start a new array if reference token is 0
+                        result = &result->operator[](0);
+                    }
+                    else
+                    {
+                        // start a new object otherwise
+                        result = &result->operator[](reference_token);
+                    }
+                    break;
+                }
+
+                case detail::value_t::object:
+                {
+                    // create an entry in the object
+                    result = &result->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    // create an entry in the array
+                    result = &result->operator[](array_index<BasicJsonType>(reference_token));
+                    break;
+                }
+
+                /*
+                The following code is only reached if there exists a reference
+                token _and_ the current value is primitive. In this case, we have
+                an error situation, because primitive values may only occur as
+                single value; that is, with an empty list of reference tokens.
+                */
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                    JSON_THROW(detail::type_error::create(313, "invalid value to unflatten", &j));
+            }
+        }
+
+        return *result;
+    }
+
+    /*!
+    @brief return a reference to the pointed to value
+
+    @note This version does not throw if a value is not present, but tries to
+          create nested values instead. For instance, calling this function
+          with pointer `"/this/that"` on a null value is equivalent to calling
+          `operator[]("this").operator[]("that")` on that value, effectively
+          changing the null value to an object.
+
+    @param[in] ptr  a JSON value
+
+    @return reference to the JSON value pointed to by the JSON pointer
+
+    @complexity Linear in the length of the JSON pointer.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    template<typename BasicJsonType>
+    BasicJsonType& get_unchecked(BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            // convert null values to arrays or objects before continuing
+            if (ptr->is_null())
+            {
+                // check if reference token is a number
+                const bool nums =
+                    std::all_of(reference_token.begin(), reference_token.end(),
+                                [](const unsigned char x)
+                {
+                    return std::isdigit(x);
+                });
+
+                // change value to array for numbers or "-" or to object otherwise
+                *ptr = (nums || reference_token == "-")
+                       ? detail::value_t::array
+                       : detail::value_t::object;
+            }
+
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (reference_token == "-")
+                    {
+                        // explicitly treat "-" as index beyond the end
+                        ptr = &ptr->operator[](ptr->m_data.m_value.array->size());
+                    }
+                    else
+                    {
+                        // convert array index to number; unchecked access
+                        ptr = &ptr->operator[](array_index<BasicJsonType>(reference_token));
+                    }
+                    break;
+                }
+
+                case detail::value_t::null:
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, detail::concat("unresolved reference token '", reference_token, "'"), ptr));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    template<typename BasicJsonType>
+    BasicJsonType& get_checked(BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402, detail::concat(
+                                "array index '-' (", std::to_string(ptr->m_data.m_value.array->size()),
+                                ") is out of range"), ptr));
+                    }
+
+                    // note: at performs range check
+                    ptr = &ptr->at(array_index<BasicJsonType>(reference_token));
+                    break;
+                }
+
+                case detail::value_t::null:
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, detail::concat("unresolved reference token '", reference_token, "'"), ptr));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @brief return a const reference to the pointed to value
+
+    @param[in] ptr  a JSON value
+
+    @return const reference to the JSON value pointed to by the JSON
+    pointer
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    template<typename BasicJsonType>
+    const BasicJsonType& get_unchecked(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" cannot be used for const access
+                        JSON_THROW(detail::out_of_range::create(402, detail::concat("array index '-' (", std::to_string(ptr->m_data.m_value.array->size()), ") is out of range"), ptr));
+                    }
+
+                    // use unchecked array access
+                    ptr = &ptr->operator[](array_index<BasicJsonType>(reference_token));
+                    break;
+                }
+
+                case detail::value_t::null:
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, detail::concat("unresolved reference token '", reference_token, "'"), ptr));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    template<typename BasicJsonType>
+    const BasicJsonType& get_checked(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402, detail::concat(
+                                "array index '-' (", std::to_string(ptr->m_data.m_value.array->size()),
+                                ") is out of range"), ptr));
+                    }
+
+                    // note: at performs range check
+                    ptr = &ptr->at(array_index<BasicJsonType>(reference_token));
+                    break;
+                }
+
+                case detail::value_t::null:
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, detail::concat("unresolved reference token '", reference_token, "'"), ptr));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    */
+    template<typename BasicJsonType>
+    bool contains(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    if (!ptr->contains(reference_token))
+                    {
+                        // we did not find the key in the object
+                        return false;
+                    }
+
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(reference_token.size() == 1 && !("0" <= reference_token && reference_token <= "9")))
+                    {
+                        // invalid char
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(reference_token.size() > 1))
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!('1' <= reference_token[0] && reference_token[0] <= '9')))
+                        {
+                            // first char should be between '1' and '9'
+                            return false;
+                        }
+                        for (std::size_t i = 1; i < reference_token.size(); i++)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!('0' <= reference_token[i] && reference_token[i] <= '9')))
+                            {
+                                // other char should be between '0' and '9'
+                                return false;
+                            }
+                        }
+                    }
+
+                    const auto idx = array_index<BasicJsonType>(reference_token);
+                    if (idx >= ptr->size())
+                    {
+                        // index out of range
+                        return false;
+                    }
+
+                    ptr = &ptr->operator[](idx);
+                    break;
+                }
+
+                case detail::value_t::null:
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                {
+                    // we do not expect primitive values if there is still a
+                    // reference token to process
+                    return false;
+                }
+            }
+        }
+
+        // no reference token left means we found a primitive value
+        return true;
+    }
+
+    /*!
+    @brief split the string input to reference tokens
+
+    @note This function is only called by the json_pointer constructor.
+          All exceptions below are documented there.
+
+    @throw parse_error.107  if the pointer is not empty or begins with '/'
+    @throw parse_error.108  if character '~' is not followed by '0' or '1'
+    */
+    static std::vector<string_t> split(const string_t& reference_string)
+    {
+        std::vector<string_t> result;
+
+        // special case: empty reference string -> no reference tokens
+        if (reference_string.empty())
+        {
+            return result;
+        }
+
+        // check if nonempty reference string begins with slash
+        if (JSON_HEDLEY_UNLIKELY(reference_string[0] != '/'))
+        {
+            JSON_THROW(detail::parse_error::create(107, 1, detail::concat("JSON pointer must be empty or begin with '/' - was: '", reference_string, "'"), nullptr));
+        }
+
+        // extract the reference tokens:
+        // - slash: position of the last read slash (or end of string)
+        // - start: position after the previous slash
+        for (
+            // search for the first slash after the first character
+            std::size_t slash = reference_string.find_first_of('/', 1),
+            // set the beginning of the first reference token
+            start = 1;
+            // we can stop if start == 0 (if slash == string_t::npos)
+            start != 0;
+            // set the beginning of the next reference token
+            // (will eventually be 0 if slash == string_t::npos)
+            start = (slash == string_t::npos) ? 0 : slash + 1,
+            // find next slash
+            slash = reference_string.find_first_of('/', start))
+        {
+            // use the text between the beginning of the reference token
+            // (start) and the last slash (slash).
+            auto reference_token = reference_string.substr(start, slash - start);
+
+            // check reference tokens are properly escaped
+            for (std::size_t pos = reference_token.find_first_of('~');
+                    pos != string_t::npos;
+                    pos = reference_token.find_first_of('~', pos + 1))
+            {
+                JSON_ASSERT(reference_token[pos] == '~');
+
+                // ~ must be followed by 0 or 1
+                if (JSON_HEDLEY_UNLIKELY(pos == reference_token.size() - 1 ||
+                                         (reference_token[pos + 1] != '0' &&
+                                          reference_token[pos + 1] != '1')))
+                {
+                    JSON_THROW(detail::parse_error::create(108, 0, "escape character '~' must be followed with '0' or '1'", nullptr));
+                }
+            }
+
+            // finally, store the reference token
+            detail::unescape(reference_token);
+            result.push_back(reference_token);
+        }
+
+        return result;
+    }
+
+  private:
+    /*!
+    @param[in] reference_string  the reference string to the current value
+    @param[in] value             the value to consider
+    @param[in,out] result        the result object to insert values to
+
+    @note Empty objects or arrays are flattened to `null`.
+    */
+    template<typename BasicJsonType>
+    static void flatten(const string_t& reference_string,
+                        const BasicJsonType& value,
+                        BasicJsonType& result)
+    {
+        switch (value.type())
+        {
+            case detail::value_t::array:
+            {
+                if (value.m_data.m_value.array->empty())
+                {
+                    // flatten empty array as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate array and use index as reference string
+                    for (std::size_t i = 0; i < value.m_data.m_value.array->size(); ++i)
+                    {
+                        flatten(detail::concat(reference_string, '/', std::to_string(i)),
+                                value.m_data.m_value.array->operator[](i), result);
+                    }
+                }
+                break;
+            }
+
+            case detail::value_t::object:
+            {
+                if (value.m_data.m_value.object->empty())
+                {
+                    // flatten empty object as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate object and use keys as reference string
+                    for (const auto& element : *value.m_data.m_value.object)
+                    {
+                        flatten(detail::concat(reference_string, '/', detail::escape(element.first)), element.second, result);
+                    }
+                }
+                break;
+            }
+
+            case detail::value_t::null:
+            case detail::value_t::string:
+            case detail::value_t::boolean:
+            case detail::value_t::number_integer:
+            case detail::value_t::number_unsigned:
+            case detail::value_t::number_float:
+            case detail::value_t::binary:
+            case detail::value_t::discarded:
+            default:
+            {
+                // add primitive value with its reference string
+                result[reference_string] = value;
+                break;
+            }
+        }
+    }
+
+    /*!
+    @param[in] value  flattened JSON
+
+    @return unflattened JSON
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.314  if value is not an object
+    @throw type_error.315  if object values are not primitive
+    @throw type_error.313  if value cannot be unflattened
+    */
+    template<typename BasicJsonType>
+    static BasicJsonType
+    unflatten(const BasicJsonType& value)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!value.is_object()))
+        {
+            JSON_THROW(detail::type_error::create(314, "only objects can be unflattened", &value));
+        }
+
+        BasicJsonType result;
+
+        // iterate the JSON object values
+        for (const auto& element : *value.m_data.m_value.object)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!element.second.is_primitive()))
+            {
+                JSON_THROW(detail::type_error::create(315, "values in object must be primitive", &element.second));
+            }
+
+            // assign value to reference pointed to by JSON pointer; Note that if
+            // the JSON pointer is "" (i.e., points to the whole value), function
+            // get_and_create returns a reference to result itself. An assignment
+            // will then create a primitive value.
+            json_pointer(element.first).get_and_create(result) = element.second;
+        }
+
+        return result;
+    }
+
+    // can't use conversion operator because of ambiguity
+    json_pointer<string_t> convert() const&
+    {
+        json_pointer<string_t> result;
+        result.reference_tokens = reference_tokens;
+        return result;
+    }
+
+    json_pointer<string_t> convert()&&
+    {
+        json_pointer<string_t> result;
+        result.reference_tokens = std::move(reference_tokens);
+        return result;
+    }
+
+  public:
+#if JSON_HAS_THREE_WAY_COMPARISON
+    /// @brief compares two JSON pointers for equality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_eq/
+    template<typename RefStringTypeRhs>
+    bool operator==(const json_pointer<RefStringTypeRhs>& rhs) const noexcept
+    {
+        return reference_tokens == rhs.reference_tokens;
+    }
+
+    /// @brief compares JSON pointer and string for equality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_eq/
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.2, operator==(json_pointer))
+    bool operator==(const string_t& rhs) const
+    {
+        return *this == json_pointer(rhs);
+    }
+
+    /// @brief 3-way compares two JSON pointers
+    template<typename RefStringTypeRhs>
+    std::strong_ordering operator<=>(const json_pointer<RefStringTypeRhs>& rhs) const noexcept // *NOPAD*
+    {
+        return  reference_tokens <=> rhs.reference_tokens; // *NOPAD*
+    }
+#else
+    /// @brief compares two JSON pointers for equality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_eq/
+    template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator==(const json_pointer<RefStringTypeLhs>& lhs,
+                           const json_pointer<RefStringTypeRhs>& rhs) noexcept;
+
+    /// @brief compares JSON pointer and string for equality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_eq/
+    template<typename RefStringTypeLhs, typename StringType>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator==(const json_pointer<RefStringTypeLhs>& lhs,
+                           const StringType& rhs);
+
+    /// @brief compares string and JSON pointer for equality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_eq/
+    template<typename RefStringTypeRhs, typename StringType>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator==(const StringType& lhs,
+                           const json_pointer<RefStringTypeRhs>& rhs);
+
+    /// @brief compares two JSON pointers for inequality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_ne/
+    template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator!=(const json_pointer<RefStringTypeLhs>& lhs,
+                           const json_pointer<RefStringTypeRhs>& rhs) noexcept;
+
+    /// @brief compares JSON pointer and string for inequality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_ne/
+    template<typename RefStringTypeLhs, typename StringType>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator!=(const json_pointer<RefStringTypeLhs>& lhs,
+                           const StringType& rhs);
+
+    /// @brief compares string and JSON pointer for inequality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_ne/
+    template<typename RefStringTypeRhs, typename StringType>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator!=(const StringType& lhs,
+                           const json_pointer<RefStringTypeRhs>& rhs);
+
+    /// @brief compares two JSON pointer for less-than
+    template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator<(const json_pointer<RefStringTypeLhs>& lhs,
+                          const json_pointer<RefStringTypeRhs>& rhs) noexcept;
+#endif
+
+  private:
+    /// the reference tokens
+    std::vector<string_t> reference_tokens;
+};
+
+#if !JSON_HAS_THREE_WAY_COMPARISON
+// functions cannot be defined inside class due to ODR violations
+template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+inline bool operator==(const json_pointer<RefStringTypeLhs>& lhs,
+                       const json_pointer<RefStringTypeRhs>& rhs) noexcept
+{
+    return lhs.reference_tokens == rhs.reference_tokens;
+}
+
+template<typename RefStringTypeLhs,
+         typename StringType = typename json_pointer<RefStringTypeLhs>::string_t>
+JSON_HEDLEY_DEPRECATED_FOR(3.11.2, operator==(json_pointer, json_pointer))
+inline bool operator==(const json_pointer<RefStringTypeLhs>& lhs,
+                       const StringType& rhs)
+{
+    return lhs == json_pointer<RefStringTypeLhs>(rhs);
+}
+
+template<typename RefStringTypeRhs,
+         typename StringType = typename json_pointer<RefStringTypeRhs>::string_t>
+JSON_HEDLEY_DEPRECATED_FOR(3.11.2, operator==(json_pointer, json_pointer))
+inline bool operator==(const StringType& lhs,
+                       const json_pointer<RefStringTypeRhs>& rhs)
+{
+    return json_pointer<RefStringTypeRhs>(lhs) == rhs;
+}
+
+template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+inline bool operator!=(const json_pointer<RefStringTypeLhs>& lhs,
+                       const json_pointer<RefStringTypeRhs>& rhs) noexcept
+{
+    return !(lhs == rhs);
+}
+
+template<typename RefStringTypeLhs,
+         typename StringType = typename json_pointer<RefStringTypeLhs>::string_t>
+JSON_HEDLEY_DEPRECATED_FOR(3.11.2, operator!=(json_pointer, json_pointer))
+inline bool operator!=(const json_pointer<RefStringTypeLhs>& lhs,
+                       const StringType& rhs)
+{
+    return !(lhs == rhs);
+}
+
+template<typename RefStringTypeRhs,
+         typename StringType = typename json_pointer<RefStringTypeRhs>::string_t>
+JSON_HEDLEY_DEPRECATED_FOR(3.11.2, operator!=(json_pointer, json_pointer))
+inline bool operator!=(const StringType& lhs,
+                       const json_pointer<RefStringTypeRhs>& rhs)
+{
+    return !(lhs == rhs);
+}
+
+template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+inline bool operator<(const json_pointer<RefStringTypeLhs>& lhs,
+                      const json_pointer<RefStringTypeRhs>& rhs) noexcept
+{
+    return lhs.reference_tokens < rhs.reference_tokens;
+}
+#endif
+
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/json_ref.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/json_ref.hpp
new file mode 100644
index 0000000..47911fb
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/json_ref.hpp
@@ -0,0 +1,78 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <initializer_list>
+#include <utility>
+
+#include <nlohmann/detail/abi_macros.hpp>
+#include <nlohmann/detail/meta/type_traits.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename BasicJsonType>
+class json_ref
+{
+  public:
+    using value_type = BasicJsonType;
+
+    json_ref(value_type&& value)
+        : owned_value(std::move(value))
+    {}
+
+    json_ref(const value_type& value)
+        : value_ref(&value)
+    {}
+
+    json_ref(std::initializer_list<json_ref> init)
+        : owned_value(init)
+    {}
+
+    template <
+        class... Args,
+        enable_if_t<std::is_constructible<value_type, Args...>::value, int> = 0 >
+    json_ref(Args && ... args)
+        : owned_value(std::forward<Args>(args)...)
+    {}
+
+    // class should be movable only
+    json_ref(json_ref&&) noexcept = default;
+    json_ref(const json_ref&) = delete;
+    json_ref& operator=(const json_ref&) = delete;
+    json_ref& operator=(json_ref&&) = delete;
+    ~json_ref() = default;
+
+    value_type moved_or_copied() const
+    {
+        if (value_ref == nullptr)
+        {
+            return std::move(owned_value);
+        }
+        return *value_ref;
+    }
+
+    value_type const& operator*() const
+    {
+        return value_ref ? *value_ref : owned_value;
+    }
+
+    value_type const* operator->() const
+    {
+        return &** this;
+    }
+
+  private:
+    mutable value_type owned_value = nullptr;
+    value_type const* value_ref = nullptr;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/macro_scope.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/macro_scope.hpp
new file mode 100644
index 0000000..2870a4f
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/macro_scope.hpp
@@ -0,0 +1,469 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <utility> // declval, pair
+#include <nlohmann/detail/meta/detected.hpp>
+#include <nlohmann/thirdparty/hedley/hedley.hpp>
+
+// This file contains all internal macro definitions (except those affecting ABI)
+// You MUST include macro_unscope.hpp at the end of json.hpp to undef all of them
+
+#include <nlohmann/detail/abi_macros.hpp>
+
+// exclude unsupported compilers
+#if !defined(JSON_SKIP_UNSUPPORTED_COMPILER_CHECK)
+    #if defined(__clang__)
+        #if (__clang_major__ * 10000 + __clang_minor__ * 100 + __clang_patchlevel__) < 30400
+            #error "unsupported Clang version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #elif defined(__GNUC__) && !(defined(__ICC) || defined(__INTEL_COMPILER))
+        #if (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) < 40800
+            #error "unsupported GCC version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #endif
+#endif
+
+// C++ language standard detection
+// if the user manually specified the used c++ version this is skipped
+#if !defined(JSON_HAS_CPP_20) && !defined(JSON_HAS_CPP_17) && !defined(JSON_HAS_CPP_14) && !defined(JSON_HAS_CPP_11)
+    #if (defined(__cplusplus) && __cplusplus >= 202002L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 202002L)
+        #define JSON_HAS_CPP_20
+        #define JSON_HAS_CPP_17
+        #define JSON_HAS_CPP_14
+    #elif (defined(__cplusplus) && __cplusplus >= 201703L) || (defined(_HAS_CXX17) && _HAS_CXX17 == 1) // fix for issue #464
+        #define JSON_HAS_CPP_17
+        #define JSON_HAS_CPP_14
+    #elif (defined(__cplusplus) && __cplusplus >= 201402L) || (defined(_HAS_CXX14) && _HAS_CXX14 == 1)
+        #define JSON_HAS_CPP_14
+    #endif
+    // the cpp 11 flag is always specified because it is the minimal required version
+    #define JSON_HAS_CPP_11
+#endif
+
+#ifdef __has_include
+    #if __has_include(<version>)
+        #include <version>
+    #endif
+#endif
+
+#if !defined(JSON_HAS_FILESYSTEM) && !defined(JSON_HAS_EXPERIMENTAL_FILESYSTEM)
+    #ifdef JSON_HAS_CPP_17
+        #if defined(__cpp_lib_filesystem)
+            #define JSON_HAS_FILESYSTEM 1
+        #elif defined(__cpp_lib_experimental_filesystem)
+            #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 1
+        #elif !defined(__has_include)
+            #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 1
+        #elif __has_include(<filesystem>)
+            #define JSON_HAS_FILESYSTEM 1
+        #elif __has_include(<experimental/filesystem>)
+            #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 1
+        #endif
+
+        // std::filesystem does not work on MinGW GCC 8: https://sourceforge.net/p/mingw-w64/bugs/737/
+        #if defined(__MINGW32__) && defined(__GNUC__) && __GNUC__ == 8
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+
+        // no filesystem support before GCC 8: https://en.cppreference.com/w/cpp/compiler_support
+        #if defined(__GNUC__) && !defined(__clang__) && __GNUC__ < 8
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+
+        // no filesystem support before Clang 7: https://en.cppreference.com/w/cpp/compiler_support
+        #if defined(__clang_major__) && __clang_major__ < 7
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+
+        // no filesystem support before MSVC 19.14: https://en.cppreference.com/w/cpp/compiler_support
+        #if defined(_MSC_VER) && _MSC_VER < 1914
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+
+        // no filesystem support before iOS 13
+        #if defined(__IPHONE_OS_VERSION_MIN_REQUIRED) && __IPHONE_OS_VERSION_MIN_REQUIRED < 130000
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+
+        // no filesystem support before macOS Catalina
+        #if defined(__MAC_OS_X_VERSION_MIN_REQUIRED) && __MAC_OS_X_VERSION_MIN_REQUIRED < 101500
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+    #endif
+#endif
+
+#ifndef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+    #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 0
+#endif
+
+#ifndef JSON_HAS_FILESYSTEM
+    #define JSON_HAS_FILESYSTEM 0
+#endif
+
+#ifndef JSON_HAS_THREE_WAY_COMPARISON
+    #if defined(__cpp_impl_three_way_comparison) && __cpp_impl_three_way_comparison >= 201907L \
+        && defined(__cpp_lib_three_way_comparison) && __cpp_lib_three_way_comparison >= 201907L
+        #define JSON_HAS_THREE_WAY_COMPARISON 1
+    #else
+        #define JSON_HAS_THREE_WAY_COMPARISON 0
+    #endif
+#endif
+
+#ifndef JSON_HAS_RANGES
+    // ranges header shipping in GCC 11.1.0 (released 2021-04-27) has syntax error
+    #if defined(__GLIBCXX__) && __GLIBCXX__ == 20210427
+        #define JSON_HAS_RANGES 0
+    #elif defined(__cpp_lib_ranges)
+        #define JSON_HAS_RANGES 1
+    #else
+        #define JSON_HAS_RANGES 0
+    #endif
+#endif
+
+#ifdef JSON_HAS_CPP_17
+    #define JSON_INLINE_VARIABLE inline
+#else
+    #define JSON_INLINE_VARIABLE
+#endif
+
+#if JSON_HEDLEY_HAS_ATTRIBUTE(no_unique_address)
+    #define JSON_NO_UNIQUE_ADDRESS [[no_unique_address]]
+#else
+    #define JSON_NO_UNIQUE_ADDRESS
+#endif
+
+// disable documentation warnings on clang
+#if defined(__clang__)
+    #pragma clang diagnostic push
+    #pragma clang diagnostic ignored "-Wdocumentation"
+    #pragma clang diagnostic ignored "-Wdocumentation-unknown-command"
+#endif
+
+// allow disabling exceptions
+#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || defined(_CPPUNWIND)) && !defined(JSON_NOEXCEPTION)
+    #define JSON_THROW(exception) throw exception
+    #define JSON_TRY try
+    #define JSON_CATCH(exception) catch(exception)
+    #define JSON_INTERNAL_CATCH(exception) catch(exception)
+#else
+    #include <cstdlib>
+    #define JSON_THROW(exception) std::abort()
+    #define JSON_TRY if(true)
+    #define JSON_CATCH(exception) if(false)
+    #define JSON_INTERNAL_CATCH(exception) if(false)
+#endif
+
+// override exception macros
+#if defined(JSON_THROW_USER)
+    #undef JSON_THROW
+    #define JSON_THROW JSON_THROW_USER
+#endif
+#if defined(JSON_TRY_USER)
+    #undef JSON_TRY
+    #define JSON_TRY JSON_TRY_USER
+#endif
+#if defined(JSON_CATCH_USER)
+    #undef JSON_CATCH
+    #define JSON_CATCH JSON_CATCH_USER
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_CATCH_USER
+#endif
+#if defined(JSON_INTERNAL_CATCH_USER)
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_INTERNAL_CATCH_USER
+#endif
+
+// allow overriding assert
+#if !defined(JSON_ASSERT)
+    #include <cassert> // assert
+    #define JSON_ASSERT(x) assert(x)
+#endif
+
+// allow to access some private functions (needed by the test suite)
+#if defined(JSON_TESTS_PRIVATE)
+    #define JSON_PRIVATE_UNLESS_TESTED public
+#else
+    #define JSON_PRIVATE_UNLESS_TESTED private
+#endif
+
+/*!
+@brief macro to briefly define a mapping between an enum and JSON
+@def NLOHMANN_JSON_SERIALIZE_ENUM
+@since version 3.4.0
+*/
+#define NLOHMANN_JSON_SERIALIZE_ENUM(ENUM_TYPE, ...)                                            \
+    template<typename BasicJsonType>                                                            \
+    inline void to_json(BasicJsonType& j, const ENUM_TYPE& e)                                   \
+    {                                                                                           \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");          \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                     \
+        auto it = std::find_if(std::begin(m), std::end(m),                                      \
+                               [e](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool  \
+        {                                                                                       \
+            return ej_pair.first == e;                                                          \
+        });                                                                                     \
+        j = ((it != std::end(m)) ? it : std::begin(m))->second;                                 \
+    }                                                                                           \
+    template<typename BasicJsonType>                                                            \
+    inline void from_json(const BasicJsonType& j, ENUM_TYPE& e)                                 \
+    {                                                                                           \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");          \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                     \
+        auto it = std::find_if(std::begin(m), std::end(m),                                      \
+                               [&j](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool \
+        {                                                                                       \
+            return ej_pair.second == j;                                                         \
+        });                                                                                     \
+        e = ((it != std::end(m)) ? it : std::begin(m))->first;                                  \
+    }
+
+// Ugly macros to avoid uglier copy-paste when specializing basic_json. They
+// may be removed in the future once the class is split.
+
+#define NLOHMANN_BASIC_JSON_TPL_DECLARATION                                \
+    template<template<typename, typename, typename...> class ObjectType,   \
+             template<typename, typename...> class ArrayType,              \
+             class StringType, class BooleanType, class NumberIntegerType, \
+             class NumberUnsignedType, class NumberFloatType,              \
+             template<typename> class AllocatorType,                       \
+             template<typename, typename = void> class JSONSerializer,     \
+             class BinaryType,                                             \
+             class CustomBaseClass>
+
+#define NLOHMANN_BASIC_JSON_TPL                                            \
+    basic_json<ObjectType, ArrayType, StringType, BooleanType,             \
+    NumberIntegerType, NumberUnsignedType, NumberFloatType,                \
+    AllocatorType, JSONSerializer, BinaryType, CustomBaseClass>
+
+// Macros to simplify conversion from/to types
+
+#define NLOHMANN_JSON_EXPAND( x ) x
+#define NLOHMANN_JSON_GET_MACRO(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10, _11, _12, _13, _14, _15, _16, _17, _18, _19, _20, _21, _22, _23, _24, _25, _26, _27, _28, _29, _30, _31, _32, _33, _34, _35, _36, _37, _38, _39, _40, _41, _42, _43, _44, _45, _46, _47, _48, _49, _50, _51, _52, _53, _54, _55, _56, _57, _58, _59, _60, _61, _62, _63, _64, NAME,...) NAME
+#define NLOHMANN_JSON_PASTE(...) NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_GET_MACRO(__VA_ARGS__, \
+        NLOHMANN_JSON_PASTE64, \
+        NLOHMANN_JSON_PASTE63, \
+        NLOHMANN_JSON_PASTE62, \
+        NLOHMANN_JSON_PASTE61, \
+        NLOHMANN_JSON_PASTE60, \
+        NLOHMANN_JSON_PASTE59, \
+        NLOHMANN_JSON_PASTE58, \
+        NLOHMANN_JSON_PASTE57, \
+        NLOHMANN_JSON_PASTE56, \
+        NLOHMANN_JSON_PASTE55, \
+        NLOHMANN_JSON_PASTE54, \
+        NLOHMANN_JSON_PASTE53, \
+        NLOHMANN_JSON_PASTE52, \
+        NLOHMANN_JSON_PASTE51, \
+        NLOHMANN_JSON_PASTE50, \
+        NLOHMANN_JSON_PASTE49, \
+        NLOHMANN_JSON_PASTE48, \
+        NLOHMANN_JSON_PASTE47, \
+        NLOHMANN_JSON_PASTE46, \
+        NLOHMANN_JSON_PASTE45, \
+        NLOHMANN_JSON_PASTE44, \
+        NLOHMANN_JSON_PASTE43, \
+        NLOHMANN_JSON_PASTE42, \
+        NLOHMANN_JSON_PASTE41, \
+        NLOHMANN_JSON_PASTE40, \
+        NLOHMANN_JSON_PASTE39, \
+        NLOHMANN_JSON_PASTE38, \
+        NLOHMANN_JSON_PASTE37, \
+        NLOHMANN_JSON_PASTE36, \
+        NLOHMANN_JSON_PASTE35, \
+        NLOHMANN_JSON_PASTE34, \
+        NLOHMANN_JSON_PASTE33, \
+        NLOHMANN_JSON_PASTE32, \
+        NLOHMANN_JSON_PASTE31, \
+        NLOHMANN_JSON_PASTE30, \
+        NLOHMANN_JSON_PASTE29, \
+        NLOHMANN_JSON_PASTE28, \
+        NLOHMANN_JSON_PASTE27, \
+        NLOHMANN_JSON_PASTE26, \
+        NLOHMANN_JSON_PASTE25, \
+        NLOHMANN_JSON_PASTE24, \
+        NLOHMANN_JSON_PASTE23, \
+        NLOHMANN_JSON_PASTE22, \
+        NLOHMANN_JSON_PASTE21, \
+        NLOHMANN_JSON_PASTE20, \
+        NLOHMANN_JSON_PASTE19, \
+        NLOHMANN_JSON_PASTE18, \
+        NLOHMANN_JSON_PASTE17, \
+        NLOHMANN_JSON_PASTE16, \
+        NLOHMANN_JSON_PASTE15, \
+        NLOHMANN_JSON_PASTE14, \
+        NLOHMANN_JSON_PASTE13, \
+        NLOHMANN_JSON_PASTE12, \
+        NLOHMANN_JSON_PASTE11, \
+        NLOHMANN_JSON_PASTE10, \
+        NLOHMANN_JSON_PASTE9, \
+        NLOHMANN_JSON_PASTE8, \
+        NLOHMANN_JSON_PASTE7, \
+        NLOHMANN_JSON_PASTE6, \
+        NLOHMANN_JSON_PASTE5, \
+        NLOHMANN_JSON_PASTE4, \
+        NLOHMANN_JSON_PASTE3, \
+        NLOHMANN_JSON_PASTE2, \
+        NLOHMANN_JSON_PASTE1)(__VA_ARGS__))
+#define NLOHMANN_JSON_PASTE2(func, v1) func(v1)
+#define NLOHMANN_JSON_PASTE3(func, v1, v2) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE2(func, v2)
+#define NLOHMANN_JSON_PASTE4(func, v1, v2, v3) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE3(func, v2, v3)
+#define NLOHMANN_JSON_PASTE5(func, v1, v2, v3, v4) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE4(func, v2, v3, v4)
+#define NLOHMANN_JSON_PASTE6(func, v1, v2, v3, v4, v5) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE5(func, v2, v3, v4, v5)
+#define NLOHMANN_JSON_PASTE7(func, v1, v2, v3, v4, v5, v6) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE6(func, v2, v3, v4, v5, v6)
+#define NLOHMANN_JSON_PASTE8(func, v1, v2, v3, v4, v5, v6, v7) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE7(func, v2, v3, v4, v5, v6, v7)
+#define NLOHMANN_JSON_PASTE9(func, v1, v2, v3, v4, v5, v6, v7, v8) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE8(func, v2, v3, v4, v5, v6, v7, v8)
+#define NLOHMANN_JSON_PASTE10(func, v1, v2, v3, v4, v5, v6, v7, v8, v9) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE9(func, v2, v3, v4, v5, v6, v7, v8, v9)
+#define NLOHMANN_JSON_PASTE11(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE10(func, v2, v3, v4, v5, v6, v7, v8, v9, v10)
+#define NLOHMANN_JSON_PASTE12(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE11(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11)
+#define NLOHMANN_JSON_PASTE13(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE12(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12)
+#define NLOHMANN_JSON_PASTE14(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE13(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13)
+#define NLOHMANN_JSON_PASTE15(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE14(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14)
+#define NLOHMANN_JSON_PASTE16(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE15(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15)
+#define NLOHMANN_JSON_PASTE17(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE16(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16)
+#define NLOHMANN_JSON_PASTE18(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE17(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17)
+#define NLOHMANN_JSON_PASTE19(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE18(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18)
+#define NLOHMANN_JSON_PASTE20(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE19(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19)
+#define NLOHMANN_JSON_PASTE21(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE20(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20)
+#define NLOHMANN_JSON_PASTE22(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE21(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21)
+#define NLOHMANN_JSON_PASTE23(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE22(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22)
+#define NLOHMANN_JSON_PASTE24(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE23(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23)
+#define NLOHMANN_JSON_PASTE25(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE24(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24)
+#define NLOHMANN_JSON_PASTE26(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE25(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25)
+#define NLOHMANN_JSON_PASTE27(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE26(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26)
+#define NLOHMANN_JSON_PASTE28(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE27(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27)
+#define NLOHMANN_JSON_PASTE29(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE28(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28)
+#define NLOHMANN_JSON_PASTE30(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE29(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29)
+#define NLOHMANN_JSON_PASTE31(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE30(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30)
+#define NLOHMANN_JSON_PASTE32(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE31(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31)
+#define NLOHMANN_JSON_PASTE33(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE32(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32)
+#define NLOHMANN_JSON_PASTE34(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE33(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33)
+#define NLOHMANN_JSON_PASTE35(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE34(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34)
+#define NLOHMANN_JSON_PASTE36(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE35(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35)
+#define NLOHMANN_JSON_PASTE37(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE36(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36)
+#define NLOHMANN_JSON_PASTE38(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE37(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37)
+#define NLOHMANN_JSON_PASTE39(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE38(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38)
+#define NLOHMANN_JSON_PASTE40(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE39(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39)
+#define NLOHMANN_JSON_PASTE41(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE40(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40)
+#define NLOHMANN_JSON_PASTE42(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE41(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41)
+#define NLOHMANN_JSON_PASTE43(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE42(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42)
+#define NLOHMANN_JSON_PASTE44(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE43(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43)
+#define NLOHMANN_JSON_PASTE45(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE44(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44)
+#define NLOHMANN_JSON_PASTE46(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE45(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45)
+#define NLOHMANN_JSON_PASTE47(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE46(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46)
+#define NLOHMANN_JSON_PASTE48(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE47(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47)
+#define NLOHMANN_JSON_PASTE49(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE48(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48)
+#define NLOHMANN_JSON_PASTE50(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE49(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49)
+#define NLOHMANN_JSON_PASTE51(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE50(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50)
+#define NLOHMANN_JSON_PASTE52(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE51(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51)
+#define NLOHMANN_JSON_PASTE53(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE52(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52)
+#define NLOHMANN_JSON_PASTE54(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE53(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53)
+#define NLOHMANN_JSON_PASTE55(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE54(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54)
+#define NLOHMANN_JSON_PASTE56(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE55(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55)
+#define NLOHMANN_JSON_PASTE57(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE56(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56)
+#define NLOHMANN_JSON_PASTE58(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE57(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57)
+#define NLOHMANN_JSON_PASTE59(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE58(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58)
+#define NLOHMANN_JSON_PASTE60(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE59(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59)
+#define NLOHMANN_JSON_PASTE61(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE60(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60)
+#define NLOHMANN_JSON_PASTE62(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE61(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61)
+#define NLOHMANN_JSON_PASTE63(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE62(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62)
+#define NLOHMANN_JSON_PASTE64(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62, v63) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE63(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62, v63)
+
+#define NLOHMANN_JSON_TO(v1) nlohmann_json_j[#v1] = nlohmann_json_t.v1;
+#define NLOHMANN_JSON_FROM(v1) nlohmann_json_j.at(#v1).get_to(nlohmann_json_t.v1);
+#define NLOHMANN_JSON_FROM_WITH_DEFAULT(v1) nlohmann_json_t.v1 = nlohmann_json_j.value(#v1, nlohmann_json_default_obj.v1);
+
+/*!
+@brief macro
+@def NLOHMANN_DEFINE_TYPE_INTRUSIVE
+@since version 3.9.0
+*/
+#define NLOHMANN_DEFINE_TYPE_INTRUSIVE(Type, ...)  \
+    friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    friend void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM, __VA_ARGS__)) }
+
+#define NLOHMANN_DEFINE_TYPE_INTRUSIVE_WITH_DEFAULT(Type, ...)  \
+    friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    friend void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { const Type nlohmann_json_default_obj{}; NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM_WITH_DEFAULT, __VA_ARGS__)) }
+
+/*!
+@brief macro
+@def NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE
+@since version 3.9.0
+*/
+#define NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Type, ...)  \
+    inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    inline void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM, __VA_ARGS__)) }
+
+#define NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE_WITH_DEFAULT(Type, ...)  \
+    inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    inline void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { const Type nlohmann_json_default_obj{}; NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM_WITH_DEFAULT, __VA_ARGS__)) }
+
+
+// inspired from https://stackoverflow.com/a/26745591
+// allows to call any std function as if (e.g. with begin):
+// using std::begin; begin(x);
+//
+// it allows using the detected idiom to retrieve the return type
+// of such an expression
+#define NLOHMANN_CAN_CALL_STD_FUNC_IMPL(std_name)                                 \
+    namespace detail {                                                            \
+    using std::std_name;                                                          \
+    \
+    template<typename... T>                                                       \
+    using result_of_##std_name = decltype(std_name(std::declval<T>()...));        \
+    }                                                                             \
+    \
+    namespace detail2 {                                                           \
+    struct std_name##_tag                                                         \
+    {                                                                             \
+    };                                                                            \
+    \
+    template<typename... T>                                                       \
+    std_name##_tag std_name(T&&...);                                              \
+    \
+    template<typename... T>                                                       \
+    using result_of_##std_name = decltype(std_name(std::declval<T>()...));        \
+    \
+    template<typename... T>                                                       \
+    struct would_call_std_##std_name                                              \
+    {                                                                             \
+        static constexpr auto const value = ::nlohmann::detail::                  \
+                                            is_detected_exact<std_name##_tag, result_of_##std_name, T...>::value; \
+    };                                                                            \
+    } /* namespace detail2 */ \
+    \
+    template<typename... T>                                                       \
+    struct would_call_std_##std_name : detail2::would_call_std_##std_name<T...>   \
+    {                                                                             \
+    }
+
+#ifndef JSON_USE_IMPLICIT_CONVERSIONS
+    #define JSON_USE_IMPLICIT_CONVERSIONS 1
+#endif
+
+#if JSON_USE_IMPLICIT_CONVERSIONS
+    #define JSON_EXPLICIT
+#else
+    #define JSON_EXPLICIT explicit
+#endif
+
+#ifndef JSON_DISABLE_ENUM_SERIALIZATION
+    #define JSON_DISABLE_ENUM_SERIALIZATION 0
+#endif
+
+#ifndef JSON_USE_GLOBAL_UDLS
+    #define JSON_USE_GLOBAL_UDLS 1
+#endif
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/macro_unscope.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/macro_unscope.hpp
new file mode 100644
index 0000000..4a871f0
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/macro_unscope.hpp
@@ -0,0 +1,44 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+// restore clang diagnostic settings
+#if defined(__clang__)
+    #pragma clang diagnostic pop
+#endif
+
+// clean up
+#undef JSON_ASSERT
+#undef JSON_INTERNAL_CATCH
+#undef JSON_THROW
+#undef JSON_PRIVATE_UNLESS_TESTED
+#undef NLOHMANN_BASIC_JSON_TPL_DECLARATION
+#undef NLOHMANN_BASIC_JSON_TPL
+#undef JSON_EXPLICIT
+#undef NLOHMANN_CAN_CALL_STD_FUNC_IMPL
+#undef JSON_INLINE_VARIABLE
+#undef JSON_NO_UNIQUE_ADDRESS
+#undef JSON_DISABLE_ENUM_SERIALIZATION
+#undef JSON_USE_GLOBAL_UDLS
+
+#ifndef JSON_TEST_KEEP_MACROS
+    #undef JSON_CATCH
+    #undef JSON_TRY
+    #undef JSON_HAS_CPP_11
+    #undef JSON_HAS_CPP_14
+    #undef JSON_HAS_CPP_17
+    #undef JSON_HAS_CPP_20
+    #undef JSON_HAS_FILESYSTEM
+    #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+    #undef JSON_HAS_THREE_WAY_COMPARISON
+    #undef JSON_HAS_RANGES
+    #undef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+#endif
+
+#include <nlohmann/thirdparty/hedley/hedley_undef.hpp>
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/call_std/begin.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/call_std/begin.hpp
new file mode 100644
index 0000000..27d36c6
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/call_std/begin.hpp
@@ -0,0 +1,17 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <nlohmann/detail/macro_scope.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+NLOHMANN_CAN_CALL_STD_FUNC_IMPL(begin);
+
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/call_std/end.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/call_std/end.hpp
new file mode 100644
index 0000000..d10bf83
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/call_std/end.hpp
@@ -0,0 +1,17 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <nlohmann/detail/macro_scope.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+NLOHMANN_CAN_CALL_STD_FUNC_IMPL(end);
+
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/cpp_future.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/cpp_future.hpp
new file mode 100644
index 0000000..22f2514
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/cpp_future.hpp
@@ -0,0 +1,171 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-FileCopyrightText: 2018 The Abseil Authors
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <array> // array
+#include <cstddef> // size_t
+#include <type_traits> // conditional, enable_if, false_type, integral_constant, is_constructible, is_integral, is_same, remove_cv, remove_reference, true_type
+#include <utility> // index_sequence, make_index_sequence, index_sequence_for
+
+#include <nlohmann/detail/macro_scope.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename T>
+using uncvref_t = typename std::remove_cv<typename std::remove_reference<T>::type>::type;
+
+#ifdef JSON_HAS_CPP_14
+
+// the following utilities are natively available in C++14
+using std::enable_if_t;
+using std::index_sequence;
+using std::make_index_sequence;
+using std::index_sequence_for;
+
+#else
+
+// alias templates to reduce boilerplate
+template<bool B, typename T = void>
+using enable_if_t = typename std::enable_if<B, T>::type;
+
+// The following code is taken from https://github.com/abseil/abseil-cpp/blob/10cb35e459f5ecca5b2ff107635da0bfa41011b4/absl/utility/utility.h
+// which is part of Google Abseil (https://github.com/abseil/abseil-cpp), licensed under the Apache License 2.0.
+
+//// START OF CODE FROM GOOGLE ABSEIL
+
+// integer_sequence
+//
+// Class template representing a compile-time integer sequence. An instantiation
+// of `integer_sequence<T, Ints...>` has a sequence of integers encoded in its
+// type through its template arguments (which is a common need when
+// working with C++11 variadic templates). `absl::integer_sequence` is designed
+// to be a drop-in replacement for C++14's `std::integer_sequence`.
+//
+// Example:
+//
+//   template< class T, T... Ints >
+//   void user_function(integer_sequence<T, Ints...>);
+//
+//   int main()
+//   {
+//     // user_function's `T` will be deduced to `int` and `Ints...`
+//     // will be deduced to `0, 1, 2, 3, 4`.
+//     user_function(make_integer_sequence<int, 5>());
+//   }
+template <typename T, T... Ints>
+struct integer_sequence
+{
+    using value_type = T;
+    static constexpr std::size_t size() noexcept
+    {
+        return sizeof...(Ints);
+    }
+};
+
+// index_sequence
+//
+// A helper template for an `integer_sequence` of `size_t`,
+// `absl::index_sequence` is designed to be a drop-in replacement for C++14's
+// `std::index_sequence`.
+template <size_t... Ints>
+using index_sequence = integer_sequence<size_t, Ints...>;
+
+namespace utility_internal
+{
+
+template <typename Seq, size_t SeqSize, size_t Rem>
+struct Extend;
+
+// Note that SeqSize == sizeof...(Ints). It's passed explicitly for efficiency.
+template <typename T, T... Ints, size_t SeqSize>
+struct Extend<integer_sequence<T, Ints...>, SeqSize, 0>
+{
+    using type = integer_sequence < T, Ints..., (Ints + SeqSize)... >;
+};
+
+template <typename T, T... Ints, size_t SeqSize>
+struct Extend<integer_sequence<T, Ints...>, SeqSize, 1>
+{
+    using type = integer_sequence < T, Ints..., (Ints + SeqSize)..., 2 * SeqSize >;
+};
+
+// Recursion helper for 'make_integer_sequence<T, N>'.
+// 'Gen<T, N>::type' is an alias for 'integer_sequence<T, 0, 1, ... N-1>'.
+template <typename T, size_t N>
+struct Gen
+{
+    using type =
+        typename Extend < typename Gen < T, N / 2 >::type, N / 2, N % 2 >::type;
+};
+
+template <typename T>
+struct Gen<T, 0>
+{
+    using type = integer_sequence<T>;
+};
+
+}  // namespace utility_internal
+
+// Compile-time sequences of integers
+
+// make_integer_sequence
+//
+// This template alias is equivalent to
+// `integer_sequence<int, 0, 1, ..., N-1>`, and is designed to be a drop-in
+// replacement for C++14's `std::make_integer_sequence`.
+template <typename T, T N>
+using make_integer_sequence = typename utility_internal::Gen<T, N>::type;
+
+// make_index_sequence
+//
+// This template alias is equivalent to `index_sequence<0, 1, ..., N-1>`,
+// and is designed to be a drop-in replacement for C++14's
+// `std::make_index_sequence`.
+template <size_t N>
+using make_index_sequence = make_integer_sequence<size_t, N>;
+
+// index_sequence_for
+//
+// Converts a typename pack into an index sequence of the same length, and
+// is designed to be a drop-in replacement for C++14's
+// `std::index_sequence_for()`
+template <typename... Ts>
+using index_sequence_for = make_index_sequence<sizeof...(Ts)>;
+
+//// END OF CODE FROM GOOGLE ABSEIL
+
+#endif
+
+// dispatch utility (taken from ranges-v3)
+template<unsigned N> struct priority_tag : priority_tag < N - 1 > {};
+template<> struct priority_tag<0> {};
+
+// taken from ranges-v3
+template<typename T>
+struct static_const
+{
+    static JSON_INLINE_VARIABLE constexpr T value{};
+};
+
+#ifndef JSON_HAS_CPP_17
+    template<typename T>
+    constexpr T static_const<T>::value;
+#endif
+
+template<typename T, typename... Args>
+inline constexpr std::array<T, sizeof...(Args)> make_array(Args&& ... args)
+{
+    return std::array<T, sizeof...(Args)> {{static_cast<T>(std::forward<Args>(args))...}};
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/detected.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/detected.hpp
new file mode 100644
index 0000000..b2f6db9
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/detected.hpp
@@ -0,0 +1,70 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <type_traits>
+
+#include <nlohmann/detail/meta/void_t.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+// https://en.cppreference.com/w/cpp/experimental/is_detected
+struct nonesuch
+{
+    nonesuch() = delete;
+    ~nonesuch() = delete;
+    nonesuch(nonesuch const&) = delete;
+    nonesuch(nonesuch const&&) = delete;
+    void operator=(nonesuch const&) = delete;
+    void operator=(nonesuch&&) = delete;
+};
+
+template<class Default,
+         class AlwaysVoid,
+         template<class...> class Op,
+         class... Args>
+struct detector
+{
+    using value_t = std::false_type;
+    using type = Default;
+};
+
+template<class Default, template<class...> class Op, class... Args>
+struct detector<Default, void_t<Op<Args...>>, Op, Args...>
+{
+    using value_t = std::true_type;
+    using type = Op<Args...>;
+};
+
+template<template<class...> class Op, class... Args>
+using is_detected = typename detector<nonesuch, void, Op, Args...>::value_t;
+
+template<template<class...> class Op, class... Args>
+struct is_detected_lazy : is_detected<Op, Args...> { };
+
+template<template<class...> class Op, class... Args>
+using detected_t = typename detector<nonesuch, void, Op, Args...>::type;
+
+template<class Default, template<class...> class Op, class... Args>
+using detected_or = detector<Default, void, Op, Args...>;
+
+template<class Default, template<class...> class Op, class... Args>
+using detected_or_t = typename detected_or<Default, Op, Args...>::type;
+
+template<class Expected, template<class...> class Op, class... Args>
+using is_detected_exact = std::is_same<Expected, detected_t<Op, Args...>>;
+
+template<class To, template<class...> class Op, class... Args>
+using is_detected_convertible =
+    std::is_convertible<detected_t<Op, Args...>, To>;
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/identity_tag.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/identity_tag.hpp
new file mode 100644
index 0000000..71164f2
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/identity_tag.hpp
@@ -0,0 +1,21 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <nlohmann/detail/abi_macros.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+// dispatching helper struct
+template <class T> struct identity_tag {};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/is_sax.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/is_sax.hpp
new file mode 100644
index 0000000..2150089
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/is_sax.hpp
@@ -0,0 +1,159 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstdint> // size_t
+#include <utility> // declval
+#include <string> // string
+
+#include <nlohmann/detail/abi_macros.hpp>
+#include <nlohmann/detail/meta/detected.hpp>
+#include <nlohmann/detail/meta/type_traits.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename T>
+using null_function_t = decltype(std::declval<T&>().null());
+
+template<typename T>
+using boolean_function_t =
+    decltype(std::declval<T&>().boolean(std::declval<bool>()));
+
+template<typename T, typename Integer>
+using number_integer_function_t =
+    decltype(std::declval<T&>().number_integer(std::declval<Integer>()));
+
+template<typename T, typename Unsigned>
+using number_unsigned_function_t =
+    decltype(std::declval<T&>().number_unsigned(std::declval<Unsigned>()));
+
+template<typename T, typename Float, typename String>
+using number_float_function_t = decltype(std::declval<T&>().number_float(
+                                    std::declval<Float>(), std::declval<const String&>()));
+
+template<typename T, typename String>
+using string_function_t =
+    decltype(std::declval<T&>().string(std::declval<String&>()));
+
+template<typename T, typename Binary>
+using binary_function_t =
+    decltype(std::declval<T&>().binary(std::declval<Binary&>()));
+
+template<typename T>
+using start_object_function_t =
+    decltype(std::declval<T&>().start_object(std::declval<std::size_t>()));
+
+template<typename T, typename String>
+using key_function_t =
+    decltype(std::declval<T&>().key(std::declval<String&>()));
+
+template<typename T>
+using end_object_function_t = decltype(std::declval<T&>().end_object());
+
+template<typename T>
+using start_array_function_t =
+    decltype(std::declval<T&>().start_array(std::declval<std::size_t>()));
+
+template<typename T>
+using end_array_function_t = decltype(std::declval<T&>().end_array());
+
+template<typename T, typename Exception>
+using parse_error_function_t = decltype(std::declval<T&>().parse_error(
+        std::declval<std::size_t>(), std::declval<const std::string&>(),
+        std::declval<const Exception&>()));
+
+template<typename SAX, typename BasicJsonType>
+struct is_sax
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static constexpr bool value =
+        is_detected_exact<bool, null_function_t, SAX>::value &&
+        is_detected_exact<bool, boolean_function_t, SAX>::value &&
+        is_detected_exact<bool, number_integer_function_t, SAX, number_integer_t>::value &&
+        is_detected_exact<bool, number_unsigned_function_t, SAX, number_unsigned_t>::value &&
+        is_detected_exact<bool, number_float_function_t, SAX, number_float_t, string_t>::value &&
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, binary_function_t, SAX, binary_t>::value &&
+        is_detected_exact<bool, start_object_function_t, SAX>::value &&
+        is_detected_exact<bool, key_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, end_object_function_t, SAX>::value &&
+        is_detected_exact<bool, start_array_function_t, SAX>::value &&
+        is_detected_exact<bool, end_array_function_t, SAX>::value &&
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value;
+};
+
+template<typename SAX, typename BasicJsonType>
+struct is_sax_static_asserts
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static_assert(is_detected_exact<bool, null_function_t, SAX>::value,
+                  "Missing/invalid function: bool null()");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(
+        is_detected_exact<bool, number_integer_function_t, SAX,
+        number_integer_t>::value,
+        "Missing/invalid function: bool number_integer(number_integer_t)");
+    static_assert(
+        is_detected_exact<bool, number_unsigned_function_t, SAX,
+        number_unsigned_t>::value,
+        "Missing/invalid function: bool number_unsigned(number_unsigned_t)");
+    static_assert(is_detected_exact<bool, number_float_function_t, SAX,
+                  number_float_t, string_t>::value,
+                  "Missing/invalid function: bool number_float(number_float_t, const string_t&)");
+    static_assert(
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value,
+        "Missing/invalid function: bool string(string_t&)");
+    static_assert(
+        is_detected_exact<bool, binary_function_t, SAX, binary_t>::value,
+        "Missing/invalid function: bool binary(binary_t&)");
+    static_assert(is_detected_exact<bool, start_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_object(std::size_t)");
+    static_assert(is_detected_exact<bool, key_function_t, SAX, string_t>::value,
+                  "Missing/invalid function: bool key(string_t&)");
+    static_assert(is_detected_exact<bool, end_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_object()");
+    static_assert(is_detected_exact<bool, start_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_array(std::size_t)");
+    static_assert(is_detected_exact<bool, end_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_array()");
+    static_assert(
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value,
+        "Missing/invalid function: bool parse_error(std::size_t, const "
+        "std::string&, const exception&)");
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/std_fs.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/std_fs.hpp
new file mode 100644
index 0000000..c096158
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/std_fs.hpp
@@ -0,0 +1,29 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <nlohmann/detail/macro_scope.hpp>
+
+#if JSON_HAS_EXPERIMENTAL_FILESYSTEM
+#include <experimental/filesystem>
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+namespace std_fs = std::experimental::filesystem;
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+#elif JSON_HAS_FILESYSTEM
+#include <filesystem>
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+namespace std_fs = std::filesystem;
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+#endif
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/type_traits.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/type_traits.hpp
new file mode 100644
index 0000000..cfc7e5a
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/type_traits.hpp
@@ -0,0 +1,740 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <limits> // numeric_limits
+#include <type_traits> // false_type, is_constructible, is_integral, is_same, true_type
+#include <utility> // declval
+#include <tuple> // tuple
+
+#include <nlohmann/detail/iterators/iterator_traits.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/meta/call_std/begin.hpp>
+#include <nlohmann/detail/meta/call_std/end.hpp>
+#include <nlohmann/detail/meta/cpp_future.hpp>
+#include <nlohmann/detail/meta/detected.hpp>
+#include <nlohmann/json_fwd.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+/*!
+@brief detail namespace with internal helper functions
+
+This namespace collects functions that should not be exposed,
+implementations of some @ref basic_json methods, and meta-programming helpers.
+
+@since version 2.1.0
+*/
+namespace detail
+{
+
+/////////////
+// helpers //
+/////////////
+
+// Note to maintainers:
+//
+// Every trait in this file expects a non CV-qualified type.
+// The only exceptions are in the 'aliases for detected' section
+// (i.e. those of the form: decltype(T::member_function(std::declval<T>())))
+//
+// In this case, T has to be properly CV-qualified to constraint the function arguments
+// (e.g. to_json(BasicJsonType&, const T&))
+
+template<typename> struct is_basic_json : std::false_type {};
+
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+struct is_basic_json<NLOHMANN_BASIC_JSON_TPL> : std::true_type {};
+
+// used by exceptions create() member functions
+// true_type for pointer to possibly cv-qualified basic_json or std::nullptr_t
+// false_type otherwise
+template<typename BasicJsonContext>
+struct is_basic_json_context :
+    std::integral_constant < bool,
+    is_basic_json<typename std::remove_cv<typename std::remove_pointer<BasicJsonContext>::type>::type>::value
+    || std::is_same<BasicJsonContext, std::nullptr_t>::value >
+{};
+
+//////////////////////
+// json_ref helpers //
+//////////////////////
+
+template<typename>
+class json_ref;
+
+template<typename>
+struct is_json_ref : std::false_type {};
+
+template<typename T>
+struct is_json_ref<json_ref<T>> : std::true_type {};
+
+//////////////////////////
+// aliases for detected //
+//////////////////////////
+
+template<typename T>
+using mapped_type_t = typename T::mapped_type;
+
+template<typename T>
+using key_type_t = typename T::key_type;
+
+template<typename T>
+using value_type_t = typename T::value_type;
+
+template<typename T>
+using difference_type_t = typename T::difference_type;
+
+template<typename T>
+using pointer_t = typename T::pointer;
+
+template<typename T>
+using reference_t = typename T::reference;
+
+template<typename T>
+using iterator_category_t = typename T::iterator_category;
+
+template<typename T, typename... Args>
+using to_json_function = decltype(T::to_json(std::declval<Args>()...));
+
+template<typename T, typename... Args>
+using from_json_function = decltype(T::from_json(std::declval<Args>()...));
+
+template<typename T, typename U>
+using get_template_function = decltype(std::declval<T>().template get<U>());
+
+// trait checking if JSONSerializer<T>::from_json(json const&, udt&) exists
+template<typename BasicJsonType, typename T, typename = void>
+struct has_from_json : std::false_type {};
+
+// trait checking if j.get<T> is valid
+// use this trait instead of std::is_constructible or std::is_convertible,
+// both rely on, or make use of implicit conversions, and thus fail when T
+// has several constructors/operator= (see https://github.com/nlohmann/json/issues/958)
+template <typename BasicJsonType, typename T>
+struct is_getable
+{
+    static constexpr bool value = is_detected<get_template_function, const BasicJsonType&, T>::value;
+};
+
+template<typename BasicJsonType, typename T>
+struct has_from_json < BasicJsonType, T, enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, from_json_function, serializer,
+        const BasicJsonType&, T&>::value;
+};
+
+// This trait checks if JSONSerializer<T>::from_json(json const&) exists
+// this overload is used for non-default-constructible user-defined-types
+template<typename BasicJsonType, typename T, typename = void>
+struct has_non_default_from_json : std::false_type {};
+
+template<typename BasicJsonType, typename T>
+struct has_non_default_from_json < BasicJsonType, T, enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<T, from_json_function, serializer,
+        const BasicJsonType&>::value;
+};
+
+// This trait checks if BasicJsonType::json_serializer<T>::to_json exists
+// Do not evaluate the trait when T is a basic_json type, to avoid template instantiation infinite recursion.
+template<typename BasicJsonType, typename T, typename = void>
+struct has_to_json : std::false_type {};
+
+template<typename BasicJsonType, typename T>
+struct has_to_json < BasicJsonType, T, enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, to_json_function, serializer, BasicJsonType&,
+        T>::value;
+};
+
+template<typename T>
+using detect_key_compare = typename T::key_compare;
+
+template<typename T>
+struct has_key_compare : std::integral_constant<bool, is_detected<detect_key_compare, T>::value> {};
+
+// obtains the actual object key comparator
+template<typename BasicJsonType>
+struct actual_object_comparator
+{
+    using object_t = typename BasicJsonType::object_t;
+    using object_comparator_t = typename BasicJsonType::default_object_comparator_t;
+    using type = typename std::conditional < has_key_compare<object_t>::value,
+          typename object_t::key_compare, object_comparator_t>::type;
+};
+
+template<typename BasicJsonType>
+using actual_object_comparator_t = typename actual_object_comparator<BasicJsonType>::type;
+
+///////////////////
+// is_ functions //
+///////////////////
+
+// https://en.cppreference.com/w/cpp/types/conjunction
+template<class...> struct conjunction : std::true_type { };
+template<class B> struct conjunction<B> : B { };
+template<class B, class... Bn>
+struct conjunction<B, Bn...>
+: std::conditional<static_cast<bool>(B::value), conjunction<Bn...>, B>::type {};
+
+// https://en.cppreference.com/w/cpp/types/negation
+template<class B> struct negation : std::integral_constant < bool, !B::value > { };
+
+// Reimplementation of is_constructible and is_default_constructible, due to them being broken for
+// std::pair and std::tuple until LWG 2367 fix (see https://cplusplus.github.io/LWG/lwg-defects.html#2367).
+// This causes compile errors in e.g. clang 3.5 or gcc 4.9.
+template <typename T>
+struct is_default_constructible : std::is_default_constructible<T> {};
+
+template <typename T1, typename T2>
+struct is_default_constructible<std::pair<T1, T2>>
+            : conjunction<is_default_constructible<T1>, is_default_constructible<T2>> {};
+
+template <typename T1, typename T2>
+struct is_default_constructible<const std::pair<T1, T2>>
+            : conjunction<is_default_constructible<T1>, is_default_constructible<T2>> {};
+
+template <typename... Ts>
+struct is_default_constructible<std::tuple<Ts...>>
+            : conjunction<is_default_constructible<Ts>...> {};
+
+template <typename... Ts>
+struct is_default_constructible<const std::tuple<Ts...>>
+            : conjunction<is_default_constructible<Ts>...> {};
+
+
+template <typename T, typename... Args>
+struct is_constructible : std::is_constructible<T, Args...> {};
+
+template <typename T1, typename T2>
+struct is_constructible<std::pair<T1, T2>> : is_default_constructible<std::pair<T1, T2>> {};
+
+template <typename T1, typename T2>
+struct is_constructible<const std::pair<T1, T2>> : is_default_constructible<const std::pair<T1, T2>> {};
+
+template <typename... Ts>
+struct is_constructible<std::tuple<Ts...>> : is_default_constructible<std::tuple<Ts...>> {};
+
+template <typename... Ts>
+struct is_constructible<const std::tuple<Ts...>> : is_default_constructible<const std::tuple<Ts...>> {};
+
+
+template<typename T, typename = void>
+struct is_iterator_traits : std::false_type {};
+
+template<typename T>
+struct is_iterator_traits<iterator_traits<T>>
+{
+  private:
+    using traits = iterator_traits<T>;
+
+  public:
+    static constexpr auto value =
+        is_detected<value_type_t, traits>::value &&
+        is_detected<difference_type_t, traits>::value &&
+        is_detected<pointer_t, traits>::value &&
+        is_detected<iterator_category_t, traits>::value &&
+        is_detected<reference_t, traits>::value;
+};
+
+template<typename T>
+struct is_range
+{
+  private:
+    using t_ref = typename std::add_lvalue_reference<T>::type;
+
+    using iterator = detected_t<result_of_begin, t_ref>;
+    using sentinel = detected_t<result_of_end, t_ref>;
+
+    // to be 100% correct, it should use https://en.cppreference.com/w/cpp/iterator/input_or_output_iterator
+    // and https://en.cppreference.com/w/cpp/iterator/sentinel_for
+    // but reimplementing these would be too much work, as a lot of other concepts are used underneath
+    static constexpr auto is_iterator_begin =
+        is_iterator_traits<iterator_traits<iterator>>::value;
+
+  public:
+    static constexpr bool value = !std::is_same<iterator, nonesuch>::value && !std::is_same<sentinel, nonesuch>::value && is_iterator_begin;
+};
+
+template<typename R>
+using iterator_t = enable_if_t<is_range<R>::value, result_of_begin<decltype(std::declval<R&>())>>;
+
+template<typename T>
+using range_value_t = value_type_t<iterator_traits<iterator_t<T>>>;
+
+// The following implementation of is_complete_type is taken from
+// https://blogs.msdn.microsoft.com/vcblog/2015/12/02/partial-support-for-expression-sfinae-in-vs-2015-update-1/
+// and is written by Xiang Fan who agreed to using it in this library.
+
+template<typename T, typename = void>
+struct is_complete_type : std::false_type {};
+
+template<typename T>
+struct is_complete_type<T, decltype(void(sizeof(T)))> : std::true_type {};
+
+template<typename BasicJsonType, typename CompatibleObjectType,
+         typename = void>
+struct is_compatible_object_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type_impl <
+    BasicJsonType, CompatibleObjectType,
+    enable_if_t < is_detected<mapped_type_t, CompatibleObjectType>::value&&
+    is_detected<key_type_t, CompatibleObjectType>::value >>
+{
+    using object_t = typename BasicJsonType::object_t;
+
+    // macOS's is_constructible does not play well with nonesuch...
+    static constexpr bool value =
+        is_constructible<typename object_t::key_type,
+        typename CompatibleObjectType::key_type>::value &&
+        is_constructible<typename object_t::mapped_type,
+        typename CompatibleObjectType::mapped_type>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type
+    : is_compatible_object_type_impl<BasicJsonType, CompatibleObjectType> {};
+
+template<typename BasicJsonType, typename ConstructibleObjectType,
+         typename = void>
+struct is_constructible_object_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type_impl <
+    BasicJsonType, ConstructibleObjectType,
+    enable_if_t < is_detected<mapped_type_t, ConstructibleObjectType>::value&&
+    is_detected<key_type_t, ConstructibleObjectType>::value >>
+{
+    using object_t = typename BasicJsonType::object_t;
+
+    static constexpr bool value =
+        (is_default_constructible<ConstructibleObjectType>::value &&
+         (std::is_move_assignable<ConstructibleObjectType>::value ||
+          std::is_copy_assignable<ConstructibleObjectType>::value) &&
+         (is_constructible<typename ConstructibleObjectType::key_type,
+          typename object_t::key_type>::value &&
+          std::is_same <
+          typename object_t::mapped_type,
+          typename ConstructibleObjectType::mapped_type >::value)) ||
+        (has_from_json<BasicJsonType,
+         typename ConstructibleObjectType::mapped_type>::value ||
+         has_non_default_from_json <
+         BasicJsonType,
+         typename ConstructibleObjectType::mapped_type >::value);
+};
+
+template<typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type
+    : is_constructible_object_type_impl<BasicJsonType,
+      ConstructibleObjectType> {};
+
+template<typename BasicJsonType, typename CompatibleStringType>
+struct is_compatible_string_type
+{
+    static constexpr auto value =
+        is_constructible<typename BasicJsonType::string_t, CompatibleStringType>::value;
+};
+
+template<typename BasicJsonType, typename ConstructibleStringType>
+struct is_constructible_string_type
+{
+    // launder type through decltype() to fix compilation failure on ICPC
+#ifdef __INTEL_COMPILER
+    using laundered_type = decltype(std::declval<ConstructibleStringType>());
+#else
+    using laundered_type = ConstructibleStringType;
+#endif
+
+    static constexpr auto value =
+        conjunction <
+        is_constructible<laundered_type, typename BasicJsonType::string_t>,
+        is_detected_exact<typename BasicJsonType::string_t::value_type,
+        value_type_t, laundered_type >>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleArrayType, typename = void>
+struct is_compatible_array_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type_impl <
+    BasicJsonType, CompatibleArrayType,
+    enable_if_t <
+    is_detected<iterator_t, CompatibleArrayType>::value&&
+    is_iterator_traits<iterator_traits<detected_t<iterator_t, CompatibleArrayType>>>::value&&
+// special case for types like std::filesystem::path whose iterator's value_type are themselves
+// c.f. https://github.com/nlohmann/json/pull/3073
+    !std::is_same<CompatibleArrayType, detected_t<range_value_t, CompatibleArrayType>>::value >>
+{
+    static constexpr bool value =
+        is_constructible<BasicJsonType,
+        range_value_t<CompatibleArrayType>>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type
+    : is_compatible_array_type_impl<BasicJsonType, CompatibleArrayType> {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType, typename = void>
+struct is_constructible_array_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t<std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value >>
+            : std::true_type {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t < !std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value&&
+    !is_compatible_string_type<BasicJsonType, ConstructibleArrayType>::value&&
+    is_default_constructible<ConstructibleArrayType>::value&&
+(std::is_move_assignable<ConstructibleArrayType>::value ||
+ std::is_copy_assignable<ConstructibleArrayType>::value)&&
+is_detected<iterator_t, ConstructibleArrayType>::value&&
+is_iterator_traits<iterator_traits<detected_t<iterator_t, ConstructibleArrayType>>>::value&&
+is_detected<range_value_t, ConstructibleArrayType>::value&&
+// special case for types like std::filesystem::path whose iterator's value_type are themselves
+// c.f. https://github.com/nlohmann/json/pull/3073
+!std::is_same<ConstructibleArrayType, detected_t<range_value_t, ConstructibleArrayType>>::value&&
+        is_complete_type <
+        detected_t<range_value_t, ConstructibleArrayType >>::value >>
+{
+    using value_type = range_value_t<ConstructibleArrayType>;
+
+    static constexpr bool value =
+        std::is_same<value_type,
+        typename BasicJsonType::array_t::value_type>::value ||
+        has_from_json<BasicJsonType,
+        value_type>::value ||
+        has_non_default_from_json <
+        BasicJsonType,
+        value_type >::value;
+};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type
+    : is_constructible_array_type_impl<BasicJsonType, ConstructibleArrayType> {};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType,
+         typename = void>
+struct is_compatible_integer_type_impl : std::false_type {};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type_impl <
+    RealIntegerType, CompatibleNumberIntegerType,
+    enable_if_t < std::is_integral<RealIntegerType>::value&&
+    std::is_integral<CompatibleNumberIntegerType>::value&&
+    !std::is_same<bool, CompatibleNumberIntegerType>::value >>
+{
+    // is there an assert somewhere on overflows?
+    using RealLimits = std::numeric_limits<RealIntegerType>;
+    using CompatibleLimits = std::numeric_limits<CompatibleNumberIntegerType>;
+
+    static constexpr auto value =
+        is_constructible<RealIntegerType,
+        CompatibleNumberIntegerType>::value &&
+        CompatibleLimits::is_integer &&
+        RealLimits::is_signed == CompatibleLimits::is_signed;
+};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type
+    : is_compatible_integer_type_impl<RealIntegerType,
+      CompatibleNumberIntegerType> {};
+
+template<typename BasicJsonType, typename CompatibleType, typename = void>
+struct is_compatible_type_impl: std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type_impl <
+    BasicJsonType, CompatibleType,
+    enable_if_t<is_complete_type<CompatibleType>::value >>
+{
+    static constexpr bool value =
+        has_to_json<BasicJsonType, CompatibleType>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type
+    : is_compatible_type_impl<BasicJsonType, CompatibleType> {};
+
+template<typename T1, typename T2>
+struct is_constructible_tuple : std::false_type {};
+
+template<typename T1, typename... Args>
+struct is_constructible_tuple<T1, std::tuple<Args...>> : conjunction<is_constructible<T1, Args>...> {};
+
+template<typename BasicJsonType, typename T>
+struct is_json_iterator_of : std::false_type {};
+
+template<typename BasicJsonType>
+struct is_json_iterator_of<BasicJsonType, typename BasicJsonType::iterator> : std::true_type {};
+
+template<typename BasicJsonType>
+struct is_json_iterator_of<BasicJsonType, typename BasicJsonType::const_iterator> : std::true_type
+{};
+
+// checks if a given type T is a template specialization of Primary
+template<template <typename...> class Primary, typename T>
+struct is_specialization_of : std::false_type {};
+
+template<template <typename...> class Primary, typename... Args>
+struct is_specialization_of<Primary, Primary<Args...>> : std::true_type {};
+
+template<typename T>
+using is_json_pointer = is_specialization_of<::nlohmann::json_pointer, uncvref_t<T>>;
+
+// checks if A and B are comparable using Compare functor
+template<typename Compare, typename A, typename B, typename = void>
+struct is_comparable : std::false_type {};
+
+template<typename Compare, typename A, typename B>
+struct is_comparable<Compare, A, B, void_t<
+decltype(std::declval<Compare>()(std::declval<A>(), std::declval<B>())),
+decltype(std::declval<Compare>()(std::declval<B>(), std::declval<A>()))
+>> : std::true_type {};
+
+template<typename T>
+using detect_is_transparent = typename T::is_transparent;
+
+// type trait to check if KeyType can be used as object key (without a BasicJsonType)
+// see is_usable_as_basic_json_key_type below
+template<typename Comparator, typename ObjectKeyType, typename KeyTypeCVRef, bool RequireTransparentComparator = true,
+         bool ExcludeObjectKeyType = RequireTransparentComparator, typename KeyType = uncvref_t<KeyTypeCVRef>>
+using is_usable_as_key_type = typename std::conditional <
+                              is_comparable<Comparator, ObjectKeyType, KeyTypeCVRef>::value
+                              && !(ExcludeObjectKeyType && std::is_same<KeyType,
+                                   ObjectKeyType>::value)
+                              && (!RequireTransparentComparator
+                                  || is_detected <detect_is_transparent, Comparator>::value)
+                              && !is_json_pointer<KeyType>::value,
+                              std::true_type,
+                              std::false_type >::type;
+
+// type trait to check if KeyType can be used as object key
+// true if:
+//   - KeyType is comparable with BasicJsonType::object_t::key_type
+//   - if ExcludeObjectKeyType is true, KeyType is not BasicJsonType::object_t::key_type
+//   - the comparator is transparent or RequireTransparentComparator is false
+//   - KeyType is not a JSON iterator or json_pointer
+template<typename BasicJsonType, typename KeyTypeCVRef, bool RequireTransparentComparator = true,
+         bool ExcludeObjectKeyType = RequireTransparentComparator, typename KeyType = uncvref_t<KeyTypeCVRef>>
+using is_usable_as_basic_json_key_type = typename std::conditional <
+        is_usable_as_key_type<typename BasicJsonType::object_comparator_t,
+        typename BasicJsonType::object_t::key_type, KeyTypeCVRef,
+        RequireTransparentComparator, ExcludeObjectKeyType>::value
+        && !is_json_iterator_of<BasicJsonType, KeyType>::value,
+        std::true_type,
+        std::false_type >::type;
+
+template<typename ObjectType, typename KeyType>
+using detect_erase_with_key_type = decltype(std::declval<ObjectType&>().erase(std::declval<KeyType>()));
+
+// type trait to check if object_t has an erase() member functions accepting KeyType
+template<typename BasicJsonType, typename KeyType>
+using has_erase_with_key_type = typename std::conditional <
+                                is_detected <
+                                detect_erase_with_key_type,
+                                typename BasicJsonType::object_t, KeyType >::value,
+                                std::true_type,
+                                std::false_type >::type;
+
+// a naive helper to check if a type is an ordered_map (exploits the fact that
+// ordered_map inherits capacity() from std::vector)
+template <typename T>
+struct is_ordered_map
+{
+    using one = char;
+
+    struct two
+    {
+        char x[2]; // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+    };
+
+    template <typename C> static one test( decltype(&C::capacity) ) ;
+    template <typename C> static two test(...);
+
+    enum { value = sizeof(test<T>(nullptr)) == sizeof(char) }; // NOLINT(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+};
+
+// to avoid useless casts (see https://github.com/nlohmann/json/issues/2893#issuecomment-889152324)
+template < typename T, typename U, enable_if_t < !std::is_same<T, U>::value, int > = 0 >
+T conditional_static_cast(U value)
+{
+    return static_cast<T>(value);
+}
+
+template<typename T, typename U, enable_if_t<std::is_same<T, U>::value, int> = 0>
+T conditional_static_cast(U value)
+{
+    return value;
+}
+
+template<typename... Types>
+using all_integral = conjunction<std::is_integral<Types>...>;
+
+template<typename... Types>
+using all_signed = conjunction<std::is_signed<Types>...>;
+
+template<typename... Types>
+using all_unsigned = conjunction<std::is_unsigned<Types>...>;
+
+// there's a disjunction trait in another PR; replace when merged
+template<typename... Types>
+using same_sign = std::integral_constant < bool,
+      all_signed<Types...>::value || all_unsigned<Types...>::value >;
+
+template<typename OfType, typename T>
+using never_out_of_range = std::integral_constant < bool,
+      (std::is_signed<OfType>::value && (sizeof(T) < sizeof(OfType)))
+      || (same_sign<OfType, T>::value && sizeof(OfType) == sizeof(T)) >;
+
+template<typename OfType, typename T,
+         bool OfTypeSigned = std::is_signed<OfType>::value,
+         bool TSigned = std::is_signed<T>::value>
+struct value_in_range_of_impl2;
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl2<OfType, T, false, false>
+{
+    static constexpr bool test(T val)
+    {
+        using CommonType = typename std::common_type<OfType, T>::type;
+        return static_cast<CommonType>(val) <= static_cast<CommonType>((std::numeric_limits<OfType>::max)());
+    }
+};
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl2<OfType, T, true, false>
+{
+    static constexpr bool test(T val)
+    {
+        using CommonType = typename std::common_type<OfType, T>::type;
+        return static_cast<CommonType>(val) <= static_cast<CommonType>((std::numeric_limits<OfType>::max)());
+    }
+};
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl2<OfType, T, false, true>
+{
+    static constexpr bool test(T val)
+    {
+        using CommonType = typename std::common_type<OfType, T>::type;
+        return val >= 0 && static_cast<CommonType>(val) <= static_cast<CommonType>((std::numeric_limits<OfType>::max)());
+    }
+};
+
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl2<OfType, T, true, true>
+{
+    static constexpr bool test(T val)
+    {
+        using CommonType = typename std::common_type<OfType, T>::type;
+        return static_cast<CommonType>(val) >= static_cast<CommonType>((std::numeric_limits<OfType>::min)())
+               && static_cast<CommonType>(val) <= static_cast<CommonType>((std::numeric_limits<OfType>::max)());
+    }
+};
+
+template<typename OfType, typename T,
+         bool NeverOutOfRange = never_out_of_range<OfType, T>::value,
+         typename = detail::enable_if_t<all_integral<OfType, T>::value>>
+struct value_in_range_of_impl1;
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl1<OfType, T, false>
+{
+    static constexpr bool test(T val)
+    {
+        return value_in_range_of_impl2<OfType, T>::test(val);
+    }
+};
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl1<OfType, T, true>
+{
+    static constexpr bool test(T /*val*/)
+    {
+        return true;
+    }
+};
+
+template<typename OfType, typename T>
+inline constexpr bool value_in_range_of(T val)
+{
+    return value_in_range_of_impl1<OfType, T>::test(val);
+}
+
+template<bool Value>
+using bool_constant = std::integral_constant<bool, Value>;
+
+///////////////////////////////////////////////////////////////////////////////
+// is_c_string
+///////////////////////////////////////////////////////////////////////////////
+
+namespace impl
+{
+
+template<typename T>
+inline constexpr bool is_c_string()
+{
+    using TUnExt = typename std::remove_extent<T>::type;
+    using TUnCVExt = typename std::remove_cv<TUnExt>::type;
+    using TUnPtr = typename std::remove_pointer<T>::type;
+    using TUnCVPtr = typename std::remove_cv<TUnPtr>::type;
+    return
+        (std::is_array<T>::value && std::is_same<TUnCVExt, char>::value)
+        || (std::is_pointer<T>::value && std::is_same<TUnCVPtr, char>::value);
+}
+
+}  // namespace impl
+
+// checks whether T is a [cv] char */[cv] char[] C string
+template<typename T>
+struct is_c_string : bool_constant<impl::is_c_string<T>()> {};
+
+template<typename T>
+using is_c_string_uncvref = is_c_string<uncvref_t<T>>;
+
+///////////////////////////////////////////////////////////////////////////////
+// is_transparent
+///////////////////////////////////////////////////////////////////////////////
+
+namespace impl
+{
+
+template<typename T>
+inline constexpr bool is_transparent()
+{
+    return is_detected<detect_is_transparent, T>::value;
+}
+
+}  // namespace impl
+
+// checks whether T has a member named is_transparent
+template<typename T>
+struct is_transparent : bool_constant<impl::is_transparent<T>()> {};
+
+///////////////////////////////////////////////////////////////////////////////
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/void_t.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/void_t.hpp
new file mode 100644
index 0000000..2915402
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/meta/void_t.hpp
@@ -0,0 +1,24 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <nlohmann/detail/abi_macros.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename ...Ts> struct make_void
+{
+    using type = void;
+};
+template<typename ...Ts> using void_t = typename make_void<Ts...>::type;
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/output/binary_writer.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/output/binary_writer.hpp
new file mode 100644
index 0000000..d3495a4
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/output/binary_writer.hpp
@@ -0,0 +1,1838 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <algorithm> // reverse
+#include <array> // array
+#include <map> // map
+#include <cmath> // isnan, isinf
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstring> // memcpy
+#include <limits> // numeric_limits
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+#include <nlohmann/detail/input/binary_reader.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/output/output_adapters.hpp>
+#include <nlohmann/detail/string_concat.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+///////////////////
+// binary writer //
+///////////////////
+
+/*!
+@brief serialization to CBOR and MessagePack values
+*/
+template<typename BasicJsonType, typename CharType>
+class binary_writer
+{
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+
+  public:
+    /*!
+    @brief create a binary writer
+
+    @param[in] adapter  output adapter to write to
+    */
+    explicit binary_writer(output_adapter_t<CharType> adapter) : oa(std::move(adapter))
+    {
+        JSON_ASSERT(oa);
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    void write_bson(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+            {
+                write_bson_object(*j.m_data.m_value.object);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::array:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                JSON_THROW(type_error::create(317, concat("to serialize to BSON, top-level type must be object, but is ", j.type_name()), &j));
+            }
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_cbor(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                oa->write_character(to_char_type(0xF6));
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                oa->write_character(j.m_data.m_value.boolean
+                                    ? to_char_type(0xF5)
+                                    : to_char_type(0xF4));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_data.m_value.number_integer >= 0)
+                {
+                    // CBOR does not differentiate between positive signed
+                    // integers and unsigned integers. Therefore, we used the
+                    // code from the value_t::number_unsigned case here.
+                    if (j.m_data.m_value.number_integer <= 0x17)
+                    {
+                        write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x18));
+                        write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x19));
+                        write_number(static_cast<std::uint16_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x1A));
+                        write_number(static_cast<std::uint32_t>(j.m_data.m_value.number_integer));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x1B));
+                        write_number(static_cast<std::uint64_t>(j.m_data.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    // The conversions below encode the sign in the first
+                    // byte, and the value is converted to a positive number.
+                    const auto positive_number = -1 - j.m_data.m_value.number_integer;
+                    if (j.m_data.m_value.number_integer >= -24)
+                    {
+                        write_number(static_cast<std::uint8_t>(0x20 + positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x38));
+                        write_number(static_cast<std::uint8_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x39));
+                        write_number(static_cast<std::uint16_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x3A));
+                        write_number(static_cast<std::uint32_t>(positive_number));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x3B));
+                        write_number(static_cast<std::uint64_t>(positive_number));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_data.m_value.number_unsigned <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_unsigned));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x18));
+                    write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_unsigned));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x19));
+                    write_number(static_cast<std::uint16_t>(j.m_data.m_value.number_unsigned));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x1A));
+                    write_number(static_cast<std::uint32_t>(j.m_data.m_value.number_unsigned));
+                }
+                else
+                {
+                    oa->write_character(to_char_type(0x1B));
+                    write_number(static_cast<std::uint64_t>(j.m_data.m_value.number_unsigned));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                if (std::isnan(j.m_data.m_value.number_float))
+                {
+                    // NaN is 0xf97e00 in CBOR
+                    oa->write_character(to_char_type(0xF9));
+                    oa->write_character(to_char_type(0x7E));
+                    oa->write_character(to_char_type(0x00));
+                }
+                else if (std::isinf(j.m_data.m_value.number_float))
+                {
+                    // Infinity is 0xf97c00, -Infinity is 0xf9fc00
+                    oa->write_character(to_char_type(0xf9));
+                    oa->write_character(j.m_data.m_value.number_float > 0 ? to_char_type(0x7C) : to_char_type(0xFC));
+                    oa->write_character(to_char_type(0x00));
+                }
+                else
+                {
+                    write_compact_float(j.m_data.m_value.number_float, detail::input_format_t::cbor);
+                }
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_data.m_value.string->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x60 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x78));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x79));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_data.m_value.string->c_str()),
+                    j.m_data.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_data.m_value.array->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x80 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x98));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x99));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_data.m_value.array)
+                {
+                    write_cbor(el);
+                }
+                break;
+            }
+
+            case value_t::binary:
+            {
+                if (j.m_data.m_value.binary->has_subtype())
+                {
+                    if (j.m_data.m_value.binary->subtype() <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        write_number(static_cast<std::uint8_t>(0xd8));
+                        write_number(static_cast<std::uint8_t>(j.m_data.m_value.binary->subtype()));
+                    }
+                    else if (j.m_data.m_value.binary->subtype() <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        write_number(static_cast<std::uint8_t>(0xd9));
+                        write_number(static_cast<std::uint16_t>(j.m_data.m_value.binary->subtype()));
+                    }
+                    else if (j.m_data.m_value.binary->subtype() <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        write_number(static_cast<std::uint8_t>(0xda));
+                        write_number(static_cast<std::uint32_t>(j.m_data.m_value.binary->subtype()));
+                    }
+                    else if (j.m_data.m_value.binary->subtype() <= (std::numeric_limits<std::uint64_t>::max)())
+                    {
+                        write_number(static_cast<std::uint8_t>(0xdb));
+                        write_number(static_cast<std::uint64_t>(j.m_data.m_value.binary->subtype()));
+                    }
+                }
+
+                // step 1: write control byte and the binary array size
+                const auto N = j.m_data.m_value.binary->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x40 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x58));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x59));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x5A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x5B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_data.m_value.binary->data()),
+                    N);
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_data.m_value.object->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0xA0 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB8));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB9));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBA));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBB));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_data.m_value.object)
+                {
+                    write_cbor(el.first);
+                    write_cbor(el.second);
+                }
+                break;
+            }
+
+            case value_t::discarded:
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_msgpack(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null: // nil
+            {
+                oa->write_character(to_char_type(0xC0));
+                break;
+            }
+
+            case value_t::boolean: // true and false
+            {
+                oa->write_character(j.m_data.m_value.boolean
+                                    ? to_char_type(0xC3)
+                                    : to_char_type(0xC2));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_data.m_value.number_integer >= 0)
+                {
+                    // MessagePack does not differentiate between positive
+                    // signed integers and unsigned integers. Therefore, we used
+                    // the code from the value_t::number_unsigned case here.
+                    if (j.m_data.m_value.number_unsigned < 128)
+                    {
+                        // positive fixnum
+                        write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        // uint 8
+                        oa->write_character(to_char_type(0xCC));
+                        write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        // uint 16
+                        oa->write_character(to_char_type(0xCD));
+                        write_number(static_cast<std::uint16_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        // uint 32
+                        oa->write_character(to_char_type(0xCE));
+                        write_number(static_cast<std::uint32_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint64_t>::max)())
+                    {
+                        // uint 64
+                        oa->write_character(to_char_type(0xCF));
+                        write_number(static_cast<std::uint64_t>(j.m_data.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    if (j.m_data.m_value.number_integer >= -32)
+                    {
+                        // negative fixnum
+                        write_number(static_cast<std::int8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer >= (std::numeric_limits<std::int8_t>::min)() &&
+                             j.m_data.m_value.number_integer <= (std::numeric_limits<std::int8_t>::max)())
+                    {
+                        // int 8
+                        oa->write_character(to_char_type(0xD0));
+                        write_number(static_cast<std::int8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer >= (std::numeric_limits<std::int16_t>::min)() &&
+                             j.m_data.m_value.number_integer <= (std::numeric_limits<std::int16_t>::max)())
+                    {
+                        // int 16
+                        oa->write_character(to_char_type(0xD1));
+                        write_number(static_cast<std::int16_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer >= (std::numeric_limits<std::int32_t>::min)() &&
+                             j.m_data.m_value.number_integer <= (std::numeric_limits<std::int32_t>::max)())
+                    {
+                        // int 32
+                        oa->write_character(to_char_type(0xD2));
+                        write_number(static_cast<std::int32_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer >= (std::numeric_limits<std::int64_t>::min)() &&
+                             j.m_data.m_value.number_integer <= (std::numeric_limits<std::int64_t>::max)())
+                    {
+                        // int 64
+                        oa->write_character(to_char_type(0xD3));
+                        write_number(static_cast<std::int64_t>(j.m_data.m_value.number_integer));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_data.m_value.number_unsigned < 128)
+                {
+                    // positive fixnum
+                    write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    // uint 8
+                    oa->write_character(to_char_type(0xCC));
+                    write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // uint 16
+                    oa->write_character(to_char_type(0xCD));
+                    write_number(static_cast<std::uint16_t>(j.m_data.m_value.number_integer));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // uint 32
+                    oa->write_character(to_char_type(0xCE));
+                    write_number(static_cast<std::uint32_t>(j.m_data.m_value.number_integer));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    // uint 64
+                    oa->write_character(to_char_type(0xCF));
+                    write_number(static_cast<std::uint64_t>(j.m_data.m_value.number_integer));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                write_compact_float(j.m_data.m_value.number_float, detail::input_format_t::msgpack);
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_data.m_value.string->size();
+                if (N <= 31)
+                {
+                    // fixstr
+                    write_number(static_cast<std::uint8_t>(0xA0 | N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    // str 8
+                    oa->write_character(to_char_type(0xD9));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // str 16
+                    oa->write_character(to_char_type(0xDA));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // str 32
+                    oa->write_character(to_char_type(0xDB));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_data.m_value.string->c_str()),
+                    j.m_data.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_data.m_value.array->size();
+                if (N <= 15)
+                {
+                    // fixarray
+                    write_number(static_cast<std::uint8_t>(0x90 | N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // array 16
+                    oa->write_character(to_char_type(0xDC));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // array 32
+                    oa->write_character(to_char_type(0xDD));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_data.m_value.array)
+                {
+                    write_msgpack(el);
+                }
+                break;
+            }
+
+            case value_t::binary:
+            {
+                // step 0: determine if the binary type has a set subtype to
+                // determine whether or not to use the ext or fixext types
+                const bool use_ext = j.m_data.m_value.binary->has_subtype();
+
+                // step 1: write control byte and the byte string length
+                const auto N = j.m_data.m_value.binary->size();
+                if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    std::uint8_t output_type{};
+                    bool fixed = true;
+                    if (use_ext)
+                    {
+                        switch (N)
+                        {
+                            case 1:
+                                output_type = 0xD4; // fixext 1
+                                break;
+                            case 2:
+                                output_type = 0xD5; // fixext 2
+                                break;
+                            case 4:
+                                output_type = 0xD6; // fixext 4
+                                break;
+                            case 8:
+                                output_type = 0xD7; // fixext 8
+                                break;
+                            case 16:
+                                output_type = 0xD8; // fixext 16
+                                break;
+                            default:
+                                output_type = 0xC7; // ext 8
+                                fixed = false;
+                                break;
+                        }
+
+                    }
+                    else
+                    {
+                        output_type = 0xC4; // bin 8
+                        fixed = false;
+                    }
+
+                    oa->write_character(to_char_type(output_type));
+                    if (!fixed)
+                    {
+                        write_number(static_cast<std::uint8_t>(N));
+                    }
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    const std::uint8_t output_type = use_ext
+                                                     ? 0xC8 // ext 16
+                                                     : 0xC5; // bin 16
+
+                    oa->write_character(to_char_type(output_type));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    const std::uint8_t output_type = use_ext
+                                                     ? 0xC9 // ext 32
+                                                     : 0xC6; // bin 32
+
+                    oa->write_character(to_char_type(output_type));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 1.5: if this is an ext type, write the subtype
+                if (use_ext)
+                {
+                    write_number(static_cast<std::int8_t>(j.m_data.m_value.binary->subtype()));
+                }
+
+                // step 2: write the byte string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_data.m_value.binary->data()),
+                    N);
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_data.m_value.object->size();
+                if (N <= 15)
+                {
+                    // fixmap
+                    write_number(static_cast<std::uint8_t>(0x80 | (N & 0xF)));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // map 16
+                    oa->write_character(to_char_type(0xDE));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // map 32
+                    oa->write_character(to_char_type(0xDF));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_data.m_value.object)
+                {
+                    write_msgpack(el.first);
+                    write_msgpack(el.second);
+                }
+                break;
+            }
+
+            case value_t::discarded:
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @param[in] use_count   whether to use '#' prefixes (optimized format)
+    @param[in] use_type    whether to use '$' prefixes (optimized format)
+    @param[in] add_prefix  whether prefixes need to be used for this value
+    @param[in] use_bjdata  whether write in BJData format, default is false
+    */
+    void write_ubjson(const BasicJsonType& j, const bool use_count,
+                      const bool use_type, const bool add_prefix = true,
+                      const bool use_bjdata = false)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('Z'));
+                }
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(j.m_data.m_value.boolean
+                                        ? to_char_type('T')
+                                        : to_char_type('F'));
+                }
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                write_number_with_ubjson_prefix(j.m_data.m_value.number_integer, add_prefix, use_bjdata);
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                write_number_with_ubjson_prefix(j.m_data.m_value.number_unsigned, add_prefix, use_bjdata);
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                write_number_with_ubjson_prefix(j.m_data.m_value.number_float, add_prefix, use_bjdata);
+                break;
+            }
+
+            case value_t::string:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('S'));
+                }
+                write_number_with_ubjson_prefix(j.m_data.m_value.string->size(), true, use_bjdata);
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_data.m_value.string->c_str()),
+                    j.m_data.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('['));
+                }
+
+                bool prefix_required = true;
+                if (use_type && !j.m_data.m_value.array->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front(), use_bjdata);
+                    const bool same_prefix = std::all_of(j.begin() + 1, j.end(),
+                                                         [this, first_prefix, use_bjdata](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v, use_bjdata) == first_prefix;
+                    });
+
+                    std::vector<CharType> bjdx = {'[', '{', 'S', 'H', 'T', 'F', 'N', 'Z'}; // excluded markers in bjdata optimized type
+
+                    if (same_prefix && !(use_bjdata && std::find(bjdx.begin(), bjdx.end(), first_prefix) != bjdx.end()))
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_data.m_value.array->size(), true, use_bjdata);
+                }
+
+                for (const auto& el : *j.m_data.m_value.array)
+                {
+                    write_ubjson(el, use_count, use_type, prefix_required, use_bjdata);
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type(']'));
+                }
+
+                break;
+            }
+
+            case value_t::binary:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('['));
+                }
+
+                if (use_type && !j.m_data.m_value.binary->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    oa->write_character(to_char_type('$'));
+                    oa->write_character('U');
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_data.m_value.binary->size(), true, use_bjdata);
+                }
+
+                if (use_type)
+                {
+                    oa->write_characters(
+                        reinterpret_cast<const CharType*>(j.m_data.m_value.binary->data()),
+                        j.m_data.m_value.binary->size());
+                }
+                else
+                {
+                    for (size_t i = 0; i < j.m_data.m_value.binary->size(); ++i)
+                    {
+                        oa->write_character(to_char_type('U'));
+                        oa->write_character(j.m_data.m_value.binary->data()[i]);
+                    }
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type(']'));
+                }
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                if (use_bjdata && j.m_data.m_value.object->size() == 3 && j.m_data.m_value.object->find("_ArrayType_") != j.m_data.m_value.object->end() && j.m_data.m_value.object->find("_ArraySize_") != j.m_data.m_value.object->end() && j.m_data.m_value.object->find("_ArrayData_") != j.m_data.m_value.object->end())
+                {
+                    if (!write_bjdata_ndarray(*j.m_data.m_value.object, use_count, use_type))  // decode bjdata ndarray in the JData format (https://github.com/NeuroJSON/jdata)
+                    {
+                        break;
+                    }
+                }
+
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('{'));
+                }
+
+                bool prefix_required = true;
+                if (use_type && !j.m_data.m_value.object->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front(), use_bjdata);
+                    const bool same_prefix = std::all_of(j.begin(), j.end(),
+                                                         [this, first_prefix, use_bjdata](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v, use_bjdata) == first_prefix;
+                    });
+
+                    std::vector<CharType> bjdx = {'[', '{', 'S', 'H', 'T', 'F', 'N', 'Z'}; // excluded markers in bjdata optimized type
+
+                    if (same_prefix && !(use_bjdata && std::find(bjdx.begin(), bjdx.end(), first_prefix) != bjdx.end()))
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_data.m_value.object->size(), true, use_bjdata);
+                }
+
+                for (const auto& el : *j.m_data.m_value.object)
+                {
+                    write_number_with_ubjson_prefix(el.first.size(), true, use_bjdata);
+                    oa->write_characters(
+                        reinterpret_cast<const CharType*>(el.first.c_str()),
+                        el.first.size());
+                    write_ubjson(el.second, use_count, use_type, prefix_required, use_bjdata);
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type('}'));
+                }
+
+                break;
+            }
+
+            case value_t::discarded:
+            default:
+                break;
+        }
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @return The size of a BSON document entry header, including the id marker
+            and the entry name size (and its null-terminator).
+    */
+    static std::size_t calc_bson_entry_header_size(const string_t& name, const BasicJsonType& j)
+    {
+        const auto it = name.find(static_cast<typename string_t::value_type>(0));
+        if (JSON_HEDLEY_UNLIKELY(it != BasicJsonType::string_t::npos))
+        {
+            JSON_THROW(out_of_range::create(409, concat("BSON key cannot contain code point U+0000 (at byte ", std::to_string(it), ")"), &j));
+            static_cast<void>(j);
+        }
+
+        return /*id*/ 1ul + name.size() + /*zero-terminator*/1u;
+    }
+
+    /*!
+    @brief Writes the given @a element_type and @a name to the output adapter
+    */
+    void write_bson_entry_header(const string_t& name,
+                                 const std::uint8_t element_type)
+    {
+        oa->write_character(to_char_type(element_type)); // boolean
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(name.c_str()),
+            name.size() + 1u);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and boolean value @a value
+    */
+    void write_bson_boolean(const string_t& name,
+                            const bool value)
+    {
+        write_bson_entry_header(name, 0x08);
+        oa->write_character(value ? to_char_type(0x01) : to_char_type(0x00));
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and double value @a value
+    */
+    void write_bson_double(const string_t& name,
+                           const double value)
+    {
+        write_bson_entry_header(name, 0x01);
+        write_number<double>(value, true);
+    }
+
+    /*!
+    @return The size of the BSON-encoded string in @a value
+    */
+    static std::size_t calc_bson_string_size(const string_t& value)
+    {
+        return sizeof(std::int32_t) + value.size() + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and string value @a value
+    */
+    void write_bson_string(const string_t& name,
+                           const string_t& value)
+    {
+        write_bson_entry_header(name, 0x02);
+
+        write_number<std::int32_t>(static_cast<std::int32_t>(value.size() + 1ul), true);
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(value.c_str()),
+            value.size() + 1);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and null value
+    */
+    void write_bson_null(const string_t& name)
+    {
+        write_bson_entry_header(name, 0x0A);
+    }
+
+    /*!
+    @return The size of the BSON-encoded integer @a value
+    */
+    static std::size_t calc_bson_integer_size(const std::int64_t value)
+    {
+        return (std::numeric_limits<std::int32_t>::min)() <= value && value <= (std::numeric_limits<std::int32_t>::max)()
+               ? sizeof(std::int32_t)
+               : sizeof(std::int64_t);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and integer @a value
+    */
+    void write_bson_integer(const string_t& name,
+                            const std::int64_t value)
+    {
+        if ((std::numeric_limits<std::int32_t>::min)() <= value && value <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            write_bson_entry_header(name, 0x10); // int32
+            write_number<std::int32_t>(static_cast<std::int32_t>(value), true);
+        }
+        else
+        {
+            write_bson_entry_header(name, 0x12); // int64
+            write_number<std::int64_t>(static_cast<std::int64_t>(value), true);
+        }
+    }
+
+    /*!
+    @return The size of the BSON-encoded unsigned integer in @a j
+    */
+    static constexpr std::size_t calc_bson_unsigned_size(const std::uint64_t value) noexcept
+    {
+        return (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+               ? sizeof(std::int32_t)
+               : sizeof(std::int64_t);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and unsigned @a value
+    */
+    void write_bson_unsigned(const string_t& name,
+                             const BasicJsonType& j)
+    {
+        if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x10 /* int32 */);
+            write_number<std::int32_t>(static_cast<std::int32_t>(j.m_data.m_value.number_unsigned), true);
+        }
+        else if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x12 /* int64 */);
+            write_number<std::int64_t>(static_cast<std::int64_t>(j.m_data.m_value.number_unsigned), true);
+        }
+        else
+        {
+            JSON_THROW(out_of_range::create(407, concat("integer number ", std::to_string(j.m_data.m_value.number_unsigned), " cannot be represented by BSON as it does not fit int64"), &j));
+        }
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and object @a value
+    */
+    void write_bson_object_entry(const string_t& name,
+                                 const typename BasicJsonType::object_t& value)
+    {
+        write_bson_entry_header(name, 0x03); // object
+        write_bson_object(value);
+    }
+
+    /*!
+    @return The size of the BSON-encoded array @a value
+    */
+    static std::size_t calc_bson_array_size(const typename BasicJsonType::array_t& value)
+    {
+        std::size_t array_index = 0ul;
+
+        const std::size_t embedded_document_size = std::accumulate(std::begin(value), std::end(value), static_cast<std::size_t>(0), [&array_index](std::size_t result, const typename BasicJsonType::array_t::value_type & el)
+        {
+            return result + calc_bson_element_size(std::to_string(array_index++), el);
+        });
+
+        return sizeof(std::int32_t) + embedded_document_size + 1ul;
+    }
+
+    /*!
+    @return The size of the BSON-encoded binary array @a value
+    */
+    static std::size_t calc_bson_binary_size(const typename BasicJsonType::binary_t& value)
+    {
+        return sizeof(std::int32_t) + value.size() + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and array @a value
+    */
+    void write_bson_array(const string_t& name,
+                          const typename BasicJsonType::array_t& value)
+    {
+        write_bson_entry_header(name, 0x04); // array
+        write_number<std::int32_t>(static_cast<std::int32_t>(calc_bson_array_size(value)), true);
+
+        std::size_t array_index = 0ul;
+
+        for (const auto& el : value)
+        {
+            write_bson_element(std::to_string(array_index++), el);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and binary value @a value
+    */
+    void write_bson_binary(const string_t& name,
+                           const binary_t& value)
+    {
+        write_bson_entry_header(name, 0x05);
+
+        write_number<std::int32_t>(static_cast<std::int32_t>(value.size()), true);
+        write_number(value.has_subtype() ? static_cast<std::uint8_t>(value.subtype()) : static_cast<std::uint8_t>(0x00));
+
+        oa->write_characters(reinterpret_cast<const CharType*>(value.data()), value.size());
+    }
+
+    /*!
+    @brief Calculates the size necessary to serialize the JSON value @a j with its @a name
+    @return The calculated size for the BSON document entry for @a j with the given @a name.
+    */
+    static std::size_t calc_bson_element_size(const string_t& name,
+            const BasicJsonType& j)
+    {
+        const auto header_size = calc_bson_entry_header_size(name, j);
+        switch (j.type())
+        {
+            case value_t::object:
+                return header_size + calc_bson_object_size(*j.m_data.m_value.object);
+
+            case value_t::array:
+                return header_size + calc_bson_array_size(*j.m_data.m_value.array);
+
+            case value_t::binary:
+                return header_size + calc_bson_binary_size(*j.m_data.m_value.binary);
+
+            case value_t::boolean:
+                return header_size + 1ul;
+
+            case value_t::number_float:
+                return header_size + 8ul;
+
+            case value_t::number_integer:
+                return header_size + calc_bson_integer_size(j.m_data.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return header_size + calc_bson_unsigned_size(j.m_data.m_value.number_unsigned);
+
+            case value_t::string:
+                return header_size + calc_bson_string_size(*j.m_data.m_value.string);
+
+            case value_t::null:
+                return header_size + 0ul;
+
+            // LCOV_EXCL_START
+            case value_t::discarded:
+            default:
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert)
+                return 0ul;
+                // LCOV_EXCL_STOP
+        }
+    }
+
+    /*!
+    @brief Serializes the JSON value @a j to BSON and associates it with the
+           key @a name.
+    @param name The name to associate with the JSON entity @a j within the
+                current BSON document
+    */
+    void write_bson_element(const string_t& name,
+                            const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+                return write_bson_object_entry(name, *j.m_data.m_value.object);
+
+            case value_t::array:
+                return write_bson_array(name, *j.m_data.m_value.array);
+
+            case value_t::binary:
+                return write_bson_binary(name, *j.m_data.m_value.binary);
+
+            case value_t::boolean:
+                return write_bson_boolean(name, j.m_data.m_value.boolean);
+
+            case value_t::number_float:
+                return write_bson_double(name, j.m_data.m_value.number_float);
+
+            case value_t::number_integer:
+                return write_bson_integer(name, j.m_data.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return write_bson_unsigned(name, j);
+
+            case value_t::string:
+                return write_bson_string(name, *j.m_data.m_value.string);
+
+            case value_t::null:
+                return write_bson_null(name);
+
+            // LCOV_EXCL_START
+            case value_t::discarded:
+            default:
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert)
+                return;
+                // LCOV_EXCL_STOP
+        }
+    }
+
+    /*!
+    @brief Calculates the size of the BSON serialization of the given
+           JSON-object @a j.
+    @param[in] value  JSON value to serialize
+    @pre       value.type() == value_t::object
+    */
+    static std::size_t calc_bson_object_size(const typename BasicJsonType::object_t& value)
+    {
+        const std::size_t document_size = std::accumulate(value.begin(), value.end(), static_cast<std::size_t>(0),
+                                          [](size_t result, const typename BasicJsonType::object_t::value_type & el)
+        {
+            return result += calc_bson_element_size(el.first, el.second);
+        });
+
+        return sizeof(std::int32_t) + document_size + 1ul;
+    }
+
+    /*!
+    @param[in] value  JSON value to serialize
+    @pre       value.type() == value_t::object
+    */
+    void write_bson_object(const typename BasicJsonType::object_t& value)
+    {
+        write_number<std::int32_t>(static_cast<std::int32_t>(calc_bson_object_size(value)), true);
+
+        for (const auto& el : value)
+        {
+            write_bson_element(el.first, el.second);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    static constexpr CharType get_cbor_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xFA);  // Single-Precision Float
+    }
+
+    static constexpr CharType get_cbor_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xFB);  // Double-Precision Float
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    static constexpr CharType get_msgpack_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xCA);  // float 32
+    }
+
+    static constexpr CharType get_msgpack_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xCB);  // float 64
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    // UBJSON: write number (floating point)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_floating_point<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix,
+                                         const bool use_bjdata)
+    {
+        if (add_prefix)
+        {
+            oa->write_character(get_ubjson_float_prefix(n));
+        }
+        write_number(n, use_bjdata);
+    }
+
+    // UBJSON: write number (unsigned integer)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_unsigned<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix,
+                                         const bool use_bjdata)
+    {
+        if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<std::uint8_t>(n), use_bjdata);
+        }
+        else if (n <= (std::numeric_limits<std::uint8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<std::uint8_t>(n), use_bjdata);
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int16_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<std::int16_t>(n), use_bjdata);
+        }
+        else if (use_bjdata && n <= static_cast<uint64_t>((std::numeric_limits<uint16_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('u'));  // uint16 - bjdata only
+            }
+            write_number(static_cast<std::uint16_t>(n), use_bjdata);
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<std::int32_t>(n), use_bjdata);
+        }
+        else if (use_bjdata && n <= static_cast<uint64_t>((std::numeric_limits<uint32_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('m'));  // uint32 - bjdata only
+            }
+            write_number(static_cast<std::uint32_t>(n), use_bjdata);
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<std::int64_t>(n), use_bjdata);
+        }
+        else if (use_bjdata && n <= (std::numeric_limits<uint64_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('M'));  // uint64 - bjdata only
+            }
+            write_number(static_cast<std::uint64_t>(n), use_bjdata);
+        }
+        else
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('H'));  // high-precision number
+            }
+
+            const auto number = BasicJsonType(n).dump();
+            write_number_with_ubjson_prefix(number.size(), true, use_bjdata);
+            for (std::size_t i = 0; i < number.size(); ++i)
+            {
+                oa->write_character(to_char_type(static_cast<std::uint8_t>(number[i])));
+            }
+        }
+    }
+
+    // UBJSON: write number (signed integer)
+    template < typename NumberType, typename std::enable_if <
+                   std::is_signed<NumberType>::value&&
+                   !std::is_floating_point<NumberType>::value, int >::type = 0 >
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix,
+                                         const bool use_bjdata)
+    {
+        if ((std::numeric_limits<std::int8_t>::min)() <= n && n <= (std::numeric_limits<std::int8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<std::int8_t>(n), use_bjdata);
+        }
+        else if (static_cast<std::int64_t>((std::numeric_limits<std::uint8_t>::min)()) <= n && n <= static_cast<std::int64_t>((std::numeric_limits<std::uint8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<std::uint8_t>(n), use_bjdata);
+        }
+        else if ((std::numeric_limits<std::int16_t>::min)() <= n && n <= (std::numeric_limits<std::int16_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<std::int16_t>(n), use_bjdata);
+        }
+        else if (use_bjdata && (static_cast<std::int64_t>((std::numeric_limits<std::uint16_t>::min)()) <= n && n <= static_cast<std::int64_t>((std::numeric_limits<std::uint16_t>::max)())))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('u'));  // uint16 - bjdata only
+            }
+            write_number(static_cast<uint16_t>(n), use_bjdata);
+        }
+        else if ((std::numeric_limits<std::int32_t>::min)() <= n && n <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<std::int32_t>(n), use_bjdata);
+        }
+        else if (use_bjdata && (static_cast<std::int64_t>((std::numeric_limits<std::uint32_t>::min)()) <= n && n <= static_cast<std::int64_t>((std::numeric_limits<std::uint32_t>::max)())))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('m'));  // uint32 - bjdata only
+            }
+            write_number(static_cast<uint32_t>(n), use_bjdata);
+        }
+        else if ((std::numeric_limits<std::int64_t>::min)() <= n && n <= (std::numeric_limits<std::int64_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<std::int64_t>(n), use_bjdata);
+        }
+        // LCOV_EXCL_START
+        else
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('H'));  // high-precision number
+            }
+
+            const auto number = BasicJsonType(n).dump();
+            write_number_with_ubjson_prefix(number.size(), true, use_bjdata);
+            for (std::size_t i = 0; i < number.size(); ++i)
+            {
+                oa->write_character(to_char_type(static_cast<std::uint8_t>(number[i])));
+            }
+        }
+        // LCOV_EXCL_STOP
+    }
+
+    /*!
+    @brief determine the type prefix of container values
+    */
+    CharType ubjson_prefix(const BasicJsonType& j, const bool use_bjdata) const noexcept
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+                return 'Z';
+
+            case value_t::boolean:
+                return j.m_data.m_value.boolean ? 'T' : 'F';
+
+            case value_t::number_integer:
+            {
+                if ((std::numeric_limits<std::int8_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::int8_t>::max)())
+                {
+                    return 'i';
+                }
+                if ((std::numeric_limits<std::uint8_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    return 'U';
+                }
+                if ((std::numeric_limits<std::int16_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::int16_t>::max)())
+                {
+                    return 'I';
+                }
+                if (use_bjdata && ((std::numeric_limits<std::uint16_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint16_t>::max)()))
+                {
+                    return 'u';
+                }
+                if ((std::numeric_limits<std::int32_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::int32_t>::max)())
+                {
+                    return 'l';
+                }
+                if (use_bjdata && ((std::numeric_limits<std::uint32_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint32_t>::max)()))
+                {
+                    return 'm';
+                }
+                if ((std::numeric_limits<std::int64_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::int64_t>::max)())
+                {
+                    return 'L';
+                }
+                // anything else is treated as high-precision number
+                return 'H'; // LCOV_EXCL_LINE
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int8_t>::max)()))
+                {
+                    return 'i';
+                }
+                if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::uint8_t>::max)()))
+                {
+                    return 'U';
+                }
+                if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int16_t>::max)()))
+                {
+                    return 'I';
+                }
+                if (use_bjdata && j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::uint16_t>::max)()))
+                {
+                    return 'u';
+                }
+                if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+                {
+                    return 'l';
+                }
+                if (use_bjdata && j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::uint32_t>::max)()))
+                {
+                    return 'm';
+                }
+                if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+                {
+                    return 'L';
+                }
+                if (use_bjdata && j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    return 'M';
+                }
+                // anything else is treated as high-precision number
+                return 'H'; // LCOV_EXCL_LINE
+            }
+
+            case value_t::number_float:
+                return get_ubjson_float_prefix(j.m_data.m_value.number_float);
+
+            case value_t::string:
+                return 'S';
+
+            case value_t::array: // fallthrough
+            case value_t::binary:
+                return '[';
+
+            case value_t::object:
+                return '{';
+
+            case value_t::discarded:
+            default:  // discarded values
+                return 'N';
+        }
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(float /*unused*/)
+    {
+        return 'd';  // float 32
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(double /*unused*/)
+    {
+        return 'D';  // float 64
+    }
+
+    /*!
+    @return false if the object is successfully converted to a bjdata ndarray, true if the type or size is invalid
+    */
+    bool write_bjdata_ndarray(const typename BasicJsonType::object_t& value, const bool use_count, const bool use_type)
+    {
+        std::map<string_t, CharType> bjdtype = {{"uint8", 'U'},  {"int8", 'i'},  {"uint16", 'u'}, {"int16", 'I'},
+            {"uint32", 'm'}, {"int32", 'l'}, {"uint64", 'M'}, {"int64", 'L'}, {"single", 'd'}, {"double", 'D'}, {"char", 'C'}
+        };
+
+        string_t key = "_ArrayType_";
+        auto it = bjdtype.find(static_cast<string_t>(value.at(key)));
+        if (it == bjdtype.end())
+        {
+            return true;
+        }
+        CharType dtype = it->second;
+
+        key = "_ArraySize_";
+        std::size_t len = (value.at(key).empty() ? 0 : 1);
+        for (const auto& el : value.at(key))
+        {
+            len *= static_cast<std::size_t>(el.m_data.m_value.number_unsigned);
+        }
+
+        key = "_ArrayData_";
+        if (value.at(key).size() != len)
+        {
+            return true;
+        }
+
+        oa->write_character('[');
+        oa->write_character('$');
+        oa->write_character(dtype);
+        oa->write_character('#');
+
+        key = "_ArraySize_";
+        write_ubjson(value.at(key), use_count, use_type, true,  true);
+
+        key = "_ArrayData_";
+        if (dtype == 'U' || dtype == 'C')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::uint8_t>(el.m_data.m_value.number_unsigned), true);
+            }
+        }
+        else if (dtype == 'i')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::int8_t>(el.m_data.m_value.number_integer), true);
+            }
+        }
+        else if (dtype == 'u')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::uint16_t>(el.m_data.m_value.number_unsigned), true);
+            }
+        }
+        else if (dtype == 'I')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::int16_t>(el.m_data.m_value.number_integer), true);
+            }
+        }
+        else if (dtype == 'm')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::uint32_t>(el.m_data.m_value.number_unsigned), true);
+            }
+        }
+        else if (dtype == 'l')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::int32_t>(el.m_data.m_value.number_integer), true);
+            }
+        }
+        else if (dtype == 'M')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::uint64_t>(el.m_data.m_value.number_unsigned), true);
+            }
+        }
+        else if (dtype == 'L')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::int64_t>(el.m_data.m_value.number_integer), true);
+            }
+        }
+        else if (dtype == 'd')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<float>(el.m_data.m_value.number_float), true);
+            }
+        }
+        else if (dtype == 'D')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<double>(el.m_data.m_value.number_float), true);
+            }
+        }
+        return false;
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*
+    @brief write a number to output input
+    @param[in] n number of type @a NumberType
+    @param[in] OutputIsLittleEndian Set to true if output data is
+                                 required to be little endian
+    @tparam NumberType the type of the number
+
+    @note This function needs to respect the system's endianness, because bytes
+          in CBOR, MessagePack, and UBJSON are stored in network order (big
+          endian) and therefore need reordering on little endian systems.
+          On the other hand, BSON and BJData use little endian and should reorder
+          on big endian systems.
+    */
+    template<typename NumberType>
+    void write_number(const NumberType n, const bool OutputIsLittleEndian = false)
+    {
+        // step 1: write number to array of length NumberType
+        std::array<CharType, sizeof(NumberType)> vec{};
+        std::memcpy(vec.data(), &n, sizeof(NumberType));
+
+        // step 2: write array to output (with possible reordering)
+        if (is_little_endian != OutputIsLittleEndian)
+        {
+            // reverse byte order prior to conversion if necessary
+            std::reverse(vec.begin(), vec.end());
+        }
+
+        oa->write_characters(vec.data(), sizeof(NumberType));
+    }
+
+    void write_compact_float(const number_float_t n, detail::input_format_t format)
+    {
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+        if (static_cast<double>(n) >= static_cast<double>(std::numeric_limits<float>::lowest()) &&
+                static_cast<double>(n) <= static_cast<double>((std::numeric_limits<float>::max)()) &&
+                static_cast<double>(static_cast<float>(n)) == static_cast<double>(n))
+        {
+            oa->write_character(format == detail::input_format_t::cbor
+                                ? get_cbor_float_prefix(static_cast<float>(n))
+                                : get_msgpack_float_prefix(static_cast<float>(n)));
+            write_number(static_cast<float>(n));
+        }
+        else
+        {
+            oa->write_character(format == detail::input_format_t::cbor
+                                ? get_cbor_float_prefix(n)
+                                : get_msgpack_float_prefix(n));
+            write_number(n);
+        }
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+    }
+
+  public:
+    // The following to_char_type functions are implement the conversion
+    // between uint8_t and CharType. In case CharType is not unsigned,
+    // such a conversion is required to allow values greater than 128.
+    // See <https://github.com/nlohmann/json/issues/1286> for a discussion.
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value && std::is_signed<char>::value > * = nullptr >
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return *reinterpret_cast<char*>(&x);
+    }
+
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value && std::is_unsigned<char>::value > * = nullptr >
+    static CharType to_char_type(std::uint8_t x) noexcept
+    {
+        static_assert(sizeof(std::uint8_t) == sizeof(CharType), "size of CharType must be equal to std::uint8_t");
+        static_assert(std::is_trivial<CharType>::value, "CharType must be trivial");
+        CharType result;
+        std::memcpy(&result, &x, sizeof(x));
+        return result;
+    }
+
+    template<typename C = CharType,
+             enable_if_t<std::is_unsigned<C>::value>* = nullptr>
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return x;
+    }
+
+    template < typename InputCharType, typename C = CharType,
+               enable_if_t <
+                   std::is_signed<C>::value &&
+                   std::is_signed<char>::value &&
+                   std::is_same<char, typename std::remove_cv<InputCharType>::type>::value
+                   > * = nullptr >
+    static constexpr CharType to_char_type(InputCharType x) noexcept
+    {
+        return x;
+    }
+
+  private:
+    /// whether we can assume little endianness
+    const bool is_little_endian = little_endianness();
+
+    /// the output
+    output_adapter_t<CharType> oa = nullptr;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/output/output_adapters.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/output/output_adapters.hpp
new file mode 100644
index 0000000..630bd8f
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/output/output_adapters.hpp
@@ -0,0 +1,147 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <algorithm> // copy
+#include <cstddef> // size_t
+#include <iterator> // back_inserter
+#include <memory> // shared_ptr, make_shared
+#include <string> // basic_string
+#include <vector> // vector
+
+#ifndef JSON_NO_IO
+    #include <ios>      // streamsize
+    #include <ostream>  // basic_ostream
+#endif  // JSON_NO_IO
+
+#include <nlohmann/detail/macro_scope.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/// abstract output adapter interface
+template<typename CharType> struct output_adapter_protocol
+{
+    virtual void write_character(CharType c) = 0;
+    virtual void write_characters(const CharType* s, std::size_t length) = 0;
+    virtual ~output_adapter_protocol() = default;
+
+    output_adapter_protocol() = default;
+    output_adapter_protocol(const output_adapter_protocol&) = default;
+    output_adapter_protocol(output_adapter_protocol&&) noexcept = default;
+    output_adapter_protocol& operator=(const output_adapter_protocol&) = default;
+    output_adapter_protocol& operator=(output_adapter_protocol&&) noexcept = default;
+};
+
+/// a type to simplify interfaces
+template<typename CharType>
+using output_adapter_t = std::shared_ptr<output_adapter_protocol<CharType>>;
+
+/// output adapter for byte vectors
+template<typename CharType, typename AllocatorType = std::allocator<CharType>>
+class output_vector_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_vector_adapter(std::vector<CharType, AllocatorType>& vec) noexcept
+        : v(vec)
+    {}
+
+    void write_character(CharType c) override
+    {
+        v.push_back(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        v.insert(v.end(), s, s + length);
+    }
+
+  private:
+    std::vector<CharType, AllocatorType>& v;
+};
+
+#ifndef JSON_NO_IO
+/// output adapter for output streams
+template<typename CharType>
+class output_stream_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_stream_adapter(std::basic_ostream<CharType>& s) noexcept
+        : stream(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        stream.put(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        stream.write(s, static_cast<std::streamsize>(length));
+    }
+
+  private:
+    std::basic_ostream<CharType>& stream;
+};
+#endif  // JSON_NO_IO
+
+/// output adapter for basic_string
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_string_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_string_adapter(StringType& s) noexcept
+        : str(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        str.push_back(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        str.append(s, length);
+    }
+
+  private:
+    StringType& str;
+};
+
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_adapter
+{
+  public:
+    template<typename AllocatorType = std::allocator<CharType>>
+    output_adapter(std::vector<CharType, AllocatorType>& vec)
+        : oa(std::make_shared<output_vector_adapter<CharType, AllocatorType>>(vec)) {}
+
+#ifndef JSON_NO_IO
+    output_adapter(std::basic_ostream<CharType>& s)
+        : oa(std::make_shared<output_stream_adapter<CharType>>(s)) {}
+#endif  // JSON_NO_IO
+
+    output_adapter(StringType& s)
+        : oa(std::make_shared<output_string_adapter<CharType, StringType>>(s)) {}
+
+    operator output_adapter_t<CharType>()
+    {
+        return oa;
+    }
+
+  private:
+    output_adapter_t<CharType> oa = nullptr;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/output/serializer.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/output/serializer.hpp
new file mode 100644
index 0000000..f17b89c
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/output/serializer.hpp
@@ -0,0 +1,988 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2008-2009 Björn Hoehrmann <bjoern@hoehrmann.de>
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <algorithm> // reverse, remove, fill, find, none_of
+#include <array> // array
+#include <clocale> // localeconv, lconv
+#include <cmath> // labs, isfinite, isnan, signbit
+#include <cstddef> // size_t, ptrdiff_t
+#include <cstdint> // uint8_t
+#include <cstdio> // snprintf
+#include <limits> // numeric_limits
+#include <string> // string, char_traits
+#include <iomanip> // setfill, setw
+#include <type_traits> // is_same
+#include <utility> // move
+
+#include <nlohmann/detail/conversions/to_chars.hpp>
+#include <nlohmann/detail/exceptions.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/meta/cpp_future.hpp>
+#include <nlohmann/detail/output/binary_writer.hpp>
+#include <nlohmann/detail/output/output_adapters.hpp>
+#include <nlohmann/detail/string_concat.hpp>
+#include <nlohmann/detail/value_t.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+///////////////////
+// serialization //
+///////////////////
+
+/// how to treat decoding errors
+enum class error_handler_t
+{
+    strict,  ///< throw a type_error exception in case of invalid UTF-8
+    replace, ///< replace invalid UTF-8 sequences with U+FFFD
+    ignore   ///< ignore invalid UTF-8 sequences
+};
+
+template<typename BasicJsonType>
+class serializer
+{
+    using string_t = typename BasicJsonType::string_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using binary_char_t = typename BasicJsonType::binary_t::value_type;
+    static constexpr std::uint8_t UTF8_ACCEPT = 0;
+    static constexpr std::uint8_t UTF8_REJECT = 1;
+
+  public:
+    /*!
+    @param[in] s  output stream to serialize to
+    @param[in] ichar  indentation character to use
+    @param[in] error_handler_  how to react on decoding errors
+    */
+    serializer(output_adapter_t<char> s, const char ichar,
+               error_handler_t error_handler_ = error_handler_t::strict)
+        : o(std::move(s))
+        , loc(std::localeconv())
+        , thousands_sep(loc->thousands_sep == nullptr ? '\0' : std::char_traits<char>::to_char_type(* (loc->thousands_sep)))
+        , decimal_point(loc->decimal_point == nullptr ? '\0' : std::char_traits<char>::to_char_type(* (loc->decimal_point)))
+        , indent_char(ichar)
+        , indent_string(512, indent_char)
+        , error_handler(error_handler_)
+    {}
+
+    // delete because of pointer members
+    serializer(const serializer&) = delete;
+    serializer& operator=(const serializer&) = delete;
+    serializer(serializer&&) = delete;
+    serializer& operator=(serializer&&) = delete;
+    ~serializer() = default;
+
+    /*!
+    @brief internal implementation of the serialization function
+
+    This function is called by the public member function dump and organizes
+    the serialization internally. The indentation level is propagated as
+    additional parameter. In case of arrays and objects, the function is
+    called recursively.
+
+    - strings and object keys are escaped using `escape_string()`
+    - integer numbers are converted implicitly via `operator<<`
+    - floating-point numbers are converted to a string using `"%g"` format
+    - binary values are serialized as objects containing the subtype and the
+      byte array
+
+    @param[in] val               value to serialize
+    @param[in] pretty_print      whether the output shall be pretty-printed
+    @param[in] ensure_ascii If @a ensure_ascii is true, all non-ASCII characters
+    in the output are escaped with `\uXXXX` sequences, and the result consists
+    of ASCII characters only.
+    @param[in] indent_step       the indent level
+    @param[in] current_indent    the current indent level (only used internally)
+    */
+    void dump(const BasicJsonType& val,
+              const bool pretty_print,
+              const bool ensure_ascii,
+              const unsigned int indent_step,
+              const unsigned int current_indent = 0)
+    {
+        switch (val.m_data.m_type)
+        {
+            case value_t::object:
+            {
+                if (val.m_data.m_value.object->empty())
+                {
+                    o->write_characters("{}", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("{\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    auto i = val.m_data.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_data.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\": ", 3);
+                        dump(i->second, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    JSON_ASSERT(i != val.m_data.m_value.object->cend());
+                    JSON_ASSERT(std::next(i) == val.m_data.m_value.object->cend());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\": ", 3);
+                    dump(i->second, true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character('}');
+                }
+                else
+                {
+                    o->write_character('{');
+
+                    // first n-1 elements
+                    auto i = val.m_data.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_data.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\":", 2);
+                        dump(i->second, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    JSON_ASSERT(i != val.m_data.m_value.object->cend());
+                    JSON_ASSERT(std::next(i) == val.m_data.m_value.object->cend());
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\":", 2);
+                    dump(i->second, false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character('}');
+                }
+
+                return;
+            }
+
+            case value_t::array:
+            {
+                if (val.m_data.m_value.array->empty())
+                {
+                    o->write_characters("[]", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("[\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    for (auto i = val.m_data.m_value.array->cbegin();
+                            i != val.m_data.m_value.array->cend() - 1; ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        dump(*i, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    JSON_ASSERT(!val.m_data.m_value.array->empty());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    dump(val.m_data.m_value.array->back(), true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character(']');
+                }
+                else
+                {
+                    o->write_character('[');
+
+                    // first n-1 elements
+                    for (auto i = val.m_data.m_value.array->cbegin();
+                            i != val.m_data.m_value.array->cend() - 1; ++i)
+                    {
+                        dump(*i, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    JSON_ASSERT(!val.m_data.m_value.array->empty());
+                    dump(val.m_data.m_value.array->back(), false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character(']');
+                }
+
+                return;
+            }
+
+            case value_t::string:
+            {
+                o->write_character('\"');
+                dump_escaped(*val.m_data.m_value.string, ensure_ascii);
+                o->write_character('\"');
+                return;
+            }
+
+            case value_t::binary:
+            {
+                if (pretty_print)
+                {
+                    o->write_characters("{\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    o->write_characters(indent_string.c_str(), new_indent);
+
+                    o->write_characters("\"bytes\": [", 10);
+
+                    if (!val.m_data.m_value.binary->empty())
+                    {
+                        for (auto i = val.m_data.m_value.binary->cbegin();
+                                i != val.m_data.m_value.binary->cend() - 1; ++i)
+                        {
+                            dump_integer(*i);
+                            o->write_characters(", ", 2);
+                        }
+                        dump_integer(val.m_data.m_value.binary->back());
+                    }
+
+                    o->write_characters("],\n", 3);
+                    o->write_characters(indent_string.c_str(), new_indent);
+
+                    o->write_characters("\"subtype\": ", 11);
+                    if (val.m_data.m_value.binary->has_subtype())
+                    {
+                        dump_integer(val.m_data.m_value.binary->subtype());
+                    }
+                    else
+                    {
+                        o->write_characters("null", 4);
+                    }
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character('}');
+                }
+                else
+                {
+                    o->write_characters("{\"bytes\":[", 10);
+
+                    if (!val.m_data.m_value.binary->empty())
+                    {
+                        for (auto i = val.m_data.m_value.binary->cbegin();
+                                i != val.m_data.m_value.binary->cend() - 1; ++i)
+                        {
+                            dump_integer(*i);
+                            o->write_character(',');
+                        }
+                        dump_integer(val.m_data.m_value.binary->back());
+                    }
+
+                    o->write_characters("],\"subtype\":", 12);
+                    if (val.m_data.m_value.binary->has_subtype())
+                    {
+                        dump_integer(val.m_data.m_value.binary->subtype());
+                        o->write_character('}');
+                    }
+                    else
+                    {
+                        o->write_characters("null}", 5);
+                    }
+                }
+                return;
+            }
+
+            case value_t::boolean:
+            {
+                if (val.m_data.m_value.boolean)
+                {
+                    o->write_characters("true", 4);
+                }
+                else
+                {
+                    o->write_characters("false", 5);
+                }
+                return;
+            }
+
+            case value_t::number_integer:
+            {
+                dump_integer(val.m_data.m_value.number_integer);
+                return;
+            }
+
+            case value_t::number_unsigned:
+            {
+                dump_integer(val.m_data.m_value.number_unsigned);
+                return;
+            }
+
+            case value_t::number_float:
+            {
+                dump_float(val.m_data.m_value.number_float);
+                return;
+            }
+
+            case value_t::discarded:
+            {
+                o->write_characters("<discarded>", 11);
+                return;
+            }
+
+            case value_t::null:
+            {
+                o->write_characters("null", 4);
+                return;
+            }
+
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        }
+    }
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    /*!
+    @brief dump escaped string
+
+    Escape a string by replacing certain special characters by a sequence of an
+    escape character (backslash) and another character and other control
+    characters by a sequence of "\u" followed by a four-digit hex
+    representation. The escaped string is written to output stream @a o.
+
+    @param[in] s  the string to escape
+    @param[in] ensure_ascii  whether to escape non-ASCII characters with
+                             \uXXXX sequences
+
+    @complexity Linear in the length of string @a s.
+    */
+    void dump_escaped(const string_t& s, const bool ensure_ascii)
+    {
+        std::uint32_t codepoint{};
+        std::uint8_t state = UTF8_ACCEPT;
+        std::size_t bytes = 0;  // number of bytes written to string_buffer
+
+        // number of bytes written at the point of the last valid byte
+        std::size_t bytes_after_last_accept = 0;
+        std::size_t undumped_chars = 0;
+
+        for (std::size_t i = 0; i < s.size(); ++i)
+        {
+            const auto byte = static_cast<std::uint8_t>(s[i]);
+
+            switch (decode(state, codepoint, byte))
+            {
+                case UTF8_ACCEPT:  // decode found a new code point
+                {
+                    switch (codepoint)
+                    {
+                        case 0x08: // backspace
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'b';
+                            break;
+                        }
+
+                        case 0x09: // horizontal tab
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 't';
+                            break;
+                        }
+
+                        case 0x0A: // newline
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'n';
+                            break;
+                        }
+
+                        case 0x0C: // formfeed
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'f';
+                            break;
+                        }
+
+                        case 0x0D: // carriage return
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'r';
+                            break;
+                        }
+
+                        case 0x22: // quotation mark
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\"';
+                            break;
+                        }
+
+                        case 0x5C: // reverse solidus
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\\';
+                            break;
+                        }
+
+                        default:
+                        {
+                            // escape control characters (0x00..0x1F) or, if
+                            // ensure_ascii parameter is used, non-ASCII characters
+                            if ((codepoint <= 0x1F) || (ensure_ascii && (codepoint >= 0x7F)))
+                            {
+                                if (codepoint <= 0xFFFF)
+                                {
+                                    // NOLINTNEXTLINE(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+                                    static_cast<void>((std::snprintf)(string_buffer.data() + bytes, 7, "\\u%04x",
+                                                                      static_cast<std::uint16_t>(codepoint)));
+                                    bytes += 6;
+                                }
+                                else
+                                {
+                                    // NOLINTNEXTLINE(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+                                    static_cast<void>((std::snprintf)(string_buffer.data() + bytes, 13, "\\u%04x\\u%04x",
+                                                                      static_cast<std::uint16_t>(0xD7C0u + (codepoint >> 10u)),
+                                                                      static_cast<std::uint16_t>(0xDC00u + (codepoint & 0x3FFu))));
+                                    bytes += 12;
+                                }
+                            }
+                            else
+                            {
+                                // copy byte to buffer (all previous bytes
+                                // been copied have in default case above)
+                                string_buffer[bytes++] = s[i];
+                            }
+                            break;
+                        }
+                    }
+
+                    // write buffer and reset index; there must be 13 bytes
+                    // left, as this is the maximal number of bytes to be
+                    // written ("\uxxxx\uxxxx\0") for one code point
+                    if (string_buffer.size() - bytes < 13)
+                    {
+                        o->write_characters(string_buffer.data(), bytes);
+                        bytes = 0;
+                    }
+
+                    // remember the byte position of this accept
+                    bytes_after_last_accept = bytes;
+                    undumped_chars = 0;
+                    break;
+                }
+
+                case UTF8_REJECT:  // decode found invalid UTF-8 byte
+                {
+                    switch (error_handler)
+                    {
+                        case error_handler_t::strict:
+                        {
+                            JSON_THROW(type_error::create(316, concat("invalid UTF-8 byte at index ", std::to_string(i), ": 0x", hex_bytes(byte | 0)), nullptr));
+                        }
+
+                        case error_handler_t::ignore:
+                        case error_handler_t::replace:
+                        {
+                            // in case we saw this character the first time, we
+                            // would like to read it again, because the byte
+                            // may be OK for itself, but just not OK for the
+                            // previous sequence
+                            if (undumped_chars > 0)
+                            {
+                                --i;
+                            }
+
+                            // reset length buffer to the last accepted index;
+                            // thus removing/ignoring the invalid characters
+                            bytes = bytes_after_last_accept;
+
+                            if (error_handler == error_handler_t::replace)
+                            {
+                                // add a replacement character
+                                if (ensure_ascii)
+                                {
+                                    string_buffer[bytes++] = '\\';
+                                    string_buffer[bytes++] = 'u';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'd';
+                                }
+                                else
+                                {
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xEF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBD');
+                                }
+
+                                // write buffer and reset index; there must be 13 bytes
+                                // left, as this is the maximal number of bytes to be
+                                // written ("\uxxxx\uxxxx\0") for one code point
+                                if (string_buffer.size() - bytes < 13)
+                                {
+                                    o->write_characters(string_buffer.data(), bytes);
+                                    bytes = 0;
+                                }
+
+                                bytes_after_last_accept = bytes;
+                            }
+
+                            undumped_chars = 0;
+
+                            // continue processing the string
+                            state = UTF8_ACCEPT;
+                            break;
+                        }
+
+                        default:            // LCOV_EXCL_LINE
+                            JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+                    }
+                    break;
+                }
+
+                default:  // decode found yet incomplete multi-byte code point
+                {
+                    if (!ensure_ascii)
+                    {
+                        // code point will not be escaped - copy byte to buffer
+                        string_buffer[bytes++] = s[i];
+                    }
+                    ++undumped_chars;
+                    break;
+                }
+            }
+        }
+
+        // we finished processing the string
+        if (JSON_HEDLEY_LIKELY(state == UTF8_ACCEPT))
+        {
+            // write buffer
+            if (bytes > 0)
+            {
+                o->write_characters(string_buffer.data(), bytes);
+            }
+        }
+        else
+        {
+            // we finish reading, but do not accept: string was incomplete
+            switch (error_handler)
+            {
+                case error_handler_t::strict:
+                {
+                    JSON_THROW(type_error::create(316, concat("incomplete UTF-8 string; last byte: 0x", hex_bytes(static_cast<std::uint8_t>(s.back() | 0))), nullptr));
+                }
+
+                case error_handler_t::ignore:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    break;
+                }
+
+                case error_handler_t::replace:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    // add a replacement character
+                    if (ensure_ascii)
+                    {
+                        o->write_characters("\\ufffd", 6);
+                    }
+                    else
+                    {
+                        o->write_characters("\xEF\xBF\xBD", 3);
+                    }
+                    break;
+                }
+
+                default:            // LCOV_EXCL_LINE
+                    JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+            }
+        }
+    }
+
+  private:
+    /*!
+    @brief count digits
+
+    Count the number of decimal (base 10) digits for an input unsigned integer.
+
+    @param[in] x  unsigned integer number to count its digits
+    @return    number of decimal digits
+    */
+    inline unsigned int count_digits(number_unsigned_t x) noexcept
+    {
+        unsigned int n_digits = 1;
+        for (;;)
+        {
+            if (x < 10)
+            {
+                return n_digits;
+            }
+            if (x < 100)
+            {
+                return n_digits + 1;
+            }
+            if (x < 1000)
+            {
+                return n_digits + 2;
+            }
+            if (x < 10000)
+            {
+                return n_digits + 3;
+            }
+            x = x / 10000u;
+            n_digits += 4;
+        }
+    }
+
+    /*!
+     * @brief convert a byte to a uppercase hex representation
+     * @param[in] byte byte to represent
+     * @return representation ("00".."FF")
+     */
+    static std::string hex_bytes(std::uint8_t byte)
+    {
+        std::string result = "FF";
+        constexpr const char* nibble_to_hex = "0123456789ABCDEF";
+        result[0] = nibble_to_hex[byte / 16];
+        result[1] = nibble_to_hex[byte % 16];
+        return result;
+    }
+
+    // templates to avoid warnings about useless casts
+    template <typename NumberType, enable_if_t<std::is_signed<NumberType>::value, int> = 0>
+    bool is_negative_number(NumberType x)
+    {
+        return x < 0;
+    }
+
+    template < typename NumberType, enable_if_t <std::is_unsigned<NumberType>::value, int > = 0 >
+    bool is_negative_number(NumberType /*unused*/)
+    {
+        return false;
+    }
+
+    /*!
+    @brief dump an integer
+
+    Dump a given integer to output stream @a o. Works internally with
+    @a number_buffer.
+
+    @param[in] x  integer number (signed or unsigned) to dump
+    @tparam NumberType either @a number_integer_t or @a number_unsigned_t
+    */
+    template < typename NumberType, detail::enable_if_t <
+                   std::is_integral<NumberType>::value ||
+                   std::is_same<NumberType, number_unsigned_t>::value ||
+                   std::is_same<NumberType, number_integer_t>::value ||
+                   std::is_same<NumberType, binary_char_t>::value,
+                   int > = 0 >
+    void dump_integer(NumberType x)
+    {
+        static constexpr std::array<std::array<char, 2>, 100> digits_to_99
+        {
+            {
+                {{'0', '0'}}, {{'0', '1'}}, {{'0', '2'}}, {{'0', '3'}}, {{'0', '4'}}, {{'0', '5'}}, {{'0', '6'}}, {{'0', '7'}}, {{'0', '8'}}, {{'0', '9'}},
+                {{'1', '0'}}, {{'1', '1'}}, {{'1', '2'}}, {{'1', '3'}}, {{'1', '4'}}, {{'1', '5'}}, {{'1', '6'}}, {{'1', '7'}}, {{'1', '8'}}, {{'1', '9'}},
+                {{'2', '0'}}, {{'2', '1'}}, {{'2', '2'}}, {{'2', '3'}}, {{'2', '4'}}, {{'2', '5'}}, {{'2', '6'}}, {{'2', '7'}}, {{'2', '8'}}, {{'2', '9'}},
+                {{'3', '0'}}, {{'3', '1'}}, {{'3', '2'}}, {{'3', '3'}}, {{'3', '4'}}, {{'3', '5'}}, {{'3', '6'}}, {{'3', '7'}}, {{'3', '8'}}, {{'3', '9'}},
+                {{'4', '0'}}, {{'4', '1'}}, {{'4', '2'}}, {{'4', '3'}}, {{'4', '4'}}, {{'4', '5'}}, {{'4', '6'}}, {{'4', '7'}}, {{'4', '8'}}, {{'4', '9'}},
+                {{'5', '0'}}, {{'5', '1'}}, {{'5', '2'}}, {{'5', '3'}}, {{'5', '4'}}, {{'5', '5'}}, {{'5', '6'}}, {{'5', '7'}}, {{'5', '8'}}, {{'5', '9'}},
+                {{'6', '0'}}, {{'6', '1'}}, {{'6', '2'}}, {{'6', '3'}}, {{'6', '4'}}, {{'6', '5'}}, {{'6', '6'}}, {{'6', '7'}}, {{'6', '8'}}, {{'6', '9'}},
+                {{'7', '0'}}, {{'7', '1'}}, {{'7', '2'}}, {{'7', '3'}}, {{'7', '4'}}, {{'7', '5'}}, {{'7', '6'}}, {{'7', '7'}}, {{'7', '8'}}, {{'7', '9'}},
+                {{'8', '0'}}, {{'8', '1'}}, {{'8', '2'}}, {{'8', '3'}}, {{'8', '4'}}, {{'8', '5'}}, {{'8', '6'}}, {{'8', '7'}}, {{'8', '8'}}, {{'8', '9'}},
+                {{'9', '0'}}, {{'9', '1'}}, {{'9', '2'}}, {{'9', '3'}}, {{'9', '4'}}, {{'9', '5'}}, {{'9', '6'}}, {{'9', '7'}}, {{'9', '8'}}, {{'9', '9'}},
+            }
+        };
+
+        // special case for "0"
+        if (x == 0)
+        {
+            o->write_character('0');
+            return;
+        }
+
+        // use a pointer to fill the buffer
+        auto buffer_ptr = number_buffer.begin(); // NOLINT(llvm-qualified-auto,readability-qualified-auto,cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+
+        number_unsigned_t abs_value;
+
+        unsigned int n_chars{};
+
+        if (is_negative_number(x))
+        {
+            *buffer_ptr = '-';
+            abs_value = remove_sign(static_cast<number_integer_t>(x));
+
+            // account one more byte for the minus sign
+            n_chars = 1 + count_digits(abs_value);
+        }
+        else
+        {
+            abs_value = static_cast<number_unsigned_t>(x);
+            n_chars = count_digits(abs_value);
+        }
+
+        // spare 1 byte for '\0'
+        JSON_ASSERT(n_chars < number_buffer.size() - 1);
+
+        // jump to the end to generate the string from backward,
+        // so we later avoid reversing the result
+        buffer_ptr += n_chars;
+
+        // Fast int2ascii implementation inspired by "Fastware" talk by Andrei Alexandrescu
+        // See: https://www.youtube.com/watch?v=o4-CwDo2zpg
+        while (abs_value >= 100)
+        {
+            const auto digits_index = static_cast<unsigned>((abs_value % 100));
+            abs_value /= 100;
+            *(--buffer_ptr) = digits_to_99[digits_index][1];
+            *(--buffer_ptr) = digits_to_99[digits_index][0];
+        }
+
+        if (abs_value >= 10)
+        {
+            const auto digits_index = static_cast<unsigned>(abs_value);
+            *(--buffer_ptr) = digits_to_99[digits_index][1];
+            *(--buffer_ptr) = digits_to_99[digits_index][0];
+        }
+        else
+        {
+            *(--buffer_ptr) = static_cast<char>('0' + abs_value);
+        }
+
+        o->write_characters(number_buffer.data(), n_chars);
+    }
+
+    /*!
+    @brief dump a floating-point number
+
+    Dump a given floating-point number to output stream @a o. Works internally
+    with @a number_buffer.
+
+    @param[in] x  floating-point number to dump
+    */
+    void dump_float(number_float_t x)
+    {
+        // NaN / inf
+        if (!std::isfinite(x))
+        {
+            o->write_characters("null", 4);
+            return;
+        }
+
+        // If number_float_t is an IEEE-754 single or double precision number,
+        // use the Grisu2 algorithm to produce short numbers which are
+        // guaranteed to round-trip, using strtof and strtod, resp.
+        //
+        // NB: The test below works if <long double> == <double>.
+        static constexpr bool is_ieee_single_or_double
+            = (std::numeric_limits<number_float_t>::is_iec559 && std::numeric_limits<number_float_t>::digits == 24 && std::numeric_limits<number_float_t>::max_exponent == 128) ||
+              (std::numeric_limits<number_float_t>::is_iec559 && std::numeric_limits<number_float_t>::digits == 53 && std::numeric_limits<number_float_t>::max_exponent == 1024);
+
+        dump_float(x, std::integral_constant<bool, is_ieee_single_or_double>());
+    }
+
+    void dump_float(number_float_t x, std::true_type /*is_ieee_single_or_double*/)
+    {
+        auto* begin = number_buffer.data();
+        auto* end = ::nlohmann::detail::to_chars(begin, begin + number_buffer.size(), x);
+
+        o->write_characters(begin, static_cast<size_t>(end - begin));
+    }
+
+    void dump_float(number_float_t x, std::false_type /*is_ieee_single_or_double*/)
+    {
+        // get number of digits for a float -> text -> float round-trip
+        static constexpr auto d = std::numeric_limits<number_float_t>::max_digits10;
+
+        // the actual conversion
+        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+        std::ptrdiff_t len = (std::snprintf)(number_buffer.data(), number_buffer.size(), "%.*g", d, x);
+
+        // negative value indicates an error
+        JSON_ASSERT(len > 0);
+        // check if buffer was large enough
+        JSON_ASSERT(static_cast<std::size_t>(len) < number_buffer.size());
+
+        // erase thousands separator
+        if (thousands_sep != '\0')
+        {
+            // NOLINTNEXTLINE(readability-qualified-auto,llvm-qualified-auto): std::remove returns an iterator, see https://github.com/nlohmann/json/issues/3081
+            const auto end = std::remove(number_buffer.begin(), number_buffer.begin() + len, thousands_sep);
+            std::fill(end, number_buffer.end(), '\0');
+            JSON_ASSERT((end - number_buffer.begin()) <= len);
+            len = (end - number_buffer.begin());
+        }
+
+        // convert decimal point to '.'
+        if (decimal_point != '\0' && decimal_point != '.')
+        {
+            // NOLINTNEXTLINE(readability-qualified-auto,llvm-qualified-auto): std::find returns an iterator, see https://github.com/nlohmann/json/issues/3081
+            const auto dec_pos = std::find(number_buffer.begin(), number_buffer.end(), decimal_point);
+            if (dec_pos != number_buffer.end())
+            {
+                *dec_pos = '.';
+            }
+        }
+
+        o->write_characters(number_buffer.data(), static_cast<std::size_t>(len));
+
+        // determine if we need to append ".0"
+        const bool value_is_int_like =
+            std::none_of(number_buffer.begin(), number_buffer.begin() + len + 1,
+                         [](char c)
+        {
+            return c == '.' || c == 'e';
+        });
+
+        if (value_is_int_like)
+        {
+            o->write_characters(".0", 2);
+        }
+    }
+
+    /*!
+    @brief check whether a string is UTF-8 encoded
+
+    The function checks each byte of a string whether it is UTF-8 encoded. The
+    result of the check is stored in the @a state parameter. The function must
+    be called initially with state 0 (accept). State 1 means the string must
+    be rejected, because the current byte is not allowed. If the string is
+    completely processed, but the state is non-zero, the string ended
+    prematurely; that is, the last byte indicated more bytes should have
+    followed.
+
+    @param[in,out] state  the state of the decoding
+    @param[in,out] codep  codepoint (valid only if resulting state is UTF8_ACCEPT)
+    @param[in] byte       next byte to decode
+    @return               new state
+
+    @note The function has been edited: a std::array is used.
+
+    @copyright Copyright (c) 2008-2009 Bjoern Hoehrmann <bjoern@hoehrmann.de>
+    @sa http://bjoern.hoehrmann.de/utf-8/decoder/dfa/
+    */
+    static std::uint8_t decode(std::uint8_t& state, std::uint32_t& codep, const std::uint8_t byte) noexcept
+    {
+        static const std::array<std::uint8_t, 400> utf8d =
+        {
+            {
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00..1F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20..3F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40..5F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60..7F
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, // 80..9F
+                7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, // A0..BF
+                8, 8, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, // C0..DF
+                0xA, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x4, 0x3, 0x3, // E0..EF
+                0xB, 0x6, 0x6, 0x6, 0x5, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, // F0..FF
+                0x0, 0x1, 0x2, 0x3, 0x5, 0x8, 0x7, 0x1, 0x1, 0x1, 0x4, 0x6, 0x1, 0x1, 0x1, 0x1, // s0..s0
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, // s1..s2
+                1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, // s3..s4
+                1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, // s5..s6
+                1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 // s7..s8
+            }
+        };
+
+        JSON_ASSERT(byte < utf8d.size());
+        const std::uint8_t type = utf8d[byte];
+
+        codep = (state != UTF8_ACCEPT)
+                ? (byte & 0x3fu) | (codep << 6u)
+                : (0xFFu >> type) & (byte);
+
+        const std::size_t index = 256u + static_cast<size_t>(state) * 16u + static_cast<size_t>(type);
+        JSON_ASSERT(index < utf8d.size());
+        state = utf8d[index];
+        return state;
+    }
+
+    /*
+     * Overload to make the compiler happy while it is instantiating
+     * dump_integer for number_unsigned_t.
+     * Must never be called.
+     */
+    number_unsigned_t remove_sign(number_unsigned_t x)
+    {
+        JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        return x; // LCOV_EXCL_LINE
+    }
+
+    /*
+     * Helper function for dump_integer
+     *
+     * This function takes a negative signed integer and returns its absolute
+     * value as unsigned integer. The plus/minus shuffling is necessary as we can
+     * not directly remove the sign of an arbitrary signed integer as the
+     * absolute values of INT_MIN and INT_MAX are usually not the same. See
+     * #1708 for details.
+     */
+    inline number_unsigned_t remove_sign(number_integer_t x) noexcept
+    {
+        JSON_ASSERT(x < 0 && x < (std::numeric_limits<number_integer_t>::max)()); // NOLINT(misc-redundant-expression)
+        return static_cast<number_unsigned_t>(-(x + 1)) + 1;
+    }
+
+  private:
+    /// the output of the serializer
+    output_adapter_t<char> o = nullptr;
+
+    /// a (hopefully) large enough character buffer
+    std::array<char, 64> number_buffer{{}};
+
+    /// the locale
+    const std::lconv* loc = nullptr;
+    /// the locale's thousand separator character
+    const char thousands_sep = '\0';
+    /// the locale's decimal point character
+    const char decimal_point = '\0';
+
+    /// string buffer
+    std::array<char, 512> string_buffer{{}};
+
+    /// the indentation character
+    const char indent_char;
+    /// the indentation string
+    string_t indent_string;
+
+    /// error_handler how to react on decoding errors
+    const error_handler_t error_handler;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/string_concat.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/string_concat.hpp
new file mode 100644
index 0000000..972d86b
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/string_concat.hpp
@@ -0,0 +1,146 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstring> // strlen
+#include <string> // string
+#include <utility> // forward
+
+#include <nlohmann/detail/meta/cpp_future.hpp>
+#include <nlohmann/detail/meta/detected.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+inline std::size_t concat_length()
+{
+    return 0;
+}
+
+template<typename... Args>
+inline std::size_t concat_length(const char* cstr, const Args& ... rest);
+
+template<typename StringType, typename... Args>
+inline std::size_t concat_length(const StringType& str, const Args& ... rest);
+
+template<typename... Args>
+inline std::size_t concat_length(const char /*c*/, const Args& ... rest)
+{
+    return 1 + concat_length(rest...);
+}
+
+template<typename... Args>
+inline std::size_t concat_length(const char* cstr, const Args& ... rest)
+{
+    // cppcheck-suppress ignoredReturnValue
+    return ::strlen(cstr) + concat_length(rest...);
+}
+
+template<typename StringType, typename... Args>
+inline std::size_t concat_length(const StringType& str, const Args& ... rest)
+{
+    return str.size() + concat_length(rest...);
+}
+
+template<typename OutStringType>
+inline void concat_into(OutStringType& /*out*/)
+{}
+
+template<typename StringType, typename Arg>
+using string_can_append = decltype(std::declval<StringType&>().append(std::declval < Arg && > ()));
+
+template<typename StringType, typename Arg>
+using detect_string_can_append = is_detected<string_can_append, StringType, Arg>;
+
+template<typename StringType, typename Arg>
+using string_can_append_op = decltype(std::declval<StringType&>() += std::declval < Arg && > ());
+
+template<typename StringType, typename Arg>
+using detect_string_can_append_op = is_detected<string_can_append_op, StringType, Arg>;
+
+template<typename StringType, typename Arg>
+using string_can_append_iter = decltype(std::declval<StringType&>().append(std::declval<const Arg&>().begin(), std::declval<const Arg&>().end()));
+
+template<typename StringType, typename Arg>
+using detect_string_can_append_iter = is_detected<string_can_append_iter, StringType, Arg>;
+
+template<typename StringType, typename Arg>
+using string_can_append_data = decltype(std::declval<StringType&>().append(std::declval<const Arg&>().data(), std::declval<const Arg&>().size()));
+
+template<typename StringType, typename Arg>
+using detect_string_can_append_data = is_detected<string_can_append_data, StringType, Arg>;
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && detect_string_can_append_op<OutStringType, Arg>::value, int > = 0 >
+inline void concat_into(OutStringType& out, Arg && arg, Args && ... rest);
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && !detect_string_can_append_op<OutStringType, Arg>::value
+                         && detect_string_can_append_iter<OutStringType, Arg>::value, int > = 0 >
+inline void concat_into(OutStringType& out, const Arg& arg, Args && ... rest);
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && !detect_string_can_append_op<OutStringType, Arg>::value
+                         && !detect_string_can_append_iter<OutStringType, Arg>::value
+                         && detect_string_can_append_data<OutStringType, Arg>::value, int > = 0 >
+inline void concat_into(OutStringType& out, const Arg& arg, Args && ... rest);
+
+template<typename OutStringType, typename Arg, typename... Args,
+         enable_if_t<detect_string_can_append<OutStringType, Arg>::value, int> = 0>
+inline void concat_into(OutStringType& out, Arg && arg, Args && ... rest)
+{
+    out.append(std::forward<Arg>(arg));
+    concat_into(out, std::forward<Args>(rest)...);
+}
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && detect_string_can_append_op<OutStringType, Arg>::value, int > >
+inline void concat_into(OutStringType& out, Arg&& arg, Args&& ... rest)
+{
+    out += std::forward<Arg>(arg);
+    concat_into(out, std::forward<Args>(rest)...);
+}
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && !detect_string_can_append_op<OutStringType, Arg>::value
+                         && detect_string_can_append_iter<OutStringType, Arg>::value, int > >
+inline void concat_into(OutStringType& out, const Arg& arg, Args&& ... rest)
+{
+    out.append(arg.begin(), arg.end());
+    concat_into(out, std::forward<Args>(rest)...);
+}
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && !detect_string_can_append_op<OutStringType, Arg>::value
+                         && !detect_string_can_append_iter<OutStringType, Arg>::value
+                         && detect_string_can_append_data<OutStringType, Arg>::value, int > >
+inline void concat_into(OutStringType& out, const Arg& arg, Args&& ... rest)
+{
+    out.append(arg.data(), arg.size());
+    concat_into(out, std::forward<Args>(rest)...);
+}
+
+template<typename OutStringType = std::string, typename... Args>
+inline OutStringType concat(Args && ... args)
+{
+    OutStringType str;
+    str.reserve(concat_length(args...));
+    concat_into(str, std::forward<Args>(args)...);
+    return str;
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/string_escape.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/string_escape.hpp
new file mode 100644
index 0000000..f204619
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/string_escape.hpp
@@ -0,0 +1,72 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <nlohmann/detail/abi_macros.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/*!
+@brief replace all occurrences of a substring by another string
+
+@param[in,out] s  the string to manipulate; changed so that all
+               occurrences of @a f are replaced with @a t
+@param[in]     f  the substring to replace with @a t
+@param[in]     t  the string to replace @a f
+
+@pre The search string @a f must not be empty. **This precondition is
+enforced with an assertion.**
+
+@since version 2.0.0
+*/
+template<typename StringType>
+inline void replace_substring(StringType& s, const StringType& f,
+                              const StringType& t)
+{
+    JSON_ASSERT(!f.empty());
+    for (auto pos = s.find(f);                // find first occurrence of f
+            pos != StringType::npos;          // make sure f was found
+            s.replace(pos, f.size(), t),      // replace with t, and
+            pos = s.find(f, pos + t.size()))  // find next occurrence of f
+    {}
+}
+
+/*!
+ * @brief string escaping as described in RFC 6901 (Sect. 4)
+ * @param[in] s string to escape
+ * @return    escaped string
+ *
+ * Note the order of escaping "~" to "~0" and "/" to "~1" is important.
+ */
+template<typename StringType>
+inline StringType escape(StringType s)
+{
+    replace_substring(s, StringType{"~"}, StringType{"~0"});
+    replace_substring(s, StringType{"/"}, StringType{"~1"});
+    return s;
+}
+
+/*!
+ * @brief string unescaping as described in RFC 6901 (Sect. 4)
+ * @param[in] s string to unescape
+ * @return    unescaped string
+ *
+ * Note the order of escaping "~1" to "/" and "~0" to "~" is important.
+ */
+template<typename StringType>
+static void unescape(StringType& s)
+{
+    replace_substring(s, StringType{"~1"}, StringType{"/"});
+    replace_substring(s, StringType{"~0"}, StringType{"~"});
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/value_t.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/value_t.hpp
new file mode 100644
index 0000000..0e79fd6
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/detail/value_t.hpp
@@ -0,0 +1,118 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <array> // array
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t
+#include <string> // string
+
+#include <nlohmann/detail/macro_scope.hpp>
+#if JSON_HAS_THREE_WAY_COMPARISON
+    #include <compare> // partial_ordering
+#endif
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+///////////////////////////
+// JSON type enumeration //
+///////////////////////////
+
+/*!
+@brief the JSON type enumeration
+
+This enumeration collects the different JSON types. It is internally used to
+distinguish the stored values, and the functions @ref basic_json::is_null(),
+@ref basic_json::is_object(), @ref basic_json::is_array(),
+@ref basic_json::is_string(), @ref basic_json::is_boolean(),
+@ref basic_json::is_number() (with @ref basic_json::is_number_integer(),
+@ref basic_json::is_number_unsigned(), and @ref basic_json::is_number_float()),
+@ref basic_json::is_discarded(), @ref basic_json::is_primitive(), and
+@ref basic_json::is_structured() rely on it.
+
+@note There are three enumeration entries (number_integer, number_unsigned, and
+number_float), because the library distinguishes these three types for numbers:
+@ref basic_json::number_unsigned_t is used for unsigned integers,
+@ref basic_json::number_integer_t is used for signed integers, and
+@ref basic_json::number_float_t is used for floating-point numbers or to
+approximate integers which do not fit in the limits of their respective type.
+
+@sa see @ref basic_json::basic_json(const value_t value_type) -- create a JSON
+value with the default value for a given type
+
+@since version 1.0.0
+*/
+enum class value_t : std::uint8_t
+{
+    null,             ///< null value
+    object,           ///< object (unordered set of name/value pairs)
+    array,            ///< array (ordered collection of values)
+    string,           ///< string value
+    boolean,          ///< boolean value
+    number_integer,   ///< number value (signed integer)
+    number_unsigned,  ///< number value (unsigned integer)
+    number_float,     ///< number value (floating-point)
+    binary,           ///< binary array (ordered collection of bytes)
+    discarded         ///< discarded by the parser callback function
+};
+
+/*!
+@brief comparison operator for JSON types
+
+Returns an ordering that is similar to Python:
+- order: null < boolean < number < object < array < string < binary
+- furthermore, each type is not smaller than itself
+- discarded values are not comparable
+- binary is represented as a b"" string in python and directly comparable to a
+  string; however, making a binary array directly comparable with a string would
+  be surprising behavior in a JSON file.
+
+@since version 1.0.0
+*/
+#if JSON_HAS_THREE_WAY_COMPARISON
+    inline std::partial_ordering operator<=>(const value_t lhs, const value_t rhs) noexcept // *NOPAD*
+#else
+    inline bool operator<(const value_t lhs, const value_t rhs) noexcept
+#endif
+{
+    static constexpr std::array<std::uint8_t, 9> order = {{
+            0 /* null */, 3 /* object */, 4 /* array */, 5 /* string */,
+            1 /* boolean */, 2 /* integer */, 2 /* unsigned */, 2 /* float */,
+            6 /* binary */
+        }
+    };
+
+    const auto l_index = static_cast<std::size_t>(lhs);
+    const auto r_index = static_cast<std::size_t>(rhs);
+#if JSON_HAS_THREE_WAY_COMPARISON
+    if (l_index < order.size() && r_index < order.size())
+    {
+        return order[l_index] <=> order[r_index]; // *NOPAD*
+    }
+    return std::partial_ordering::unordered;
+#else
+    return l_index < order.size() && r_index < order.size() && order[l_index] < order[r_index];
+#endif
+}
+
+// GCC selects the built-in operator< over an operator rewritten from
+// a user-defined spaceship operator
+// Clang, MSVC, and ICC select the rewritten candidate
+// (see GCC bug https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105200)
+#if JSON_HAS_THREE_WAY_COMPARISON && defined(__GNUC__)
+inline bool operator<(const value_t lhs, const value_t rhs) noexcept
+{
+    return std::is_lt(lhs <=> rhs); // *NOPAD*
+}
+#endif
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/json.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/json.hpp
new file mode 100644
index 0000000..a3c0af1
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/json.hpp
@@ -0,0 +1,5254 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+/****************************************************************************\
+ * Note on documentation: The source files contain links to the online      *
+ * documentation of the public API at https://json.nlohmann.me. This URL    *
+ * contains the most recent documentation and should also be applicable to  *
+ * previous versions; documentation for deprecated functions is not         *
+ * removed, but marked deprecated. See "Generate documentation" section in  *
+ * file docs/README.md.                                                     *
+\****************************************************************************/
+
+#ifndef INCLUDE_NLOHMANN_JSON_HPP_
+#define INCLUDE_NLOHMANN_JSON_HPP_
+
+#include <algorithm> // all_of, find, for_each
+#include <cstddef> // nullptr_t, ptrdiff_t, size_t
+#include <functional> // hash, less
+#include <initializer_list> // initializer_list
+#ifndef JSON_NO_IO
+    #include <iosfwd> // istream, ostream
+#endif  // JSON_NO_IO
+#include <iterator> // random_access_iterator_tag
+#include <memory> // unique_ptr
+#include <string> // string, stoi, to_string
+#include <utility> // declval, forward, move, pair, swap
+#include <vector> // vector
+
+#include <nlohmann/adl_serializer.hpp>
+#include <nlohmann/byte_container_with_subtype.hpp>
+#include <nlohmann/detail/conversions/from_json.hpp>
+#include <nlohmann/detail/conversions/to_json.hpp>
+#include <nlohmann/detail/exceptions.hpp>
+#include <nlohmann/detail/hash.hpp>
+#include <nlohmann/detail/input/binary_reader.hpp>
+#include <nlohmann/detail/input/input_adapters.hpp>
+#include <nlohmann/detail/input/lexer.hpp>
+#include <nlohmann/detail/input/parser.hpp>
+#include <nlohmann/detail/iterators/internal_iterator.hpp>
+#include <nlohmann/detail/iterators/iter_impl.hpp>
+#include <nlohmann/detail/iterators/iteration_proxy.hpp>
+#include <nlohmann/detail/iterators/json_reverse_iterator.hpp>
+#include <nlohmann/detail/iterators/primitive_iterator.hpp>
+#include <nlohmann/detail/json_custom_base_class.hpp>
+#include <nlohmann/detail/json_pointer.hpp>
+#include <nlohmann/detail/json_ref.hpp>
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/string_concat.hpp>
+#include <nlohmann/detail/string_escape.hpp>
+#include <nlohmann/detail/meta/cpp_future.hpp>
+#include <nlohmann/detail/meta/type_traits.hpp>
+#include <nlohmann/detail/output/binary_writer.hpp>
+#include <nlohmann/detail/output/output_adapters.hpp>
+#include <nlohmann/detail/output/serializer.hpp>
+#include <nlohmann/detail/value_t.hpp>
+#include <nlohmann/json_fwd.hpp>
+#include <nlohmann/ordered_map.hpp>
+
+#if defined(JSON_HAS_CPP_17)
+    #include <any>
+    #include <string_view>
+#endif
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/*!
+@brief a class to store JSON values
+
+@internal
+@invariant The member variables @a m_value and @a m_type have the following
+relationship:
+- If `m_type == value_t::object`, then `m_value.object != nullptr`.
+- If `m_type == value_t::array`, then `m_value.array != nullptr`.
+- If `m_type == value_t::string`, then `m_value.string != nullptr`.
+The invariants are checked by member function assert_invariant().
+
+@note ObjectType trick from https://stackoverflow.com/a/9860911
+@endinternal
+
+@since version 1.0.0
+
+@nosubgrouping
+*/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-special-member-functions)
+    : public ::nlohmann::detail::json_base_class<CustomBaseClass>
+{
+  private:
+    template<detail::value_t> friend struct detail::external_constructor;
+
+    template<typename>
+    friend class ::nlohmann::json_pointer;
+    // can be restored when json_pointer backwards compatibility is removed
+    // friend ::nlohmann::json_pointer<StringType>;
+
+    template<typename BasicJsonType, typename InputType>
+    friend class ::nlohmann::detail::parser;
+    friend ::nlohmann::detail::serializer<basic_json>;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::iter_impl;
+    template<typename BasicJsonType, typename CharType>
+    friend class ::nlohmann::detail::binary_writer;
+    template<typename BasicJsonType, typename InputType, typename SAX>
+    friend class ::nlohmann::detail::binary_reader;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_parser;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_callback_parser;
+    friend class ::nlohmann::detail::exception;
+
+    /// workaround type for MSVC
+    using basic_json_t = NLOHMANN_BASIC_JSON_TPL;
+    using json_base_class_t = ::nlohmann::detail::json_base_class<CustomBaseClass>;
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    // convenience aliases for types residing in namespace detail;
+    using lexer = ::nlohmann::detail::lexer_base<basic_json>;
+
+    template<typename InputAdapterType>
+    static ::nlohmann::detail::parser<basic_json, InputAdapterType> parser(
+        InputAdapterType adapter,
+        detail::parser_callback_t<basic_json>cb = nullptr,
+        const bool allow_exceptions = true,
+        const bool ignore_comments = false
+    )
+    {
+        return ::nlohmann::detail::parser<basic_json, InputAdapterType>(std::move(adapter),
+                std::move(cb), allow_exceptions, ignore_comments);
+    }
+
+  private:
+    using primitive_iterator_t = ::nlohmann::detail::primitive_iterator_t;
+    template<typename BasicJsonType>
+    using internal_iterator = ::nlohmann::detail::internal_iterator<BasicJsonType>;
+    template<typename BasicJsonType>
+    using iter_impl = ::nlohmann::detail::iter_impl<BasicJsonType>;
+    template<typename Iterator>
+    using iteration_proxy = ::nlohmann::detail::iteration_proxy<Iterator>;
+    template<typename Base> using json_reverse_iterator = ::nlohmann::detail::json_reverse_iterator<Base>;
+
+    template<typename CharType>
+    using output_adapter_t = ::nlohmann::detail::output_adapter_t<CharType>;
+
+    template<typename InputType>
+    using binary_reader = ::nlohmann::detail::binary_reader<basic_json, InputType>;
+    template<typename CharType> using binary_writer = ::nlohmann::detail::binary_writer<basic_json, CharType>;
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    using serializer = ::nlohmann::detail::serializer<basic_json>;
+
+  public:
+    using value_t = detail::value_t;
+    /// JSON Pointer, see @ref nlohmann::json_pointer
+    using json_pointer = ::nlohmann::json_pointer<StringType>;
+    template<typename T, typename SFINAE>
+    using json_serializer = JSONSerializer<T, SFINAE>;
+    /// how to treat decoding errors
+    using error_handler_t = detail::error_handler_t;
+    /// how to treat CBOR tags
+    using cbor_tag_handler_t = detail::cbor_tag_handler_t;
+    /// helper type for initializer lists of basic_json values
+    using initializer_list_t = std::initializer_list<detail::json_ref<basic_json>>;
+
+    using input_format_t = detail::input_format_t;
+    /// SAX interface type, see @ref nlohmann::json_sax
+    using json_sax_t = json_sax<basic_json>;
+
+    ////////////////
+    // exceptions //
+    ////////////////
+
+    /// @name exceptions
+    /// Classes to implement user-defined exceptions.
+    /// @{
+
+    using exception = detail::exception;
+    using parse_error = detail::parse_error;
+    using invalid_iterator = detail::invalid_iterator;
+    using type_error = detail::type_error;
+    using out_of_range = detail::out_of_range;
+    using other_error = detail::other_error;
+
+    /// @}
+
+
+    /////////////////////
+    // container types //
+    /////////////////////
+
+    /// @name container types
+    /// The canonic container types to use @ref basic_json like any other STL
+    /// container.
+    /// @{
+
+    /// the type of elements in a basic_json container
+    using value_type = basic_json;
+
+    /// the type of an element reference
+    using reference = value_type&;
+    /// the type of an element const reference
+    using const_reference = const value_type&;
+
+    /// a type to represent differences between iterators
+    using difference_type = std::ptrdiff_t;
+    /// a type to represent container sizes
+    using size_type = std::size_t;
+
+    /// the allocator type
+    using allocator_type = AllocatorType<basic_json>;
+
+    /// the type of an element pointer
+    using pointer = typename std::allocator_traits<allocator_type>::pointer;
+    /// the type of an element const pointer
+    using const_pointer = typename std::allocator_traits<allocator_type>::const_pointer;
+
+    /// an iterator for a basic_json container
+    using iterator = iter_impl<basic_json>;
+    /// a const iterator for a basic_json container
+    using const_iterator = iter_impl<const basic_json>;
+    /// a reverse iterator for a basic_json container
+    using reverse_iterator = json_reverse_iterator<typename basic_json::iterator>;
+    /// a const reverse iterator for a basic_json container
+    using const_reverse_iterator = json_reverse_iterator<typename basic_json::const_iterator>;
+
+    /// @}
+
+
+    /// @brief returns the allocator associated with the container
+    /// @sa https://json.nlohmann.me/api/basic_json/get_allocator/
+    static allocator_type get_allocator()
+    {
+        return allocator_type();
+    }
+
+    /// @brief returns version information on the library
+    /// @sa https://json.nlohmann.me/api/basic_json/meta/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json meta()
+    {
+        basic_json result;
+
+        result["copyright"] = "(C) 2013-2022 Niels Lohmann";
+        result["name"] = "JSON for Modern C++";
+        result["url"] = "https://github.com/nlohmann/json";
+        result["version"]["string"] =
+            detail::concat(std::to_string(NLOHMANN_JSON_VERSION_MAJOR), '.',
+                           std::to_string(NLOHMANN_JSON_VERSION_MINOR), '.',
+                           std::to_string(NLOHMANN_JSON_VERSION_PATCH));
+        result["version"]["major"] = NLOHMANN_JSON_VERSION_MAJOR;
+        result["version"]["minor"] = NLOHMANN_JSON_VERSION_MINOR;
+        result["version"]["patch"] = NLOHMANN_JSON_VERSION_PATCH;
+
+#ifdef _WIN32
+        result["platform"] = "win32";
+#elif defined __linux__
+        result["platform"] = "linux";
+#elif defined __APPLE__
+        result["platform"] = "apple";
+#elif defined __unix__
+        result["platform"] = "unix";
+#else
+        result["platform"] = "unknown";
+#endif
+
+#if defined(__ICC) || defined(__INTEL_COMPILER)
+        result["compiler"] = {{"family", "icc"}, {"version", __INTEL_COMPILER}};
+#elif defined(__clang__)
+        result["compiler"] = {{"family", "clang"}, {"version", __clang_version__}};
+#elif defined(__GNUC__) || defined(__GNUG__)
+        result["compiler"] = {{"family", "gcc"}, {"version", detail::concat(
+                    std::to_string(__GNUC__), '.',
+                    std::to_string(__GNUC_MINOR__), '.',
+                    std::to_string(__GNUC_PATCHLEVEL__))
+            }
+        };
+#elif defined(__HP_cc) || defined(__HP_aCC)
+        result["compiler"] = "hp"
+#elif defined(__IBMCPP__)
+        result["compiler"] = {{"family", "ilecpp"}, {"version", __IBMCPP__}};
+#elif defined(_MSC_VER)
+        result["compiler"] = {{"family", "msvc"}, {"version", _MSC_VER}};
+#elif defined(__PGI)
+        result["compiler"] = {{"family", "pgcpp"}, {"version", __PGI}};
+#elif defined(__SUNPRO_CC)
+        result["compiler"] = {{"family", "sunpro"}, {"version", __SUNPRO_CC}};
+#else
+        result["compiler"] = {{"family", "unknown"}, {"version", "unknown"}};
+#endif
+
+
+#if defined(_MSVC_LANG)
+        result["compiler"]["c++"] = std::to_string(_MSVC_LANG);
+#elif defined(__cplusplus)
+        result["compiler"]["c++"] = std::to_string(__cplusplus);
+#else
+        result["compiler"]["c++"] = "unknown";
+#endif
+        return result;
+    }
+
+
+    ///////////////////////////
+    // JSON value data types //
+    ///////////////////////////
+
+    /// @name JSON value data types
+    /// The data types to store a JSON value. These types are derived from
+    /// the template arguments passed to class @ref basic_json.
+    /// @{
+
+    /// @brief default object key comparator type
+    /// The actual object key comparator type (@ref object_comparator_t) may be
+    /// different.
+    /// @sa https://json.nlohmann.me/api/basic_json/default_object_comparator_t/
+#if defined(JSON_HAS_CPP_14)
+    // use of transparent comparator avoids unnecessary repeated construction of temporaries
+    // in functions involving lookup by key with types other than object_t::key_type (aka. StringType)
+    using default_object_comparator_t = std::less<>;
+#else
+    using default_object_comparator_t = std::less<StringType>;
+#endif
+
+    /// @brief a type for an object
+    /// @sa https://json.nlohmann.me/api/basic_json/object_t/
+    using object_t = ObjectType<StringType,
+          basic_json,
+          default_object_comparator_t,
+          AllocatorType<std::pair<const StringType,
+          basic_json>>>;
+
+    /// @brief a type for an array
+    /// @sa https://json.nlohmann.me/api/basic_json/array_t/
+    using array_t = ArrayType<basic_json, AllocatorType<basic_json>>;
+
+    /// @brief a type for a string
+    /// @sa https://json.nlohmann.me/api/basic_json/string_t/
+    using string_t = StringType;
+
+    /// @brief a type for a boolean
+    /// @sa https://json.nlohmann.me/api/basic_json/boolean_t/
+    using boolean_t = BooleanType;
+
+    /// @brief a type for a number (integer)
+    /// @sa https://json.nlohmann.me/api/basic_json/number_integer_t/
+    using number_integer_t = NumberIntegerType;
+
+    /// @brief a type for a number (unsigned)
+    /// @sa https://json.nlohmann.me/api/basic_json/number_unsigned_t/
+    using number_unsigned_t = NumberUnsignedType;
+
+    /// @brief a type for a number (floating-point)
+    /// @sa https://json.nlohmann.me/api/basic_json/number_float_t/
+    using number_float_t = NumberFloatType;
+
+    /// @brief a type for a packed binary type
+    /// @sa https://json.nlohmann.me/api/basic_json/binary_t/
+    using binary_t = nlohmann::byte_container_with_subtype<BinaryType>;
+
+    /// @brief object key comparator type
+    /// @sa https://json.nlohmann.me/api/basic_json/object_comparator_t/
+    using object_comparator_t = detail::actual_object_comparator_t<basic_json>;
+
+    /// @}
+
+  private:
+
+    /// helper for exception-safe object creation
+    template<typename T, typename... Args>
+    JSON_HEDLEY_RETURNS_NON_NULL
+    static T* create(Args&& ... args)
+    {
+        AllocatorType<T> alloc;
+        using AllocatorTraits = std::allocator_traits<AllocatorType<T>>;
+
+        auto deleter = [&](T * obj)
+        {
+            AllocatorTraits::deallocate(alloc, obj, 1);
+        };
+        std::unique_ptr<T, decltype(deleter)> obj(AllocatorTraits::allocate(alloc, 1), deleter);
+        AllocatorTraits::construct(alloc, obj.get(), std::forward<Args>(args)...);
+        JSON_ASSERT(obj != nullptr);
+        return obj.release();
+    }
+
+    ////////////////////////
+    // JSON value storage //
+    ////////////////////////
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    /*!
+    @brief a JSON value
+
+    The actual storage for a JSON value of the @ref basic_json class. This
+    union combines the different storage types for the JSON value types
+    defined in @ref value_t.
+
+    JSON type | value_t type    | used type
+    --------- | --------------- | ------------------------
+    object    | object          | pointer to @ref object_t
+    array     | array           | pointer to @ref array_t
+    string    | string          | pointer to @ref string_t
+    boolean   | boolean         | @ref boolean_t
+    number    | number_integer  | @ref number_integer_t
+    number    | number_unsigned | @ref number_unsigned_t
+    number    | number_float    | @ref number_float_t
+    binary    | binary          | pointer to @ref binary_t
+    null      | null            | *no value is stored*
+
+    @note Variable-length types (objects, arrays, and strings) are stored as
+    pointers. The size of the union should not exceed 64 bits if the default
+    value types are used.
+
+    @since version 1.0.0
+    */
+    union json_value
+    {
+        /// object (stored with pointer to save storage)
+        object_t* object;
+        /// array (stored with pointer to save storage)
+        array_t* array;
+        /// string (stored with pointer to save storage)
+        string_t* string;
+        /// binary (stored with pointer to save storage)
+        binary_t* binary;
+        /// boolean
+        boolean_t boolean;
+        /// number (integer)
+        number_integer_t number_integer;
+        /// number (unsigned integer)
+        number_unsigned_t number_unsigned;
+        /// number (floating-point)
+        number_float_t number_float;
+
+        /// default constructor (for null values)
+        json_value() = default;
+        /// constructor for booleans
+        json_value(boolean_t v) noexcept : boolean(v) {}
+        /// constructor for numbers (integer)
+        json_value(number_integer_t v) noexcept : number_integer(v) {}
+        /// constructor for numbers (unsigned)
+        json_value(number_unsigned_t v) noexcept : number_unsigned(v) {}
+        /// constructor for numbers (floating-point)
+        json_value(number_float_t v) noexcept : number_float(v) {}
+        /// constructor for empty values of a given type
+        json_value(value_t t)
+        {
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    object = create<object_t>();
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    array = create<array_t>();
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    string = create<string_t>("");
+                    break;
+                }
+
+                case value_t::binary:
+                {
+                    binary = create<binary_t>();
+                    break;
+                }
+
+                case value_t::boolean:
+                {
+                    boolean = static_cast<boolean_t>(false);
+                    break;
+                }
+
+                case value_t::number_integer:
+                {
+                    number_integer = static_cast<number_integer_t>(0);
+                    break;
+                }
+
+                case value_t::number_unsigned:
+                {
+                    number_unsigned = static_cast<number_unsigned_t>(0);
+                    break;
+                }
+
+                case value_t::number_float:
+                {
+                    number_float = static_cast<number_float_t>(0.0);
+                    break;
+                }
+
+                case value_t::null:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    break;
+                }
+
+                case value_t::discarded:
+                default:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    if (JSON_HEDLEY_UNLIKELY(t == value_t::null))
+                    {
+                        JSON_THROW(other_error::create(500, "961c151d2e87f2686a955a9be24d316f1362bf21 3.11.2", nullptr)); // LCOV_EXCL_LINE
+                    }
+                    break;
+                }
+            }
+        }
+
+        /// constructor for strings
+        json_value(const string_t& value) : string(create<string_t>(value)) {}
+
+        /// constructor for rvalue strings
+        json_value(string_t&& value) : string(create<string_t>(std::move(value))) {}
+
+        /// constructor for objects
+        json_value(const object_t& value) : object(create<object_t>(value)) {}
+
+        /// constructor for rvalue objects
+        json_value(object_t&& value) : object(create<object_t>(std::move(value))) {}
+
+        /// constructor for arrays
+        json_value(const array_t& value) : array(create<array_t>(value)) {}
+
+        /// constructor for rvalue arrays
+        json_value(array_t&& value) : array(create<array_t>(std::move(value))) {}
+
+        /// constructor for binary arrays
+        json_value(const typename binary_t::container_type& value) : binary(create<binary_t>(value)) {}
+
+        /// constructor for rvalue binary arrays
+        json_value(typename binary_t::container_type&& value) : binary(create<binary_t>(std::move(value))) {}
+
+        /// constructor for binary arrays (internal type)
+        json_value(const binary_t& value) : binary(create<binary_t>(value)) {}
+
+        /// constructor for rvalue binary arrays (internal type)
+        json_value(binary_t&& value) : binary(create<binary_t>(std::move(value))) {}
+
+        void destroy(value_t t)
+        {
+            if (
+                (t == value_t::object && object == nullptr) ||
+                (t == value_t::array && array == nullptr) ||
+                (t == value_t::string && string == nullptr) ||
+                (t == value_t::binary && binary == nullptr)
+            )
+            {
+                //not initialized (e.g. due to exception in the ctor)
+                return;
+            }
+            if (t == value_t::array || t == value_t::object)
+            {
+                // flatten the current json_value to a heap-allocated stack
+                std::vector<basic_json> stack;
+
+                // move the top-level items to stack
+                if (t == value_t::array)
+                {
+                    stack.reserve(array->size());
+                    std::move(array->begin(), array->end(), std::back_inserter(stack));
+                }
+                else
+                {
+                    stack.reserve(object->size());
+                    for (auto&& it : *object)
+                    {
+                        stack.push_back(std::move(it.second));
+                    }
+                }
+
+                while (!stack.empty())
+                {
+                    // move the last item to local variable to be processed
+                    basic_json current_item(std::move(stack.back()));
+                    stack.pop_back();
+
+                    // if current_item is array/object, move
+                    // its children to the stack to be processed later
+                    if (current_item.is_array())
+                    {
+                        std::move(current_item.m_data.m_value.array->begin(), current_item.m_data.m_value.array->end(), std::back_inserter(stack));
+
+                        current_item.m_data.m_value.array->clear();
+                    }
+                    else if (current_item.is_object())
+                    {
+                        for (auto&& it : *current_item.m_data.m_value.object)
+                        {
+                            stack.push_back(std::move(it.second));
+                        }
+
+                        current_item.m_data.m_value.object->clear();
+                    }
+
+                    // it's now safe that current_item get destructed
+                    // since it doesn't have any children
+                }
+            }
+
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    AllocatorType<object_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, object);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, object, 1);
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    AllocatorType<array_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, array);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, array, 1);
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, string, 1);
+                    break;
+                }
+
+                case value_t::binary:
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, binary, 1);
+                    break;
+                }
+
+                case value_t::null:
+                case value_t::boolean:
+                case value_t::number_integer:
+                case value_t::number_unsigned:
+                case value_t::number_float:
+                case value_t::discarded:
+                default:
+                {
+                    break;
+                }
+            }
+        }
+    };
+
+  private:
+    /*!
+    @brief checks the class invariants
+
+    This function asserts the class invariants. It needs to be called at the
+    end of every constructor to make sure that created objects respect the
+    invariant. Furthermore, it has to be called each time the type of a JSON
+    value is changed, because the invariant expresses a relationship between
+    @a m_type and @a m_value.
+
+    Furthermore, the parent relation is checked for arrays and objects: If
+    @a check_parents true and the value is an array or object, then the
+    container's elements must have the current value as parent.
+
+    @param[in] check_parents  whether the parent relation should be checked.
+               The value is true by default and should only be set to false
+               during destruction of objects when the invariant does not
+               need to hold.
+    */
+    void assert_invariant(bool check_parents = true) const noexcept
+    {
+        JSON_ASSERT(m_data.m_type != value_t::object || m_data.m_value.object != nullptr);
+        JSON_ASSERT(m_data.m_type != value_t::array || m_data.m_value.array != nullptr);
+        JSON_ASSERT(m_data.m_type != value_t::string || m_data.m_value.string != nullptr);
+        JSON_ASSERT(m_data.m_type != value_t::binary || m_data.m_value.binary != nullptr);
+
+#if JSON_DIAGNOSTICS
+        JSON_TRY
+        {
+            // cppcheck-suppress assertWithSideEffect
+            JSON_ASSERT(!check_parents || !is_structured() || std::all_of(begin(), end(), [this](const basic_json & j)
+            {
+                return j.m_parent == this;
+            }));
+        }
+        JSON_CATCH(...) {} // LCOV_EXCL_LINE
+#endif
+        static_cast<void>(check_parents);
+    }
+
+    void set_parents()
+    {
+#if JSON_DIAGNOSTICS
+        switch (m_data.m_type)
+        {
+            case value_t::array:
+            {
+                for (auto& element : *m_data.m_value.array)
+                {
+                    element.m_parent = this;
+                }
+                break;
+            }
+
+            case value_t::object:
+            {
+                for (auto& element : *m_data.m_value.object)
+                {
+                    element.second.m_parent = this;
+                }
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                break;
+        }
+#endif
+    }
+
+    iterator set_parents(iterator it, typename iterator::difference_type count_set_parents)
+    {
+#if JSON_DIAGNOSTICS
+        for (typename iterator::difference_type i = 0; i < count_set_parents; ++i)
+        {
+            (it + i)->m_parent = this;
+        }
+#else
+        static_cast<void>(count_set_parents);
+#endif
+        return it;
+    }
+
+    reference set_parent(reference j, std::size_t old_capacity = static_cast<std::size_t>(-1))
+    {
+#if JSON_DIAGNOSTICS
+        if (old_capacity != static_cast<std::size_t>(-1))
+        {
+            // see https://github.com/nlohmann/json/issues/2838
+            JSON_ASSERT(type() == value_t::array);
+            if (JSON_HEDLEY_UNLIKELY(m_data.m_value.array->capacity() != old_capacity))
+            {
+                // capacity has changed: update all parents
+                set_parents();
+                return j;
+            }
+        }
+
+        // ordered_json uses a vector internally, so pointers could have
+        // been invalidated; see https://github.com/nlohmann/json/issues/2962
+#ifdef JSON_HEDLEY_MSVC_VERSION
+#pragma warning(push )
+#pragma warning(disable : 4127) // ignore warning to replace if with if constexpr
+#endif
+        if (detail::is_ordered_map<object_t>::value)
+        {
+            set_parents();
+            return j;
+        }
+#ifdef JSON_HEDLEY_MSVC_VERSION
+#pragma warning( pop )
+#endif
+
+        j.m_parent = this;
+#else
+        static_cast<void>(j);
+        static_cast<void>(old_capacity);
+#endif
+        return j;
+    }
+
+  public:
+    //////////////////////////
+    // JSON parser callback //
+    //////////////////////////
+
+    /// @brief parser event types
+    /// @sa https://json.nlohmann.me/api/basic_json/parse_event_t/
+    using parse_event_t = detail::parse_event_t;
+
+    /// @brief per-element parser callback type
+    /// @sa https://json.nlohmann.me/api/basic_json/parser_callback_t/
+    using parser_callback_t = detail::parser_callback_t<basic_json>;
+
+    //////////////////
+    // constructors //
+    //////////////////
+
+    /// @name constructors and destructors
+    /// Constructors of class @ref basic_json, copy/move constructor, copy
+    /// assignment, static functions creating objects, and the destructor.
+    /// @{
+
+    /// @brief create an empty value with a given type
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(const value_t v)
+        : m_data(v)
+    {
+        assert_invariant();
+    }
+
+    /// @brief create a null object
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(std::nullptr_t = nullptr) noexcept // NOLINT(bugprone-exception-escape)
+        : basic_json(value_t::null)
+    {
+        assert_invariant();
+    }
+
+    /// @brief create a JSON value from compatible types
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    template < typename CompatibleType,
+               typename U = detail::uncvref_t<CompatibleType>,
+               detail::enable_if_t <
+                   !detail::is_basic_json<U>::value && detail::is_compatible_type<basic_json_t, U>::value, int > = 0 >
+    basic_json(CompatibleType && val) noexcept(noexcept( // NOLINT(bugprone-forwarding-reference-overload,bugprone-exception-escape)
+                JSONSerializer<U>::to_json(std::declval<basic_json_t&>(),
+                                           std::forward<CompatibleType>(val))))
+    {
+        JSONSerializer<U>::to_json(*this, std::forward<CompatibleType>(val));
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief create a JSON value from an existing one
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    template < typename BasicJsonType,
+               detail::enable_if_t <
+                   detail::is_basic_json<BasicJsonType>::value&& !std::is_same<basic_json, BasicJsonType>::value, int > = 0 >
+    basic_json(const BasicJsonType& val)
+    {
+        using other_boolean_t = typename BasicJsonType::boolean_t;
+        using other_number_float_t = typename BasicJsonType::number_float_t;
+        using other_number_integer_t = typename BasicJsonType::number_integer_t;
+        using other_number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+        using other_string_t = typename BasicJsonType::string_t;
+        using other_object_t = typename BasicJsonType::object_t;
+        using other_array_t = typename BasicJsonType::array_t;
+        using other_binary_t = typename BasicJsonType::binary_t;
+
+        switch (val.type())
+        {
+            case value_t::boolean:
+                JSONSerializer<other_boolean_t>::to_json(*this, val.template get<other_boolean_t>());
+                break;
+            case value_t::number_float:
+                JSONSerializer<other_number_float_t>::to_json(*this, val.template get<other_number_float_t>());
+                break;
+            case value_t::number_integer:
+                JSONSerializer<other_number_integer_t>::to_json(*this, val.template get<other_number_integer_t>());
+                break;
+            case value_t::number_unsigned:
+                JSONSerializer<other_number_unsigned_t>::to_json(*this, val.template get<other_number_unsigned_t>());
+                break;
+            case value_t::string:
+                JSONSerializer<other_string_t>::to_json(*this, val.template get_ref<const other_string_t&>());
+                break;
+            case value_t::object:
+                JSONSerializer<other_object_t>::to_json(*this, val.template get_ref<const other_object_t&>());
+                break;
+            case value_t::array:
+                JSONSerializer<other_array_t>::to_json(*this, val.template get_ref<const other_array_t&>());
+                break;
+            case value_t::binary:
+                JSONSerializer<other_binary_t>::to_json(*this, val.template get_ref<const other_binary_t&>());
+                break;
+            case value_t::null:
+                *this = nullptr;
+                break;
+            case value_t::discarded:
+                m_data.m_type = value_t::discarded;
+                break;
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        }
+        JSON_ASSERT(m_data.m_type == val.type());
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief create a container (array or object) from an initializer list
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(initializer_list_t init,
+               bool type_deduction = true,
+               value_t manual_type = value_t::array)
+    {
+        // check if each element is an array with two elements whose first
+        // element is a string
+        bool is_an_object = std::all_of(init.begin(), init.end(),
+                                        [](const detail::json_ref<basic_json>& element_ref)
+        {
+            return element_ref->is_array() && element_ref->size() == 2 && (*element_ref)[0].is_string();
+        });
+
+        // adjust type if type deduction is not wanted
+        if (!type_deduction)
+        {
+            // if array is wanted, do not create an object though possible
+            if (manual_type == value_t::array)
+            {
+                is_an_object = false;
+            }
+
+            // if object is wanted but impossible, throw an exception
+            if (JSON_HEDLEY_UNLIKELY(manual_type == value_t::object && !is_an_object))
+            {
+                JSON_THROW(type_error::create(301, "cannot create object from initializer list", nullptr));
+            }
+        }
+
+        if (is_an_object)
+        {
+            // the initializer list is a list of pairs -> create object
+            m_data.m_type = value_t::object;
+            m_data.m_value = value_t::object;
+
+            for (auto& element_ref : init)
+            {
+                auto element = element_ref.moved_or_copied();
+                m_data.m_value.object->emplace(
+                    std::move(*((*element.m_data.m_value.array)[0].m_data.m_value.string)),
+                    std::move((*element.m_data.m_value.array)[1]));
+            }
+        }
+        else
+        {
+            // the initializer list describes an array -> create array
+            m_data.m_type = value_t::array;
+            m_data.m_value.array = create<array_t>(init.begin(), init.end());
+        }
+
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief explicitly create a binary array (without subtype)
+    /// @sa https://json.nlohmann.me/api/basic_json/binary/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(const typename binary_t::container_type& init)
+    {
+        auto res = basic_json();
+        res.m_data.m_type = value_t::binary;
+        res.m_data.m_value = init;
+        return res;
+    }
+
+    /// @brief explicitly create a binary array (with subtype)
+    /// @sa https://json.nlohmann.me/api/basic_json/binary/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(const typename binary_t::container_type& init, typename binary_t::subtype_type subtype)
+    {
+        auto res = basic_json();
+        res.m_data.m_type = value_t::binary;
+        res.m_data.m_value = binary_t(init, subtype);
+        return res;
+    }
+
+    /// @brief explicitly create a binary array
+    /// @sa https://json.nlohmann.me/api/basic_json/binary/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(typename binary_t::container_type&& init)
+    {
+        auto res = basic_json();
+        res.m_data.m_type = value_t::binary;
+        res.m_data.m_value = std::move(init);
+        return res;
+    }
+
+    /// @brief explicitly create a binary array (with subtype)
+    /// @sa https://json.nlohmann.me/api/basic_json/binary/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(typename binary_t::container_type&& init, typename binary_t::subtype_type subtype)
+    {
+        auto res = basic_json();
+        res.m_data.m_type = value_t::binary;
+        res.m_data.m_value = binary_t(std::move(init), subtype);
+        return res;
+    }
+
+    /// @brief explicitly create an array from an initializer list
+    /// @sa https://json.nlohmann.me/api/basic_json/array/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json array(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::array);
+    }
+
+    /// @brief explicitly create an object from an initializer list
+    /// @sa https://json.nlohmann.me/api/basic_json/object/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json object(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::object);
+    }
+
+    /// @brief construct an array with count copies of given value
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(size_type cnt, const basic_json& val):
+        m_data{cnt, val}
+    {
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief construct a JSON container given an iterator range
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    template < class InputIT, typename std::enable_if <
+                   std::is_same<InputIT, typename basic_json_t::iterator>::value ||
+                   std::is_same<InputIT, typename basic_json_t::const_iterator>::value, int >::type = 0 >
+    basic_json(InputIT first, InputIT last)
+    {
+        JSON_ASSERT(first.m_object != nullptr);
+        JSON_ASSERT(last.m_object != nullptr);
+
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(201, "iterators are not compatible", nullptr));
+        }
+
+        // copy type from first iterator
+        m_data.m_type = first.m_object->m_data.m_type;
+
+        // check if iterator range is complete for primitive values
+        switch (m_data.m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            {
+                if (JSON_HEDLEY_UNLIKELY(!first.m_it.primitive_iterator.is_begin()
+                                         || !last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range", first.m_object));
+                }
+                break;
+            }
+
+            case value_t::null:
+            case value_t::object:
+            case value_t::array:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                break;
+        }
+
+        switch (m_data.m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_data.m_value.number_integer = first.m_object->m_data.m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_data.m_value.number_unsigned = first.m_object->m_data.m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_data.m_value.number_float = first.m_object->m_data.m_value.number_float;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_data.m_value.boolean = first.m_object->m_data.m_value.boolean;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_data.m_value = *first.m_object->m_data.m_value.string;
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_data.m_value.object = create<object_t>(first.m_it.object_iterator,
+                                        last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_data.m_value.array = create<array_t>(first.m_it.array_iterator,
+                                                       last.m_it.array_iterator);
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_data.m_value = *first.m_object->m_data.m_value.binary;
+                break;
+            }
+
+            case value_t::null:
+            case value_t::discarded:
+            default:
+                JSON_THROW(invalid_iterator::create(206, detail::concat("cannot construct with iterators from ", first.m_object->type_name()), first.m_object));
+        }
+
+        set_parents();
+        assert_invariant();
+    }
+
+
+    ///////////////////////////////////////
+    // other constructors and destructor //
+    ///////////////////////////////////////
+
+    template<typename JsonRef,
+             detail::enable_if_t<detail::conjunction<detail::is_json_ref<JsonRef>,
+                                 std::is_same<typename JsonRef::value_type, basic_json>>::value, int> = 0 >
+    basic_json(const JsonRef& ref) : basic_json(ref.moved_or_copied()) {}
+
+    /// @brief copy constructor
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(const basic_json& other)
+        : json_base_class_t(other)
+    {
+        m_data.m_type = other.m_data.m_type;
+        // check of passed value is valid
+        other.assert_invariant();
+
+        switch (m_data.m_type)
+        {
+            case value_t::object:
+            {
+                m_data.m_value = *other.m_data.m_value.object;
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_data.m_value = *other.m_data.m_value.array;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_data.m_value = *other.m_data.m_value.string;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_data.m_value = other.m_data.m_value.boolean;
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                m_data.m_value = other.m_data.m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_data.m_value = other.m_data.m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_data.m_value = other.m_data.m_value.number_float;
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_data.m_value = *other.m_data.m_value.binary;
+                break;
+            }
+
+            case value_t::null:
+            case value_t::discarded:
+            default:
+                break;
+        }
+
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief move constructor
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(basic_json&& other) noexcept
+        : json_base_class_t(std::forward<json_base_class_t>(other)),
+          m_data(std::move(other.m_data))
+    {
+        // check that passed value is valid
+        other.assert_invariant(false);
+
+        // invalidate payload
+        other.m_data.m_type = value_t::null;
+        other.m_data.m_value = {};
+
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief copy assignment
+    /// @sa https://json.nlohmann.me/api/basic_json/operator=/
+    basic_json& operator=(basic_json other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&&
+        std::is_nothrow_move_assignable<json_value>::value&&
+        std::is_nothrow_move_assignable<json_base_class_t>::value
+    )
+    {
+        // check that passed value is valid
+        other.assert_invariant();
+
+        using std::swap;
+        swap(m_data.m_type, other.m_data.m_type);
+        swap(m_data.m_value, other.m_data.m_value);
+        json_base_class_t::operator=(std::move(other));
+
+        set_parents();
+        assert_invariant();
+        return *this;
+    }
+
+    /// @brief destructor
+    /// @sa https://json.nlohmann.me/api/basic_json/~basic_json/
+    ~basic_json() noexcept
+    {
+        assert_invariant(false);
+    }
+
+    /// @}
+
+  public:
+    ///////////////////////
+    // object inspection //
+    ///////////////////////
+
+    /// @name object inspection
+    /// Functions to inspect the type of a JSON value.
+    /// @{
+
+    /// @brief serialization
+    /// @sa https://json.nlohmann.me/api/basic_json/dump/
+    string_t dump(const int indent = -1,
+                  const char indent_char = ' ',
+                  const bool ensure_ascii = false,
+                  const error_handler_t error_handler = error_handler_t::strict) const
+    {
+        string_t result;
+        serializer s(detail::output_adapter<char, string_t>(result), indent_char, error_handler);
+
+        if (indent >= 0)
+        {
+            s.dump(*this, true, ensure_ascii, static_cast<unsigned int>(indent));
+        }
+        else
+        {
+            s.dump(*this, false, ensure_ascii, 0);
+        }
+
+        return result;
+    }
+
+    /// @brief return the type of the JSON value (explicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/type/
+    constexpr value_t type() const noexcept
+    {
+        return m_data.m_type;
+    }
+
+    /// @brief return whether type is primitive
+    /// @sa https://json.nlohmann.me/api/basic_json/is_primitive/
+    constexpr bool is_primitive() const noexcept
+    {
+        return is_null() || is_string() || is_boolean() || is_number() || is_binary();
+    }
+
+    /// @brief return whether type is structured
+    /// @sa https://json.nlohmann.me/api/basic_json/is_structured/
+    constexpr bool is_structured() const noexcept
+    {
+        return is_array() || is_object();
+    }
+
+    /// @brief return whether value is null
+    /// @sa https://json.nlohmann.me/api/basic_json/is_null/
+    constexpr bool is_null() const noexcept
+    {
+        return m_data.m_type == value_t::null;
+    }
+
+    /// @brief return whether value is a boolean
+    /// @sa https://json.nlohmann.me/api/basic_json/is_boolean/
+    constexpr bool is_boolean() const noexcept
+    {
+        return m_data.m_type == value_t::boolean;
+    }
+
+    /// @brief return whether value is a number
+    /// @sa https://json.nlohmann.me/api/basic_json/is_number/
+    constexpr bool is_number() const noexcept
+    {
+        return is_number_integer() || is_number_float();
+    }
+
+    /// @brief return whether value is an integer number
+    /// @sa https://json.nlohmann.me/api/basic_json/is_number_integer/
+    constexpr bool is_number_integer() const noexcept
+    {
+        return m_data.m_type == value_t::number_integer || m_data.m_type == value_t::number_unsigned;
+    }
+
+    /// @brief return whether value is an unsigned integer number
+    /// @sa https://json.nlohmann.me/api/basic_json/is_number_unsigned/
+    constexpr bool is_number_unsigned() const noexcept
+    {
+        return m_data.m_type == value_t::number_unsigned;
+    }
+
+    /// @brief return whether value is a floating-point number
+    /// @sa https://json.nlohmann.me/api/basic_json/is_number_float/
+    constexpr bool is_number_float() const noexcept
+    {
+        return m_data.m_type == value_t::number_float;
+    }
+
+    /// @brief return whether value is an object
+    /// @sa https://json.nlohmann.me/api/basic_json/is_object/
+    constexpr bool is_object() const noexcept
+    {
+        return m_data.m_type == value_t::object;
+    }
+
+    /// @brief return whether value is an array
+    /// @sa https://json.nlohmann.me/api/basic_json/is_array/
+    constexpr bool is_array() const noexcept
+    {
+        return m_data.m_type == value_t::array;
+    }
+
+    /// @brief return whether value is a string
+    /// @sa https://json.nlohmann.me/api/basic_json/is_string/
+    constexpr bool is_string() const noexcept
+    {
+        return m_data.m_type == value_t::string;
+    }
+
+    /// @brief return whether value is a binary array
+    /// @sa https://json.nlohmann.me/api/basic_json/is_binary/
+    constexpr bool is_binary() const noexcept
+    {
+        return m_data.m_type == value_t::binary;
+    }
+
+    /// @brief return whether value is discarded
+    /// @sa https://json.nlohmann.me/api/basic_json/is_discarded/
+    constexpr bool is_discarded() const noexcept
+    {
+        return m_data.m_type == value_t::discarded;
+    }
+
+    /// @brief return the type of the JSON value (implicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_value_t/
+    constexpr operator value_t() const noexcept
+    {
+        return m_data.m_type;
+    }
+
+    /// @}
+
+  private:
+    //////////////////
+    // value access //
+    //////////////////
+
+    /// get a boolean (explicit)
+    boolean_t get_impl(boolean_t* /*unused*/) const
+    {
+        if (JSON_HEDLEY_LIKELY(is_boolean()))
+        {
+            return m_data.m_value.boolean;
+        }
+
+        JSON_THROW(type_error::create(302, detail::concat("type must be boolean, but is ", type_name()), this));
+    }
+
+    /// get a pointer to the value (object)
+    object_t* get_impl_ptr(object_t* /*unused*/) noexcept
+    {
+        return is_object() ? m_data.m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (object)
+    constexpr const object_t* get_impl_ptr(const object_t* /*unused*/) const noexcept
+    {
+        return is_object() ? m_data.m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    array_t* get_impl_ptr(array_t* /*unused*/) noexcept
+    {
+        return is_array() ? m_data.m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    constexpr const array_t* get_impl_ptr(const array_t* /*unused*/) const noexcept
+    {
+        return is_array() ? m_data.m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    string_t* get_impl_ptr(string_t* /*unused*/) noexcept
+    {
+        return is_string() ? m_data.m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    constexpr const string_t* get_impl_ptr(const string_t* /*unused*/) const noexcept
+    {
+        return is_string() ? m_data.m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    boolean_t* get_impl_ptr(boolean_t* /*unused*/) noexcept
+    {
+        return is_boolean() ? &m_data.m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    constexpr const boolean_t* get_impl_ptr(const boolean_t* /*unused*/) const noexcept
+    {
+        return is_boolean() ? &m_data.m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    number_integer_t* get_impl_ptr(number_integer_t* /*unused*/) noexcept
+    {
+        return is_number_integer() ? &m_data.m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    constexpr const number_integer_t* get_impl_ptr(const number_integer_t* /*unused*/) const noexcept
+    {
+        return is_number_integer() ? &m_data.m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    number_unsigned_t* get_impl_ptr(number_unsigned_t* /*unused*/) noexcept
+    {
+        return is_number_unsigned() ? &m_data.m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    constexpr const number_unsigned_t* get_impl_ptr(const number_unsigned_t* /*unused*/) const noexcept
+    {
+        return is_number_unsigned() ? &m_data.m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    number_float_t* get_impl_ptr(number_float_t* /*unused*/) noexcept
+    {
+        return is_number_float() ? &m_data.m_value.number_float : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    constexpr const number_float_t* get_impl_ptr(const number_float_t* /*unused*/) const noexcept
+    {
+        return is_number_float() ? &m_data.m_value.number_float : nullptr;
+    }
+
+    /// get a pointer to the value (binary)
+    binary_t* get_impl_ptr(binary_t* /*unused*/) noexcept
+    {
+        return is_binary() ? m_data.m_value.binary : nullptr;
+    }
+
+    /// get a pointer to the value (binary)
+    constexpr const binary_t* get_impl_ptr(const binary_t* /*unused*/) const noexcept
+    {
+        return is_binary() ? m_data.m_value.binary : nullptr;
+    }
+
+    /*!
+    @brief helper function to implement get_ref()
+
+    This function helps to implement get_ref() without code duplication for
+    const and non-const overloads
+
+    @tparam ThisType will be deduced as `basic_json` or `const basic_json`
+
+    @throw type_error.303 if ReferenceType does not match underlying value
+    type of the current JSON
+    */
+    template<typename ReferenceType, typename ThisType>
+    static ReferenceType get_ref_impl(ThisType& obj)
+    {
+        // delegate the call to get_ptr<>()
+        auto* ptr = obj.template get_ptr<typename std::add_pointer<ReferenceType>::type>();
+
+        if (JSON_HEDLEY_LIKELY(ptr != nullptr))
+        {
+            return *ptr;
+        }
+
+        JSON_THROW(type_error::create(303, detail::concat("incompatible ReferenceType for get_ref, actual type is ", obj.type_name()), &obj));
+    }
+
+  public:
+    /// @name value access
+    /// Direct access to the stored value of a JSON value.
+    /// @{
+
+    /// @brief get a pointer value (implicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/get_ptr/
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get_ptr() noexcept -> decltype(std::declval<basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>()
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+    /// @brief get a pointer value (implicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/get_ptr/
+    template < typename PointerType, typename std::enable_if <
+                   std::is_pointer<PointerType>::value&&
+                   std::is_const<typename std::remove_pointer<PointerType>::type>::value, int >::type = 0 >
+    constexpr auto get_ptr() const noexcept -> decltype(std::declval<const basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>() const
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+  private:
+    /*!
+    @brief get a value (explicit)
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    ValueType ret;
+    JSONSerializer<ValueType>::from_json(*this, ret);
+    return ret;
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json,
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `void from_json(const basic_json&, ValueType&)`, and
+    - @ref json_serializer<ValueType> does not have a `from_json()` method of
+      the form `ValueType from_json(const basic_json&)`
+
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,get__ValueType_const}
+
+    @since version 2.1.0
+    */
+    template < typename ValueType,
+               detail::enable_if_t <
+                   detail::is_default_constructible<ValueType>::value&&
+                   detail::has_from_json<basic_json_t, ValueType>::value,
+                   int > = 0 >
+    ValueType get_impl(detail::priority_tag<0> /*unused*/) const noexcept(noexcept(
+                JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), std::declval<ValueType&>())))
+    {
+        auto ret = ValueType();
+        JSONSerializer<ValueType>::from_json(*this, ret);
+        return ret;
+    }
+
+    /*!
+    @brief get a value (explicit); special case
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is **not** [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and **not** [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    return JSONSerializer<ValueType>::from_json(*this);
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json and
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `ValueType from_json(const basic_json&)`
+
+    @note If @ref json_serializer<ValueType> has both overloads of
+    `from_json()`, this one is chosen.
+
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @since version 2.1.0
+    */
+    template < typename ValueType,
+               detail::enable_if_t <
+                   detail::has_non_default_from_json<basic_json_t, ValueType>::value,
+                   int > = 0 >
+    ValueType get_impl(detail::priority_tag<1> /*unused*/) const noexcept(noexcept(
+                JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>())))
+    {
+        return JSONSerializer<ValueType>::from_json(*this);
+    }
+
+    /*!
+    @brief get special-case overload
+
+    This overloads converts the current @ref basic_json in a different
+    @ref basic_json type
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this, converted into @a BasicJsonType
+
+    @complexity Depending on the implementation of the called `from_json()`
+                method.
+
+    @since version 3.2.0
+    */
+    template < typename BasicJsonType,
+               detail::enable_if_t <
+                   detail::is_basic_json<BasicJsonType>::value,
+                   int > = 0 >
+    BasicJsonType get_impl(detail::priority_tag<2> /*unused*/) const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get special-case overload
+
+    This overloads avoids a lot of template boilerplate, it can be seen as the
+    identity method
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this
+
+    @complexity Constant.
+
+    @since version 2.1.0
+    */
+    template<typename BasicJsonType,
+             detail::enable_if_t<
+                 std::is_same<BasicJsonType, basic_json_t>::value,
+                 int> = 0>
+    basic_json get_impl(detail::priority_tag<3> /*unused*/) const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+    @copydoc get()
+    */
+    template<typename PointerType,
+             detail::enable_if_t<
+                 std::is_pointer<PointerType>::value,
+                 int> = 0>
+    constexpr auto get_impl(detail::priority_tag<4> /*unused*/) const noexcept
+    -> decltype(std::declval<const basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+  public:
+    /*!
+    @brief get a (pointer) value (explicit)
+
+    Performs explicit type conversion between the JSON value and a compatible value if required.
+
+    - If the requested type is a pointer to the internally stored JSON value that pointer is returned.
+    No copies are made.
+
+    - If the requested type is the current @ref basic_json, or a different @ref basic_json convertible
+    from the current @ref basic_json.
+
+    - Otherwise the value is converted by calling the @ref json_serializer<ValueType> `from_json()`
+    method.
+
+    @tparam ValueTypeCV the provided value type
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @tparam ValueType if necessary
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws if conversion is required
+
+    @since version 2.1.0
+    */
+    template < typename ValueTypeCV, typename ValueType = detail::uncvref_t<ValueTypeCV>>
+#if defined(JSON_HAS_CPP_14)
+    constexpr
+#endif
+    auto get() const noexcept(
+    noexcept(std::declval<const basic_json_t&>().template get_impl<ValueType>(detail::priority_tag<4> {})))
+    -> decltype(std::declval<const basic_json_t&>().template get_impl<ValueType>(detail::priority_tag<4> {}))
+    {
+        // we cannot static_assert on ValueTypeCV being non-const, because
+        // there is support for get<const basic_json_t>(), which is why we
+        // still need the uncvref
+        static_assert(!std::is_reference<ValueTypeCV>::value,
+                      "get() cannot be used with reference types, you might want to use get_ref()");
+        return get_impl<ValueType>(detail::priority_tag<4> {});
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+
+    Explicit pointer access to the internally stored JSON value. No copies are
+    made.
+
+    @warning The pointer becomes invalid if the underlying JSON object
+    changes.
+
+    @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref
+    object_t, @ref string_t, @ref boolean_t, @ref number_integer_t,
+    @ref number_unsigned_t, or @ref number_float_t.
+
+    @return pointer to the internally stored JSON value if the requested
+    pointer type @a PointerType fits to the JSON value; `nullptr` otherwise
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how pointers to internal values of a
+    JSON value can be requested. Note that no type conversions are made and a
+    `nullptr` is returned if the value and the requested pointer type does not
+    match.,get__PointerType}
+
+    @sa see @ref get_ptr() for explicit pointer-member access
+
+    @since version 1.0.0
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get() noexcept -> decltype(std::declval<basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+    /// @brief get a value (explicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/get_to/
+    template < typename ValueType,
+               detail::enable_if_t <
+                   !detail::is_basic_json<ValueType>::value&&
+                   detail::has_from_json<basic_json_t, ValueType>::value,
+                   int > = 0 >
+    ValueType & get_to(ValueType& v) const noexcept(noexcept(
+                JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), v)))
+    {
+        JSONSerializer<ValueType>::from_json(*this, v);
+        return v;
+    }
+
+    // specialization to allow calling get_to with a basic_json value
+    // see https://github.com/nlohmann/json/issues/2175
+    template<typename ValueType,
+             detail::enable_if_t <
+                 detail::is_basic_json<ValueType>::value,
+                 int> = 0>
+    ValueType & get_to(ValueType& v) const
+    {
+        v = *this;
+        return v;
+    }
+
+    template <
+        typename T, std::size_t N,
+        typename Array = T (&)[N], // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+        detail::enable_if_t <
+            detail::has_from_json<basic_json_t, Array>::value, int > = 0 >
+    Array get_to(T (&v)[N]) const // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+    noexcept(noexcept(JSONSerializer<Array>::from_json(
+                          std::declval<const basic_json_t&>(), v)))
+    {
+        JSONSerializer<Array>::from_json(*this, v);
+        return v;
+    }
+
+    /// @brief get a reference value (implicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/get_ref/
+    template<typename ReferenceType, typename std::enable_if<
+                 std::is_reference<ReferenceType>::value, int>::type = 0>
+    ReferenceType get_ref()
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /// @brief get a reference value (implicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/get_ref/
+    template < typename ReferenceType, typename std::enable_if <
+                   std::is_reference<ReferenceType>::value&&
+                   std::is_const<typename std::remove_reference<ReferenceType>::type>::value, int >::type = 0 >
+    ReferenceType get_ref() const
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /*!
+    @brief get a value (implicit)
+
+    Implicit type conversion between the JSON value and a compatible value.
+    The call is realized by calling @ref get() const.
+
+    @tparam ValueType non-pointer type compatible to the JSON value, for
+    instance `int` for JSON integer numbers, `bool` for JSON booleans, or
+    `std::vector` types for JSON arrays. The character type of @ref string_t
+    as well as an initializer list of this type is excluded to avoid
+    ambiguities as these types implicitly convert to `std::string`.
+
+    @return copy of the JSON value, converted to type @a ValueType
+
+    @throw type_error.302 in case passed type @a ValueType is incompatible
+    to the JSON value type (e.g., the JSON value is of type boolean, but a
+    string is requested); see example below
+
+    @complexity Linear in the size of the JSON value.
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,operator__ValueType}
+
+    @since version 1.0.0
+    */
+    template < typename ValueType, typename std::enable_if <
+                   detail::conjunction <
+                       detail::negation<std::is_pointer<ValueType>>,
+                       detail::negation<std::is_same<ValueType, std::nullptr_t>>,
+                       detail::negation<std::is_same<ValueType, detail::json_ref<basic_json>>>,
+                                        detail::negation<std::is_same<ValueType, typename string_t::value_type>>,
+                                        detail::negation<detail::is_basic_json<ValueType>>,
+                                        detail::negation<std::is_same<ValueType, std::initializer_list<typename string_t::value_type>>>,
+#if defined(JSON_HAS_CPP_17) && (defined(__GNUC__) || (defined(_MSC_VER) && _MSC_VER >= 1910 && _MSC_VER <= 1914))
+                                                detail::negation<std::is_same<ValueType, std::string_view>>,
+#endif
+#if defined(JSON_HAS_CPP_17)
+                                                detail::negation<std::is_same<ValueType, std::any>>,
+#endif
+                                                detail::is_detected_lazy<detail::get_template_function, const basic_json_t&, ValueType>
+                                                >::value, int >::type = 0 >
+                                        JSON_EXPLICIT operator ValueType() const
+    {
+        // delegate the call to get<>() const
+        return get<ValueType>();
+    }
+
+    /// @brief get a binary value
+    /// @sa https://json.nlohmann.me/api/basic_json/get_binary/
+    binary_t& get_binary()
+    {
+        if (!is_binary())
+        {
+            JSON_THROW(type_error::create(302, detail::concat("type must be binary, but is ", type_name()), this));
+        }
+
+        return *get_ptr<binary_t*>();
+    }
+
+    /// @brief get a binary value
+    /// @sa https://json.nlohmann.me/api/basic_json/get_binary/
+    const binary_t& get_binary() const
+    {
+        if (!is_binary())
+        {
+            JSON_THROW(type_error::create(302, detail::concat("type must be binary, but is ", type_name()), this));
+        }
+
+        return *get_ptr<const binary_t*>();
+    }
+
+    /// @}
+
+
+    ////////////////////
+    // element access //
+    ////////////////////
+
+    /// @name element access
+    /// Access to the JSON value.
+    /// @{
+
+    /// @brief access specified array element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    reference at(size_type idx)
+    {
+        // at only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return set_parent(m_data.m_value.array->at(idx));
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, detail::concat("array index ", std::to_string(idx), " is out of range"), this));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+    }
+
+    /// @brief access specified array element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    const_reference at(size_type idx) const
+    {
+        // at only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return m_data.m_value.array->at(idx);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, detail::concat("array index ", std::to_string(idx), " is out of range"), this));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+    }
+
+    /// @brief access specified object element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    reference at(const typename object_t::key_type& key)
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+
+        auto it = m_data.m_value.object->find(key);
+        if (it == m_data.m_value.object->end())
+        {
+            JSON_THROW(out_of_range::create(403, detail::concat("key '", key, "' not found"), this));
+        }
+        return set_parent(it->second);
+    }
+
+    /// @brief access specified object element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    reference at(KeyType && key)
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+
+        auto it = m_data.m_value.object->find(std::forward<KeyType>(key));
+        if (it == m_data.m_value.object->end())
+        {
+            JSON_THROW(out_of_range::create(403, detail::concat("key '", string_t(std::forward<KeyType>(key)), "' not found"), this));
+        }
+        return set_parent(it->second);
+    }
+
+    /// @brief access specified object element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    const_reference at(const typename object_t::key_type& key) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+
+        auto it = m_data.m_value.object->find(key);
+        if (it == m_data.m_value.object->end())
+        {
+            JSON_THROW(out_of_range::create(403, detail::concat("key '", key, "' not found"), this));
+        }
+        return it->second;
+    }
+
+    /// @brief access specified object element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    const_reference at(KeyType && key) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+
+        auto it = m_data.m_value.object->find(std::forward<KeyType>(key));
+        if (it == m_data.m_value.object->end())
+        {
+            JSON_THROW(out_of_range::create(403, detail::concat("key '", string_t(std::forward<KeyType>(key)), "' not found"), this));
+        }
+        return it->second;
+    }
+
+    /// @brief access specified array element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    reference operator[](size_type idx)
+    {
+        // implicitly convert null value to an empty array
+        if (is_null())
+        {
+            m_data.m_type = value_t::array;
+            m_data.m_value.array = create<array_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // fill up array with null values if given idx is outside range
+            if (idx >= m_data.m_value.array->size())
+            {
+#if JSON_DIAGNOSTICS
+                // remember array size & capacity before resizing
+                const auto old_size = m_data.m_value.array->size();
+                const auto old_capacity = m_data.m_value.array->capacity();
+#endif
+                m_data.m_value.array->resize(idx + 1);
+
+#if JSON_DIAGNOSTICS
+                if (JSON_HEDLEY_UNLIKELY(m_data.m_value.array->capacity() != old_capacity))
+                {
+                    // capacity has changed: update all parents
+                    set_parents();
+                }
+                else
+                {
+                    // set parent for values added above
+                    set_parents(begin() + static_cast<typename iterator::difference_type>(old_size), static_cast<typename iterator::difference_type>(idx + 1 - old_size));
+                }
+#endif
+                assert_invariant();
+            }
+
+            return m_data.m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a numeric argument with ", type_name()), this));
+    }
+
+    /// @brief access specified array element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    const_reference operator[](size_type idx) const
+    {
+        // const operator[] only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            return m_data.m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a numeric argument with ", type_name()), this));
+    }
+
+    /// @brief access specified object element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    reference operator[](typename object_t::key_type key)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_data.m_type = value_t::object;
+            m_data.m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            auto result = m_data.m_value.object->emplace(std::move(key), nullptr);
+            return set_parent(result.first->second);
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a string argument with ", type_name()), this));
+    }
+
+    /// @brief access specified object element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    const_reference operator[](const typename object_t::key_type& key) const
+    {
+        // const operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            auto it = m_data.m_value.object->find(key);
+            JSON_ASSERT(it != m_data.m_value.object->end());
+            return it->second;
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a string argument with ", type_name()), this));
+    }
+
+    // these two functions resolve a (const) char * ambiguity affecting Clang and MSVC
+    // (they seemingly cannot be constrained to resolve the ambiguity)
+    template<typename T>
+    reference operator[](T* key)
+    {
+        return operator[](typename object_t::key_type(key));
+    }
+
+    template<typename T>
+    const_reference operator[](T* key) const
+    {
+        return operator[](typename object_t::key_type(key));
+    }
+
+    /// @brief access specified object element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int > = 0 >
+    reference operator[](KeyType && key)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_data.m_type = value_t::object;
+            m_data.m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            auto result = m_data.m_value.object->emplace(std::forward<KeyType>(key), nullptr);
+            return set_parent(result.first->second);
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a string argument with ", type_name()), this));
+    }
+
+    /// @brief access specified object element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int > = 0 >
+    const_reference operator[](KeyType && key) const
+    {
+        // const operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            auto it = m_data.m_value.object->find(std::forward<KeyType>(key));
+            JSON_ASSERT(it != m_data.m_value.object->end());
+            return it->second;
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a string argument with ", type_name()), this));
+    }
+
+  private:
+    template<typename KeyType>
+    using is_comparable_with_object_key = detail::is_comparable <
+        object_comparator_t, const typename object_t::key_type&, KeyType >;
+
+    template<typename ValueType>
+    using value_return_type = std::conditional <
+        detail::is_c_string_uncvref<ValueType>::value,
+        string_t, typename std::decay<ValueType>::type >;
+
+  public:
+    /// @brief access specified object element with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, detail::enable_if_t <
+                   !detail::is_transparent<object_comparator_t>::value
+                   && detail::is_getable<basic_json_t, ValueType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ValueType value(const typename object_t::key_type& key, const ValueType& default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(key);
+            if (it != end())
+            {
+                return it->template get<ValueType>();
+            }
+
+            return default_value;
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    /// @brief access specified object element with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, class ReturnType = typename value_return_type<ValueType>::type,
+               detail::enable_if_t <
+                   !detail::is_transparent<object_comparator_t>::value
+                   && detail::is_getable<basic_json_t, ReturnType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ReturnType value(const typename object_t::key_type& key, ValueType && default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(key);
+            if (it != end())
+            {
+                return it->template get<ReturnType>();
+            }
+
+            return std::forward<ValueType>(default_value);
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    /// @brief access specified object element with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, class KeyType, detail::enable_if_t <
+                   detail::is_transparent<object_comparator_t>::value
+                   && !detail::is_json_pointer<KeyType>::value
+                   && is_comparable_with_object_key<KeyType>::value
+                   && detail::is_getable<basic_json_t, ValueType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ValueType value(KeyType && key, const ValueType& default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(std::forward<KeyType>(key));
+            if (it != end())
+            {
+                return it->template get<ValueType>();
+            }
+
+            return default_value;
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    /// @brief access specified object element via JSON Pointer with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, class KeyType, class ReturnType = typename value_return_type<ValueType>::type,
+               detail::enable_if_t <
+                   detail::is_transparent<object_comparator_t>::value
+                   && !detail::is_json_pointer<KeyType>::value
+                   && is_comparable_with_object_key<KeyType>::value
+                   && detail::is_getable<basic_json_t, ReturnType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ReturnType value(KeyType && key, ValueType && default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(std::forward<KeyType>(key));
+            if (it != end())
+            {
+                return it->template get<ReturnType>();
+            }
+
+            return std::forward<ValueType>(default_value);
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    /// @brief access specified object element via JSON Pointer with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, detail::enable_if_t <
+                   detail::is_getable<basic_json_t, ValueType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ValueType value(const json_pointer& ptr, const ValueType& default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if pointer resolves a value, return it or use default value
+            JSON_TRY
+            {
+                return ptr.get_checked(this).template get<ValueType>();
+            }
+            JSON_INTERNAL_CATCH (out_of_range&)
+            {
+                return default_value;
+            }
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    /// @brief access specified object element via JSON Pointer with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, class ReturnType = typename value_return_type<ValueType>::type,
+               detail::enable_if_t <
+                   detail::is_getable<basic_json_t, ReturnType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ReturnType value(const json_pointer& ptr, ValueType && default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if pointer resolves a value, return it or use default value
+            JSON_TRY
+            {
+                return ptr.get_checked(this).template get<ReturnType>();
+            }
+            JSON_INTERNAL_CATCH (out_of_range&)
+            {
+                return std::forward<ValueType>(default_value);
+            }
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    template < class ValueType, class BasicJsonType, detail::enable_if_t <
+                   detail::is_basic_json<BasicJsonType>::value
+                   && detail::is_getable<basic_json_t, ValueType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    ValueType value(const ::nlohmann::json_pointer<BasicJsonType>& ptr, const ValueType& default_value) const
+    {
+        return value(ptr.convert(), default_value);
+    }
+
+    template < class ValueType, class BasicJsonType, class ReturnType = typename value_return_type<ValueType>::type,
+               detail::enable_if_t <
+                   detail::is_basic_json<BasicJsonType>::value
+                   && detail::is_getable<basic_json_t, ReturnType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    ReturnType value(const ::nlohmann::json_pointer<BasicJsonType>& ptr, ValueType && default_value) const
+    {
+        return value(ptr.convert(), std::forward<ValueType>(default_value));
+    }
+
+    /// @brief access the first element
+    /// @sa https://json.nlohmann.me/api/basic_json/front/
+    reference front()
+    {
+        return *begin();
+    }
+
+    /// @brief access the first element
+    /// @sa https://json.nlohmann.me/api/basic_json/front/
+    const_reference front() const
+    {
+        return *cbegin();
+    }
+
+    /// @brief access the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/back/
+    reference back()
+    {
+        auto tmp = end();
+        --tmp;
+        return *tmp;
+    }
+
+    /// @brief access the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/back/
+    const_reference back() const
+    {
+        auto tmp = cend();
+        --tmp;
+        return *tmp;
+    }
+
+    /// @brief remove element given an iterator
+    /// @sa https://json.nlohmann.me/api/basic_json/erase/
+    template < class IteratorType, detail::enable_if_t <
+                   std::is_same<IteratorType, typename basic_json_t::iterator>::value ||
+                   std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int > = 0 >
+    IteratorType erase(IteratorType pos)
+    {
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(this != pos.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value", this));
+        }
+
+        IteratorType result = end();
+
+        switch (m_data.m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            case value_t::binary:
+            {
+                if (JSON_HEDLEY_UNLIKELY(!pos.m_it.primitive_iterator.is_begin()))
+                {
+                    JSON_THROW(invalid_iterator::create(205, "iterator out of range", this));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_data.m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_data.m_value.string, 1);
+                    m_data.m_value.string = nullptr;
+                }
+                else if (is_binary())
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_data.m_value.binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_data.m_value.binary, 1);
+                    m_data.m_value.binary = nullptr;
+                }
+
+                m_data.m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_data.m_value.object->erase(pos.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_data.m_value.array->erase(pos.m_it.array_iterator);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::discarded:
+            default:
+                JSON_THROW(type_error::create(307, detail::concat("cannot use erase() with ", type_name()), this));
+        }
+
+        return result;
+    }
+
+    /// @brief remove elements given an iterator range
+    /// @sa https://json.nlohmann.me/api/basic_json/erase/
+    template < class IteratorType, detail::enable_if_t <
+                   std::is_same<IteratorType, typename basic_json_t::iterator>::value ||
+                   std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int > = 0 >
+    IteratorType erase(IteratorType first, IteratorType last)
+    {
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(this != first.m_object || this != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(203, "iterators do not fit current value", this));
+        }
+
+        IteratorType result = end();
+
+        switch (m_data.m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            case value_t::binary:
+            {
+                if (JSON_HEDLEY_LIKELY(!first.m_it.primitive_iterator.is_begin()
+                                       || !last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range", this));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_data.m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_data.m_value.string, 1);
+                    m_data.m_value.string = nullptr;
+                }
+                else if (is_binary())
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_data.m_value.binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_data.m_value.binary, 1);
+                    m_data.m_value.binary = nullptr;
+                }
+
+                m_data.m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_data.m_value.object->erase(first.m_it.object_iterator,
+                                              last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_data.m_value.array->erase(first.m_it.array_iterator,
+                                             last.m_it.array_iterator);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::discarded:
+            default:
+                JSON_THROW(type_error::create(307, detail::concat("cannot use erase() with ", type_name()), this));
+        }
+
+        return result;
+    }
+
+  private:
+    template < typename KeyType, detail::enable_if_t <
+                   detail::has_erase_with_key_type<basic_json_t, KeyType>::value, int > = 0 >
+    size_type erase_internal(KeyType && key)
+    {
+        // this erase only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(307, detail::concat("cannot use erase() with ", type_name()), this));
+        }
+
+        return m_data.m_value.object->erase(std::forward<KeyType>(key));
+    }
+
+    template < typename KeyType, detail::enable_if_t <
+                   !detail::has_erase_with_key_type<basic_json_t, KeyType>::value, int > = 0 >
+    size_type erase_internal(KeyType && key)
+    {
+        // this erase only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(307, detail::concat("cannot use erase() with ", type_name()), this));
+        }
+
+        const auto it = m_data.m_value.object->find(std::forward<KeyType>(key));
+        if (it != m_data.m_value.object->end())
+        {
+            m_data.m_value.object->erase(it);
+            return 1;
+        }
+        return 0;
+    }
+
+  public:
+
+    /// @brief remove element from a JSON object given a key
+    /// @sa https://json.nlohmann.me/api/basic_json/erase/
+    size_type erase(const typename object_t::key_type& key)
+    {
+        // the indirection via erase_internal() is added to avoid making this
+        // function a template and thus de-rank it during overload resolution
+        return erase_internal(key);
+    }
+
+    /// @brief remove element from a JSON object given a key
+    /// @sa https://json.nlohmann.me/api/basic_json/erase/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    size_type erase(KeyType && key)
+    {
+        return erase_internal(std::forward<KeyType>(key));
+    }
+
+    /// @brief remove element from a JSON array given an index
+    /// @sa https://json.nlohmann.me/api/basic_json/erase/
+    void erase(const size_type idx)
+    {
+        // this erase only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            if (JSON_HEDLEY_UNLIKELY(idx >= size()))
+            {
+                JSON_THROW(out_of_range::create(401, detail::concat("array index ", std::to_string(idx), " is out of range"), this));
+            }
+
+            m_data.m_value.array->erase(m_data.m_value.array->begin() + static_cast<difference_type>(idx));
+        }
+        else
+        {
+            JSON_THROW(type_error::create(307, detail::concat("cannot use erase() with ", type_name()), this));
+        }
+    }
+
+    /// @}
+
+
+    ////////////
+    // lookup //
+    ////////////
+
+    /// @name lookup
+    /// @{
+
+    /// @brief find an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/find/
+    iterator find(const typename object_t::key_type& key)
+    {
+        auto result = end();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_data.m_value.object->find(key);
+        }
+
+        return result;
+    }
+
+    /// @brief find an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/find/
+    const_iterator find(const typename object_t::key_type& key) const
+    {
+        auto result = cend();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_data.m_value.object->find(key);
+        }
+
+        return result;
+    }
+
+    /// @brief find an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/find/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    iterator find(KeyType && key)
+    {
+        auto result = end();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_data.m_value.object->find(std::forward<KeyType>(key));
+        }
+
+        return result;
+    }
+
+    /// @brief find an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/find/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    const_iterator find(KeyType && key) const
+    {
+        auto result = cend();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_data.m_value.object->find(std::forward<KeyType>(key));
+        }
+
+        return result;
+    }
+
+    /// @brief returns the number of occurrences of a key in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/count/
+    size_type count(const typename object_t::key_type& key) const
+    {
+        // return 0 for all nonobject types
+        return is_object() ? m_data.m_value.object->count(key) : 0;
+    }
+
+    /// @brief returns the number of occurrences of a key in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/count/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    size_type count(KeyType && key) const
+    {
+        // return 0 for all nonobject types
+        return is_object() ? m_data.m_value.object->count(std::forward<KeyType>(key)) : 0;
+    }
+
+    /// @brief check the existence of an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/contains/
+    bool contains(const typename object_t::key_type& key) const
+    {
+        return is_object() && m_data.m_value.object->find(key) != m_data.m_value.object->end();
+    }
+
+    /// @brief check the existence of an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/contains/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    bool contains(KeyType && key) const
+    {
+        return is_object() && m_data.m_value.object->find(std::forward<KeyType>(key)) != m_data.m_value.object->end();
+    }
+
+    /// @brief check the existence of an element in a JSON object given a JSON pointer
+    /// @sa https://json.nlohmann.me/api/basic_json/contains/
+    bool contains(const json_pointer& ptr) const
+    {
+        return ptr.contains(this);
+    }
+
+    template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    bool contains(const typename ::nlohmann::json_pointer<BasicJsonType>& ptr) const
+    {
+        return ptr.contains(this);
+    }
+
+    /// @}
+
+
+    ///////////////
+    // iterators //
+    ///////////////
+
+    /// @name iterators
+    /// @{
+
+    /// @brief returns an iterator to the first element
+    /// @sa https://json.nlohmann.me/api/basic_json/begin/
+    iterator begin() noexcept
+    {
+        iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /// @brief returns an iterator to the first element
+    /// @sa https://json.nlohmann.me/api/basic_json/begin/
+    const_iterator begin() const noexcept
+    {
+        return cbegin();
+    }
+
+    /// @brief returns a const iterator to the first element
+    /// @sa https://json.nlohmann.me/api/basic_json/cbegin/
+    const_iterator cbegin() const noexcept
+    {
+        const_iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /// @brief returns an iterator to one past the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/end/
+    iterator end() noexcept
+    {
+        iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /// @brief returns an iterator to one past the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/end/
+    const_iterator end() const noexcept
+    {
+        return cend();
+    }
+
+    /// @brief returns an iterator to one past the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/cend/
+    const_iterator cend() const noexcept
+    {
+        const_iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /// @brief returns an iterator to the reverse-beginning
+    /// @sa https://json.nlohmann.me/api/basic_json/rbegin/
+    reverse_iterator rbegin() noexcept
+    {
+        return reverse_iterator(end());
+    }
+
+    /// @brief returns an iterator to the reverse-beginning
+    /// @sa https://json.nlohmann.me/api/basic_json/rbegin/
+    const_reverse_iterator rbegin() const noexcept
+    {
+        return crbegin();
+    }
+
+    /// @brief returns an iterator to the reverse-end
+    /// @sa https://json.nlohmann.me/api/basic_json/rend/
+    reverse_iterator rend() noexcept
+    {
+        return reverse_iterator(begin());
+    }
+
+    /// @brief returns an iterator to the reverse-end
+    /// @sa https://json.nlohmann.me/api/basic_json/rend/
+    const_reverse_iterator rend() const noexcept
+    {
+        return crend();
+    }
+
+    /// @brief returns a const reverse iterator to the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/crbegin/
+    const_reverse_iterator crbegin() const noexcept
+    {
+        return const_reverse_iterator(cend());
+    }
+
+    /// @brief returns a const reverse iterator to one before the first
+    /// @sa https://json.nlohmann.me/api/basic_json/crend/
+    const_reverse_iterator crend() const noexcept
+    {
+        return const_reverse_iterator(cbegin());
+    }
+
+  public:
+    /// @brief wrapper to access iterator member functions in range-based for
+    /// @sa https://json.nlohmann.me/api/basic_json/items/
+    /// @deprecated This function is deprecated since 3.1.0 and will be removed in
+    ///             version 4.0.0 of the library. Please use @ref items() instead;
+    ///             that is, replace `json::iterator_wrapper(j)` with `j.items()`.
+    JSON_HEDLEY_DEPRECATED_FOR(3.1.0, items())
+    static iteration_proxy<iterator> iterator_wrapper(reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /// @brief wrapper to access iterator member functions in range-based for
+    /// @sa https://json.nlohmann.me/api/basic_json/items/
+    /// @deprecated This function is deprecated since 3.1.0 and will be removed in
+    ///         version 4.0.0 of the library. Please use @ref items() instead;
+    ///         that is, replace `json::iterator_wrapper(j)` with `j.items()`.
+    JSON_HEDLEY_DEPRECATED_FOR(3.1.0, items())
+    static iteration_proxy<const_iterator> iterator_wrapper(const_reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /// @brief helper to access iterator member functions in range-based for
+    /// @sa https://json.nlohmann.me/api/basic_json/items/
+    iteration_proxy<iterator> items() noexcept
+    {
+        return iteration_proxy<iterator>(*this);
+    }
+
+    /// @brief helper to access iterator member functions in range-based for
+    /// @sa https://json.nlohmann.me/api/basic_json/items/
+    iteration_proxy<const_iterator> items() const noexcept
+    {
+        return iteration_proxy<const_iterator>(*this);
+    }
+
+    /// @}
+
+
+    //////////////
+    // capacity //
+    //////////////
+
+    /// @name capacity
+    /// @{
+
+    /// @brief checks whether the container is empty.
+    /// @sa https://json.nlohmann.me/api/basic_json/empty/
+    bool empty() const noexcept
+    {
+        switch (m_data.m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return true;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::empty()
+                return m_data.m_value.array->empty();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::empty()
+                return m_data.m_value.object->empty();
+            }
+
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                // all other types are nonempty
+                return false;
+            }
+        }
+    }
+
+    /// @brief returns the number of elements
+    /// @sa https://json.nlohmann.me/api/basic_json/size/
+    size_type size() const noexcept
+    {
+        switch (m_data.m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return 0;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::size()
+                return m_data.m_value.array->size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::size()
+                return m_data.m_value.object->size();
+            }
+
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                // all other types have size 1
+                return 1;
+            }
+        }
+    }
+
+    /// @brief returns the maximum possible number of elements
+    /// @sa https://json.nlohmann.me/api/basic_json/max_size/
+    size_type max_size() const noexcept
+    {
+        switch (m_data.m_type)
+        {
+            case value_t::array:
+            {
+                // delegate call to array_t::max_size()
+                return m_data.m_value.array->max_size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::max_size()
+                return m_data.m_value.object->max_size();
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                // all other types have max_size() == size()
+                return size();
+            }
+        }
+    }
+
+    /// @}
+
+
+    ///////////////
+    // modifiers //
+    ///////////////
+
+    /// @name modifiers
+    /// @{
+
+    /// @brief clears the contents
+    /// @sa https://json.nlohmann.me/api/basic_json/clear/
+    void clear() noexcept
+    {
+        switch (m_data.m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_data.m_value.number_integer = 0;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_data.m_value.number_unsigned = 0;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_data.m_value.number_float = 0.0;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_data.m_value.boolean = false;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_data.m_value.string->clear();
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_data.m_value.binary->clear();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_data.m_value.array->clear();
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_data.m_value.object->clear();
+                break;
+            }
+
+            case value_t::null:
+            case value_t::discarded:
+            default:
+                break;
+        }
+    }
+
+    /// @brief add an object to an array
+    /// @sa https://json.nlohmann.me/api/basic_json/push_back/
+    void push_back(basic_json&& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(308, detail::concat("cannot use push_back() with ", type_name()), this));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_data.m_type = value_t::array;
+            m_data.m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (move semantics)
+        const auto old_capacity = m_data.m_value.array->capacity();
+        m_data.m_value.array->push_back(std::move(val));
+        set_parent(m_data.m_value.array->back(), old_capacity);
+        // if val is moved from, basic_json move constructor marks it null, so we do not call the destructor
+    }
+
+    /// @brief add an object to an array
+    /// @sa https://json.nlohmann.me/api/basic_json/operator+=/
+    reference operator+=(basic_json&& val)
+    {
+        push_back(std::move(val));
+        return *this;
+    }
+
+    /// @brief add an object to an array
+    /// @sa https://json.nlohmann.me/api/basic_json/push_back/
+    void push_back(const basic_json& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(308, detail::concat("cannot use push_back() with ", type_name()), this));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_data.m_type = value_t::array;
+            m_data.m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array
+        const auto old_capacity = m_data.m_value.array->capacity();
+        m_data.m_value.array->push_back(val);
+        set_parent(m_data.m_value.array->back(), old_capacity);
+    }
+
+    /// @brief add an object to an array
+    /// @sa https://json.nlohmann.me/api/basic_json/operator+=/
+    reference operator+=(const basic_json& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /// @brief add an object to an object
+    /// @sa https://json.nlohmann.me/api/basic_json/push_back/
+    void push_back(const typename object_t::value_type& val)
+    {
+        // push_back only works for null objects or objects
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_object())))
+        {
+            JSON_THROW(type_error::create(308, detail::concat("cannot use push_back() with ", type_name()), this));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_data.m_type = value_t::object;
+            m_data.m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to object
+        auto res = m_data.m_value.object->insert(val);
+        set_parent(res.first->second);
+    }
+
+    /// @brief add an object to an object
+    /// @sa https://json.nlohmann.me/api/basic_json/operator+=/
+    reference operator+=(const typename object_t::value_type& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /// @brief add an object to an object
+    /// @sa https://json.nlohmann.me/api/basic_json/push_back/
+    void push_back(initializer_list_t init)
+    {
+        if (is_object() && init.size() == 2 && (*init.begin())->is_string())
+        {
+            basic_json&& key = init.begin()->moved_or_copied();
+            push_back(typename object_t::value_type(
+                          std::move(key.get_ref<string_t&>()), (init.begin() + 1)->moved_or_copied()));
+        }
+        else
+        {
+            push_back(basic_json(init));
+        }
+    }
+
+    /// @brief add an object to an object
+    /// @sa https://json.nlohmann.me/api/basic_json/operator+=/
+    reference operator+=(initializer_list_t init)
+    {
+        push_back(init);
+        return *this;
+    }
+
+    /// @brief add an object to an array
+    /// @sa https://json.nlohmann.me/api/basic_json/emplace_back/
+    template<class... Args>
+    reference emplace_back(Args&& ... args)
+    {
+        // emplace_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(311, detail::concat("cannot use emplace_back() with ", type_name()), this));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_data.m_type = value_t::array;
+            m_data.m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+        const auto old_capacity = m_data.m_value.array->capacity();
+        m_data.m_value.array->emplace_back(std::forward<Args>(args)...);
+        return set_parent(m_data.m_value.array->back(), old_capacity);
+    }
+
+    /// @brief add an object to an object if key does not exist
+    /// @sa https://json.nlohmann.me/api/basic_json/emplace/
+    template<class... Args>
+    std::pair<iterator, bool> emplace(Args&& ... args)
+    {
+        // emplace only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_object())))
+        {
+            JSON_THROW(type_error::create(311, detail::concat("cannot use emplace() with ", type_name()), this));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_data.m_type = value_t::object;
+            m_data.m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+        auto res = m_data.m_value.object->emplace(std::forward<Args>(args)...);
+        set_parent(res.first->second);
+
+        // create result iterator and set iterator to the result of emplace
+        auto it = begin();
+        it.m_it.object_iterator = res.first;
+
+        // return pair of iterator and boolean
+        return {it, res.second};
+    }
+
+    /// Helper for insertion of an iterator
+    /// @note: This uses std::distance to support GCC 4.8,
+    ///        see https://github.com/nlohmann/json/pull/1257
+    template<typename... Args>
+    iterator insert_iterator(const_iterator pos, Args&& ... args)
+    {
+        iterator result(this);
+        JSON_ASSERT(m_data.m_value.array != nullptr);
+
+        auto insert_pos = std::distance(m_data.m_value.array->begin(), pos.m_it.array_iterator);
+        m_data.m_value.array->insert(pos.m_it.array_iterator, std::forward<Args>(args)...);
+        result.m_it.array_iterator = m_data.m_value.array->begin() + insert_pos;
+
+        // This could have been written as:
+        // result.m_it.array_iterator = m_data.m_value.array->insert(pos.m_it.array_iterator, cnt, val);
+        // but the return value of insert is missing in GCC 4.8, so it is written this way instead.
+
+        set_parents();
+        return result;
+    }
+
+    /// @brief inserts element into array
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    iterator insert(const_iterator pos, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value", this));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, val);
+        }
+
+        JSON_THROW(type_error::create(309, detail::concat("cannot use insert() with ", type_name()), this));
+    }
+
+    /// @brief inserts element into array
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    iterator insert(const_iterator pos, basic_json&& val)
+    {
+        return insert(pos, val);
+    }
+
+    /// @brief inserts copies of element into array
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    iterator insert(const_iterator pos, size_type cnt, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value", this));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, cnt, val);
+        }
+
+        JSON_THROW(type_error::create(309, detail::concat("cannot use insert() with ", type_name()), this));
+    }
+
+    /// @brief inserts range of elements into array
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    iterator insert(const_iterator pos, const_iterator first, const_iterator last)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_UNLIKELY(!is_array()))
+        {
+            JSON_THROW(type_error::create(309, detail::concat("cannot use insert() with ", type_name()), this));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value", this));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit", this));
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(first.m_object == this))
+        {
+            JSON_THROW(invalid_iterator::create(211, "passed iterators may not belong to container", this));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, first.m_it.array_iterator, last.m_it.array_iterator);
+    }
+
+    /// @brief inserts elements from initializer list into array
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    iterator insert(const_iterator pos, initializer_list_t ilist)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_UNLIKELY(!is_array()))
+        {
+            JSON_THROW(type_error::create(309, detail::concat("cannot use insert() with ", type_name()), this));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value", this));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, ilist.begin(), ilist.end());
+    }
+
+    /// @brief inserts range of elements into object
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    void insert(const_iterator first, const_iterator last)
+    {
+        // insert only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(309, detail::concat("cannot use insert() with ", type_name()), this));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit", this));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_HEDLEY_UNLIKELY(!first.m_object->is_object()))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterators first and last must point to objects", this));
+        }
+
+        m_data.m_value.object->insert(first.m_it.object_iterator, last.m_it.object_iterator);
+    }
+
+    /// @brief updates a JSON object from another object, overwriting existing keys
+    /// @sa https://json.nlohmann.me/api/basic_json/update/
+    void update(const_reference j, bool merge_objects = false)
+    {
+        update(j.begin(), j.end(), merge_objects);
+    }
+
+    /// @brief updates a JSON object from another object, overwriting existing keys
+    /// @sa https://json.nlohmann.me/api/basic_json/update/
+    void update(const_iterator first, const_iterator last, bool merge_objects = false)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_data.m_type = value_t::object;
+            m_data.m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(312, detail::concat("cannot use update() with ", type_name()), this));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit", this));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_HEDLEY_UNLIKELY(!first.m_object->is_object()))
+        {
+            JSON_THROW(type_error::create(312, detail::concat("cannot use update() with ", first.m_object->type_name()), first.m_object));
+        }
+
+        for (auto it = first; it != last; ++it)
+        {
+            if (merge_objects && it.value().is_object())
+            {
+                auto it2 = m_data.m_value.object->find(it.key());
+                if (it2 != m_data.m_value.object->end())
+                {
+                    it2->second.update(it.value(), true);
+                    continue;
+                }
+            }
+            m_data.m_value.object->operator[](it.key()) = it.value();
+#if JSON_DIAGNOSTICS
+            m_data.m_value.object->operator[](it.key()).m_parent = this;
+#endif
+        }
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(reference other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&&
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        std::swap(m_data.m_type, other.m_data.m_type);
+        std::swap(m_data.m_value, other.m_data.m_value);
+
+        set_parents();
+        other.set_parents();
+        assert_invariant();
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    friend void swap(reference left, reference right) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&&
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        left.swap(right);
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(array_t& other) // NOLINT(bugprone-exception-escape)
+    {
+        // swap only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            using std::swap;
+            swap(*(m_data.m_value.array), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, detail::concat("cannot use swap(array_t&) with ", type_name()), this));
+        }
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(object_t& other) // NOLINT(bugprone-exception-escape)
+    {
+        // swap only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            using std::swap;
+            swap(*(m_data.m_value.object), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, detail::concat("cannot use swap(object_t&) with ", type_name()), this));
+        }
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(string_t& other) // NOLINT(bugprone-exception-escape)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_string()))
+        {
+            using std::swap;
+            swap(*(m_data.m_value.string), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, detail::concat("cannot use swap(string_t&) with ", type_name()), this));
+        }
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(binary_t& other) // NOLINT(bugprone-exception-escape)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_binary()))
+        {
+            using std::swap;
+            swap(*(m_data.m_value.binary), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, detail::concat("cannot use swap(binary_t&) with ", type_name()), this));
+        }
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(typename binary_t::container_type& other) // NOLINT(bugprone-exception-escape)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_binary()))
+        {
+            using std::swap;
+            swap(*(m_data.m_value.binary), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, detail::concat("cannot use swap(binary_t::container_type&) with ", type_name()), this));
+        }
+    }
+
+    /// @}
+
+    //////////////////////////////////////////
+    // lexicographical comparison operators //
+    //////////////////////////////////////////
+
+    /// @name lexicographical comparison operators
+    /// @{
+
+    // note parentheses around operands are necessary; see
+    // https://github.com/nlohmann/json/issues/1530
+#define JSON_IMPLEMENT_OPERATOR(op, null_result, unordered_result, default_result)                       \
+    const auto lhs_type = lhs.type();                                                                    \
+    const auto rhs_type = rhs.type();                                                                    \
+    \
+    if (lhs_type == rhs_type) /* NOLINT(readability/braces) */                                           \
+    {                                                                                                    \
+        switch (lhs_type)                                                                                \
+        {                                                                                                \
+            case value_t::array:                                                                         \
+                return (*lhs.m_data.m_value.array) op (*rhs.m_data.m_value.array);                                     \
+                \
+            case value_t::object:                                                                        \
+                return (*lhs.m_data.m_value.object) op (*rhs.m_data.m_value.object);                                   \
+                \
+            case value_t::null:                                                                          \
+                return (null_result);                                                                    \
+                \
+            case value_t::string:                                                                        \
+                return (*lhs.m_data.m_value.string) op (*rhs.m_data.m_value.string);                                   \
+                \
+            case value_t::boolean:                                                                       \
+                return (lhs.m_data.m_value.boolean) op (rhs.m_data.m_value.boolean);                                   \
+                \
+            case value_t::number_integer:                                                                \
+                return (lhs.m_data.m_value.number_integer) op (rhs.m_data.m_value.number_integer);                     \
+                \
+            case value_t::number_unsigned:                                                               \
+                return (lhs.m_data.m_value.number_unsigned) op (rhs.m_data.m_value.number_unsigned);                   \
+                \
+            case value_t::number_float:                                                                  \
+                return (lhs.m_data.m_value.number_float) op (rhs.m_data.m_value.number_float);                         \
+                \
+            case value_t::binary:                                                                        \
+                return (*lhs.m_data.m_value.binary) op (*rhs.m_data.m_value.binary);                                   \
+                \
+            case value_t::discarded:                                                                     \
+            default:                                                                                     \
+                return (unordered_result);                                                               \
+        }                                                                                                \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_float)                   \
+    {                                                                                                    \
+        return static_cast<number_float_t>(lhs.m_data.m_value.number_integer) op rhs.m_data.m_value.number_float;      \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_float && rhs_type == value_t::number_integer)                   \
+    {                                                                                                    \
+        return lhs.m_data.m_value.number_float op static_cast<number_float_t>(rhs.m_data.m_value.number_integer);      \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_float)                  \
+    {                                                                                                    \
+        return static_cast<number_float_t>(lhs.m_data.m_value.number_unsigned) op rhs.m_data.m_value.number_float;     \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_float && rhs_type == value_t::number_unsigned)                  \
+    {                                                                                                    \
+        return lhs.m_data.m_value.number_float op static_cast<number_float_t>(rhs.m_data.m_value.number_unsigned);     \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_integer)                \
+    {                                                                                                    \
+        return static_cast<number_integer_t>(lhs.m_data.m_value.number_unsigned) op rhs.m_data.m_value.number_integer; \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_unsigned)                \
+    {                                                                                                    \
+        return lhs.m_data.m_value.number_integer op static_cast<number_integer_t>(rhs.m_data.m_value.number_unsigned); \
+    }                                                                                                    \
+    else if(compares_unordered(lhs, rhs))\
+    {\
+        return (unordered_result);\
+    }\
+    \
+    return (default_result);
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    // returns true if:
+    // - any operand is NaN and the other operand is of number type
+    // - any operand is discarded
+    // in legacy mode, discarded values are considered ordered if
+    // an operation is computed as an odd number of inverses of others
+    static bool compares_unordered(const_reference lhs, const_reference rhs, bool inverse = false) noexcept
+    {
+        if ((lhs.is_number_float() && std::isnan(lhs.m_data.m_value.number_float) && rhs.is_number())
+                || (rhs.is_number_float() && std::isnan(rhs.m_data.m_value.number_float) && lhs.is_number()))
+        {
+            return true;
+        }
+#if JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+        return (lhs.is_discarded() || rhs.is_discarded()) && !inverse;
+#else
+        static_cast<void>(inverse);
+        return lhs.is_discarded() || rhs.is_discarded();
+#endif
+    }
+
+  private:
+    bool compares_unordered(const_reference rhs, bool inverse = false) const noexcept
+    {
+        return compares_unordered(*this, rhs, inverse);
+    }
+
+  public:
+#if JSON_HAS_THREE_WAY_COMPARISON
+    /// @brief comparison: equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_eq/
+    bool operator==(const_reference rhs) const noexcept
+    {
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+        const_reference lhs = *this;
+        JSON_IMPLEMENT_OPERATOR( ==, true, false, false)
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+    }
+
+    /// @brief comparison: equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_eq/
+    template<typename ScalarType>
+    requires std::is_scalar_v<ScalarType>
+    bool operator==(ScalarType rhs) const noexcept
+    {
+        return *this == basic_json(rhs);
+    }
+
+    /// @brief comparison: not equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ne/
+    bool operator!=(const_reference rhs) const noexcept
+    {
+        if (compares_unordered(rhs, true))
+        {
+            return false;
+        }
+        return !operator==(rhs);
+    }
+
+    /// @brief comparison: 3-way
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_spaceship/
+    std::partial_ordering operator<=>(const_reference rhs) const noexcept // *NOPAD*
+    {
+        const_reference lhs = *this;
+        // default_result is used if we cannot compare values. In that case,
+        // we compare types.
+        JSON_IMPLEMENT_OPERATOR(<=>, // *NOPAD*
+                                std::partial_ordering::equivalent,
+                                std::partial_ordering::unordered,
+                                lhs_type <=> rhs_type) // *NOPAD*
+    }
+
+    /// @brief comparison: 3-way
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_spaceship/
+    template<typename ScalarType>
+    requires std::is_scalar_v<ScalarType>
+    std::partial_ordering operator<=>(ScalarType rhs) const noexcept // *NOPAD*
+    {
+        return *this <=> basic_json(rhs); // *NOPAD*
+    }
+
+#if JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+    // all operators that are computed as an odd number of inverses of others
+    // need to be overloaded to emulate the legacy comparison behavior
+
+    /// @brief comparison: less than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_le/
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, undef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON)
+    bool operator<=(const_reference rhs) const noexcept
+    {
+        if (compares_unordered(rhs, true))
+        {
+            return false;
+        }
+        return !(rhs < *this);
+    }
+
+    /// @brief comparison: less than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_le/
+    template<typename ScalarType>
+    requires std::is_scalar_v<ScalarType>
+    bool operator<=(ScalarType rhs) const noexcept
+    {
+        return *this <= basic_json(rhs);
+    }
+
+    /// @brief comparison: greater than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ge/
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, undef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON)
+    bool operator>=(const_reference rhs) const noexcept
+    {
+        if (compares_unordered(rhs, true))
+        {
+            return false;
+        }
+        return !(*this < rhs);
+    }
+
+    /// @brief comparison: greater than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ge/
+    template<typename ScalarType>
+    requires std::is_scalar_v<ScalarType>
+    bool operator>=(ScalarType rhs) const noexcept
+    {
+        return *this >= basic_json(rhs);
+    }
+#endif
+#else
+    /// @brief comparison: equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_eq/
+    friend bool operator==(const_reference lhs, const_reference rhs) noexcept
+    {
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+        JSON_IMPLEMENT_OPERATOR( ==, true, false, false)
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+    }
+
+    /// @brief comparison: equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_eq/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs == basic_json(rhs);
+    }
+
+    /// @brief comparison: equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_eq/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) == rhs;
+    }
+
+    /// @brief comparison: not equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ne/
+    friend bool operator!=(const_reference lhs, const_reference rhs) noexcept
+    {
+        if (compares_unordered(lhs, rhs, true))
+        {
+            return false;
+        }
+        return !(lhs == rhs);
+    }
+
+    /// @brief comparison: not equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ne/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs != basic_json(rhs);
+    }
+
+    /// @brief comparison: not equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ne/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) != rhs;
+    }
+
+    /// @brief comparison: less than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_lt/
+    friend bool operator<(const_reference lhs, const_reference rhs) noexcept
+    {
+        // default_result is used if we cannot compare values. In that case,
+        // we compare types. Note we have to call the operator explicitly,
+        // because MSVC has problems otherwise.
+        JSON_IMPLEMENT_OPERATOR( <, false, false, operator<(lhs_type, rhs_type))
+    }
+
+    /// @brief comparison: less than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_lt/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs < basic_json(rhs);
+    }
+
+    /// @brief comparison: less than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_lt/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) < rhs;
+    }
+
+    /// @brief comparison: less than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_le/
+    friend bool operator<=(const_reference lhs, const_reference rhs) noexcept
+    {
+        if (compares_unordered(lhs, rhs, true))
+        {
+            return false;
+        }
+        return !(rhs < lhs);
+    }
+
+    /// @brief comparison: less than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_le/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs <= basic_json(rhs);
+    }
+
+    /// @brief comparison: less than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_le/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) <= rhs;
+    }
+
+    /// @brief comparison: greater than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_gt/
+    friend bool operator>(const_reference lhs, const_reference rhs) noexcept
+    {
+        // double inverse
+        if (compares_unordered(lhs, rhs))
+        {
+            return false;
+        }
+        return !(lhs <= rhs);
+    }
+
+    /// @brief comparison: greater than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_gt/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs > basic_json(rhs);
+    }
+
+    /// @brief comparison: greater than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_gt/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) > rhs;
+    }
+
+    /// @brief comparison: greater than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ge/
+    friend bool operator>=(const_reference lhs, const_reference rhs) noexcept
+    {
+        if (compares_unordered(lhs, rhs, true))
+        {
+            return false;
+        }
+        return !(lhs < rhs);
+    }
+
+    /// @brief comparison: greater than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ge/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs >= basic_json(rhs);
+    }
+
+    /// @brief comparison: greater than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ge/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) >= rhs;
+    }
+#endif
+
+#undef JSON_IMPLEMENT_OPERATOR
+
+    /// @}
+
+    ///////////////////
+    // serialization //
+    ///////////////////
+
+    /// @name serialization
+    /// @{
+#ifndef JSON_NO_IO
+    /// @brief serialize to stream
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ltlt/
+    friend std::ostream& operator<<(std::ostream& o, const basic_json& j)
+    {
+        // read width member and use it as indentation parameter if nonzero
+        const bool pretty_print = o.width() > 0;
+        const auto indentation = pretty_print ? o.width() : 0;
+
+        // reset width to 0 for subsequent calls to this stream
+        o.width(0);
+
+        // do the actual serialization
+        serializer s(detail::output_adapter<char>(o), o.fill());
+        s.dump(j, pretty_print, false, static_cast<unsigned int>(indentation));
+        return o;
+    }
+
+    /// @brief serialize to stream
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ltlt/
+    /// @deprecated This function is deprecated since 3.0.0 and will be removed in
+    ///             version 4.0.0 of the library. Please use
+    ///             operator<<(std::ostream&, const basic_json&) instead; that is,
+    ///             replace calls like `j >> o;` with `o << j;`.
+    JSON_HEDLEY_DEPRECATED_FOR(3.0.0, operator<<(std::ostream&, const basic_json&))
+    friend std::ostream& operator>>(const basic_json& j, std::ostream& o)
+    {
+        return o << j;
+    }
+#endif  // JSON_NO_IO
+    /// @}
+
+
+    /////////////////////
+    // deserialization //
+    /////////////////////
+
+    /// @name deserialization
+    /// @{
+
+    /// @brief deserialize from a compatible input
+    /// @sa https://json.nlohmann.me/api/basic_json/parse/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json parse(InputType&& i,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(detail::input_adapter(std::forward<InputType>(i)), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    /// @brief deserialize from a pair of character iterators
+    /// @sa https://json.nlohmann.me/api/basic_json/parse/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json parse(IteratorType first,
+                            IteratorType last,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(detail::input_adapter(std::move(first), std::move(last)), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, parse(ptr, ptr + len))
+    static basic_json parse(detail::span_input_adapter&& i,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(i.get(), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    /// @brief check if the input is valid JSON
+    /// @sa https://json.nlohmann.me/api/basic_json/accept/
+    template<typename InputType>
+    static bool accept(InputType&& i,
+                       const bool ignore_comments = false)
+    {
+        return parser(detail::input_adapter(std::forward<InputType>(i)), nullptr, false, ignore_comments).accept(true);
+    }
+
+    /// @brief check if the input is valid JSON
+    /// @sa https://json.nlohmann.me/api/basic_json/accept/
+    template<typename IteratorType>
+    static bool accept(IteratorType first, IteratorType last,
+                       const bool ignore_comments = false)
+    {
+        return parser(detail::input_adapter(std::move(first), std::move(last)), nullptr, false, ignore_comments).accept(true);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, accept(ptr, ptr + len))
+    static bool accept(detail::span_input_adapter&& i,
+                       const bool ignore_comments = false)
+    {
+        return parser(i.get(), nullptr, false, ignore_comments).accept(true);
+    }
+
+    /// @brief generate SAX events
+    /// @sa https://json.nlohmann.me/api/basic_json/sax_parse/
+    template <typename InputType, typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    static bool sax_parse(InputType&& i, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        return format == input_format_t::json
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia), format).sax_parse(format, sax, strict);
+    }
+
+    /// @brief generate SAX events
+    /// @sa https://json.nlohmann.me/api/basic_json/sax_parse/
+    template<class IteratorType, class SAX>
+    JSON_HEDLEY_NON_NULL(3)
+    static bool sax_parse(IteratorType first, IteratorType last, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        return format == input_format_t::json
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia), format).sax_parse(format, sax, strict);
+    }
+
+    /// @brief generate SAX events
+    /// @sa https://json.nlohmann.me/api/basic_json/sax_parse/
+    /// @deprecated This function is deprecated since 3.8.0 and will be removed in
+    ///             version 4.0.0 of the library. Please use
+    ///             sax_parse(ptr, ptr + len) instead.
+    template <typename SAX>
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, sax_parse(ptr, ptr + len, ...))
+    JSON_HEDLEY_NON_NULL(2)
+    static bool sax_parse(detail::span_input_adapter&& i, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = i.get();
+        return format == input_format_t::json
+               // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia), format).sax_parse(format, sax, strict);
+    }
+#ifndef JSON_NO_IO
+    /// @brief deserialize from stream
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_gtgt/
+    /// @deprecated This stream operator is deprecated since 3.0.0 and will be removed in
+    ///             version 4.0.0 of the library. Please use
+    ///             operator>>(std::istream&, basic_json&) instead; that is,
+    ///             replace calls like `j << i;` with `i >> j;`.
+    JSON_HEDLEY_DEPRECATED_FOR(3.0.0, operator>>(std::istream&, basic_json&))
+    friend std::istream& operator<<(basic_json& j, std::istream& i)
+    {
+        return operator>>(i, j);
+    }
+
+    /// @brief deserialize from stream
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_gtgt/
+    friend std::istream& operator>>(std::istream& i, basic_json& j)
+    {
+        parser(detail::input_adapter(i)).parse(false, j);
+        return i;
+    }
+#endif  // JSON_NO_IO
+    /// @}
+
+    ///////////////////////////
+    // convenience functions //
+    ///////////////////////////
+
+    /// @brief return the type as string
+    /// @sa https://json.nlohmann.me/api/basic_json/type_name/
+    JSON_HEDLEY_RETURNS_NON_NULL
+    const char* type_name() const noexcept
+    {
+        switch (m_data.m_type)
+        {
+            case value_t::null:
+                return "null";
+            case value_t::object:
+                return "object";
+            case value_t::array:
+                return "array";
+            case value_t::string:
+                return "string";
+            case value_t::boolean:
+                return "boolean";
+            case value_t::binary:
+                return "binary";
+            case value_t::discarded:
+                return "discarded";
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            default:
+                return "number";
+        }
+    }
+
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    //////////////////////
+    // member variables //
+    //////////////////////
+
+    struct data
+    {
+        /// the type of the current element
+        value_t m_type = value_t::null;
+
+        /// the value of the current element
+        json_value m_value = {};
+
+        data(const value_t v)
+            : m_type(v), m_value(v)
+        {
+        }
+
+        data(size_type cnt, const basic_json& val)
+            : m_type(value_t::array)
+        {
+            m_value.array = create<array_t>(cnt, val);
+        }
+
+        data() noexcept = default;
+        data(data&&) noexcept = default;
+        data(const data&) noexcept = delete;
+        data& operator=(data&&) noexcept = delete;
+        data& operator=(const data&) noexcept = delete;
+
+        ~data() noexcept
+        {
+            m_value.destroy(m_type);
+        }
+    };
+
+    data m_data = {};
+
+#if JSON_DIAGNOSTICS
+    /// a pointer to a parent value (for debugging purposes)
+    basic_json* m_parent = nullptr;
+#endif
+
+    //////////////////////////////////////////
+    // binary serialization/deserialization //
+    //////////////////////////////////////////
+
+    /// @name binary serialization/deserialization support
+    /// @{
+
+  public:
+    /// @brief create a CBOR serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_cbor/
+    static std::vector<std::uint8_t> to_cbor(const basic_json& j)
+    {
+        std::vector<std::uint8_t> result;
+        to_cbor(j, result);
+        return result;
+    }
+
+    /// @brief create a CBOR serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_cbor/
+    static void to_cbor(const basic_json& j, detail::output_adapter<std::uint8_t> o)
+    {
+        binary_writer<std::uint8_t>(o).write_cbor(j);
+    }
+
+    /// @brief create a CBOR serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_cbor/
+    static void to_cbor(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_cbor(j);
+    }
+
+    /// @brief create a MessagePack serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_msgpack/
+    static std::vector<std::uint8_t> to_msgpack(const basic_json& j)
+    {
+        std::vector<std::uint8_t> result;
+        to_msgpack(j, result);
+        return result;
+    }
+
+    /// @brief create a MessagePack serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_msgpack/
+    static void to_msgpack(const basic_json& j, detail::output_adapter<std::uint8_t> o)
+    {
+        binary_writer<std::uint8_t>(o).write_msgpack(j);
+    }
+
+    /// @brief create a MessagePack serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_msgpack/
+    static void to_msgpack(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_msgpack(j);
+    }
+
+    /// @brief create a UBJSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_ubjson/
+    static std::vector<std::uint8_t> to_ubjson(const basic_json& j,
+            const bool use_size = false,
+            const bool use_type = false)
+    {
+        std::vector<std::uint8_t> result;
+        to_ubjson(j, result, use_size, use_type);
+        return result;
+    }
+
+    /// @brief create a UBJSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_ubjson/
+    static void to_ubjson(const basic_json& j, detail::output_adapter<std::uint8_t> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<std::uint8_t>(o).write_ubjson(j, use_size, use_type);
+    }
+
+    /// @brief create a UBJSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_ubjson/
+    static void to_ubjson(const basic_json& j, detail::output_adapter<char> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<char>(o).write_ubjson(j, use_size, use_type);
+    }
+
+    /// @brief create a BJData serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bjdata/
+    static std::vector<std::uint8_t> to_bjdata(const basic_json& j,
+            const bool use_size = false,
+            const bool use_type = false)
+    {
+        std::vector<std::uint8_t> result;
+        to_bjdata(j, result, use_size, use_type);
+        return result;
+    }
+
+    /// @brief create a BJData serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bjdata/
+    static void to_bjdata(const basic_json& j, detail::output_adapter<std::uint8_t> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<std::uint8_t>(o).write_ubjson(j, use_size, use_type, true, true);
+    }
+
+    /// @brief create a BJData serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bjdata/
+    static void to_bjdata(const basic_json& j, detail::output_adapter<char> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<char>(o).write_ubjson(j, use_size, use_type, true, true);
+    }
+
+    /// @brief create a BSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bson/
+    static std::vector<std::uint8_t> to_bson(const basic_json& j)
+    {
+        std::vector<std::uint8_t> result;
+        to_bson(j, result);
+        return result;
+    }
+
+    /// @brief create a BSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bson/
+    static void to_bson(const basic_json& j, detail::output_adapter<std::uint8_t> o)
+    {
+        binary_writer<std::uint8_t>(o).write_bson(j);
+    }
+
+    /// @brief create a BSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bson/
+    static void to_bson(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_bson(j);
+    }
+
+    /// @brief create a JSON value from an input in CBOR format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_cbor/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_cbor(InputType&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::cbor).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in CBOR format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_cbor/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_cbor(IteratorType first, IteratorType last,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::cbor).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_cbor(ptr, ptr + len))
+    static basic_json from_cbor(const T* ptr, std::size_t len,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        return from_cbor(ptr, ptr + len, strict, allow_exceptions, tag_handler);
+    }
+
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_cbor(ptr, ptr + len))
+    static basic_json from_cbor(detail::span_input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::cbor).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in MessagePack format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_msgpack/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_msgpack(InputType&& i,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::msgpack).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in MessagePack format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_msgpack/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_msgpack(IteratorType first, IteratorType last,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::msgpack).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_msgpack(ptr, ptr + len))
+    static basic_json from_msgpack(const T* ptr, std::size_t len,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        return from_msgpack(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_msgpack(ptr, ptr + len))
+    static basic_json from_msgpack(detail::span_input_adapter&& i,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::msgpack).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in UBJSON format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_ubjson/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_ubjson(InputType&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::ubjson).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in UBJSON format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_ubjson/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_ubjson(IteratorType first, IteratorType last,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::ubjson).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_ubjson(ptr, ptr + len))
+    static basic_json from_ubjson(const T* ptr, std::size_t len,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        return from_ubjson(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_ubjson(ptr, ptr + len))
+    static basic_json from_ubjson(detail::span_input_adapter&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::ubjson).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+
+    /// @brief create a JSON value from an input in BJData format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_bjdata/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bjdata(InputType&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::bjdata).sax_parse(input_format_t::bjdata, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in BJData format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_bjdata/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bjdata(IteratorType first, IteratorType last,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::bjdata).sax_parse(input_format_t::bjdata, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in BSON format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_bson/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bson(InputType&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::bson).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in BSON format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_bson/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bson(IteratorType first, IteratorType last,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::bson).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_bson(ptr, ptr + len))
+    static basic_json from_bson(const T* ptr, std::size_t len,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        return from_bson(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_bson(ptr, ptr + len))
+    static basic_json from_bson(detail::span_input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::bson).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+    /// @}
+
+    //////////////////////////
+    // JSON Pointer support //
+    //////////////////////////
+
+    /// @name JSON Pointer functions
+    /// @{
+
+    /// @brief access specified element via JSON Pointer
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    reference operator[](const json_pointer& ptr)
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    reference operator[](const ::nlohmann::json_pointer<BasicJsonType>& ptr)
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /// @brief access specified element via JSON Pointer
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    const_reference operator[](const json_pointer& ptr) const
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    const_reference operator[](const ::nlohmann::json_pointer<BasicJsonType>& ptr) const
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /// @brief access specified element via JSON Pointer
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    reference at(const json_pointer& ptr)
+    {
+        return ptr.get_checked(this);
+    }
+
+    template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    reference at(const ::nlohmann::json_pointer<BasicJsonType>& ptr)
+    {
+        return ptr.get_checked(this);
+    }
+
+    /// @brief access specified element via JSON Pointer
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    const_reference at(const json_pointer& ptr) const
+    {
+        return ptr.get_checked(this);
+    }
+
+    template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    const_reference at(const ::nlohmann::json_pointer<BasicJsonType>& ptr) const
+    {
+        return ptr.get_checked(this);
+    }
+
+    /// @brief return flattened JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/flatten/
+    basic_json flatten() const
+    {
+        basic_json result(value_t::object);
+        json_pointer::flatten("", *this, result);
+        return result;
+    }
+
+    /// @brief unflatten a previously flattened JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/unflatten/
+    basic_json unflatten() const
+    {
+        return json_pointer::unflatten(*this);
+    }
+
+    /// @}
+
+    //////////////////////////
+    // JSON Patch functions //
+    //////////////////////////
+
+    /// @name JSON Patch functions
+    /// @{
+
+    /// @brief applies a JSON patch in-place without copying the object
+    /// @sa https://json.nlohmann.me/api/basic_json/patch/
+    void patch_inplace(const basic_json& json_patch)
+    {
+        basic_json& result = *this;
+        // the valid JSON Patch operations
+        enum class patch_operations {add, remove, replace, move, copy, test, invalid};
+
+        const auto get_op = [](const std::string & op)
+        {
+            if (op == "add")
+            {
+                return patch_operations::add;
+            }
+            if (op == "remove")
+            {
+                return patch_operations::remove;
+            }
+            if (op == "replace")
+            {
+                return patch_operations::replace;
+            }
+            if (op == "move")
+            {
+                return patch_operations::move;
+            }
+            if (op == "copy")
+            {
+                return patch_operations::copy;
+            }
+            if (op == "test")
+            {
+                return patch_operations::test;
+            }
+
+            return patch_operations::invalid;
+        };
+
+        // wrapper for "add" operation; add value at ptr
+        const auto operation_add = [&result](json_pointer & ptr, basic_json val)
+        {
+            // adding to the root of the target document means replacing it
+            if (ptr.empty())
+            {
+                result = val;
+                return;
+            }
+
+            // make sure the top element of the pointer exists
+            json_pointer const top_pointer = ptr.top();
+            if (top_pointer != ptr)
+            {
+                result.at(top_pointer);
+            }
+
+            // get reference to parent of JSON pointer ptr
+            const auto last_path = ptr.back();
+            ptr.pop_back();
+            // parent must exist when performing patch add per RFC6902 specs
+            basic_json& parent = result.at(ptr);
+
+            switch (parent.m_data.m_type)
+            {
+                case value_t::null:
+                case value_t::object:
+                {
+                    // use operator[] to add value
+                    parent[last_path] = val;
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    if (last_path == "-")
+                    {
+                        // special case: append to back
+                        parent.push_back(val);
+                    }
+                    else
+                    {
+                        const auto idx = json_pointer::template array_index<basic_json_t>(last_path);
+                        if (JSON_HEDLEY_UNLIKELY(idx > parent.size()))
+                        {
+                            // avoid undefined behavior
+                            JSON_THROW(out_of_range::create(401, detail::concat("array index ", std::to_string(idx), " is out of range"), &parent));
+                        }
+
+                        // default case: insert add offset
+                        parent.insert(parent.begin() + static_cast<difference_type>(idx), val);
+                    }
+                    break;
+                }
+
+                // if there exists a parent it cannot be primitive
+                case value_t::string: // LCOV_EXCL_LINE
+                case value_t::boolean: // LCOV_EXCL_LINE
+                case value_t::number_integer: // LCOV_EXCL_LINE
+                case value_t::number_unsigned: // LCOV_EXCL_LINE
+                case value_t::number_float: // LCOV_EXCL_LINE
+                case value_t::binary: // LCOV_EXCL_LINE
+                case value_t::discarded: // LCOV_EXCL_LINE
+                default:            // LCOV_EXCL_LINE
+                    JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+            }
+        };
+
+        // wrapper for "remove" operation; remove value at ptr
+        const auto operation_remove = [this, &result](json_pointer & ptr)
+        {
+            // get reference to parent of JSON pointer ptr
+            const auto last_path = ptr.back();
+            ptr.pop_back();
+            basic_json& parent = result.at(ptr);
+
+            // remove child
+            if (parent.is_object())
+            {
+                // perform range check
+                auto it = parent.find(last_path);
+                if (JSON_HEDLEY_LIKELY(it != parent.end()))
+                {
+                    parent.erase(it);
+                }
+                else
+                {
+                    JSON_THROW(out_of_range::create(403, detail::concat("key '", last_path, "' not found"), this));
+                }
+            }
+            else if (parent.is_array())
+            {
+                // note erase performs range check
+                parent.erase(json_pointer::template array_index<basic_json_t>(last_path));
+            }
+        };
+
+        // type check: top level value must be an array
+        if (JSON_HEDLEY_UNLIKELY(!json_patch.is_array()))
+        {
+            JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects", &json_patch));
+        }
+
+        // iterate and apply the operations
+        for (const auto& val : json_patch)
+        {
+            // wrapper to get a value for an operation
+            const auto get_value = [&val](const std::string & op,
+                                          const std::string & member,
+                                          bool string_type) -> basic_json &
+            {
+                // find value
+                auto it = val.m_data.m_value.object->find(member);
+
+                // context-sensitive error message
+                const auto error_msg = (op == "op") ? "operation" : detail::concat("operation '", op, '\'');
+
+                // check if desired value is present
+                if (JSON_HEDLEY_UNLIKELY(it == val.m_data.m_value.object->end()))
+                {
+                    // NOLINTNEXTLINE(performance-inefficient-string-concatenation)
+                    JSON_THROW(parse_error::create(105, 0, detail::concat(error_msg, " must have member '", member, "'"), &val));
+                }
+
+                // check if result is of type string
+                if (JSON_HEDLEY_UNLIKELY(string_type && !it->second.is_string()))
+                {
+                    // NOLINTNEXTLINE(performance-inefficient-string-concatenation)
+                    JSON_THROW(parse_error::create(105, 0, detail::concat(error_msg, " must have string member '", member, "'"), &val));
+                }
+
+                // no error: return value
+                return it->second;
+            };
+
+            // type check: every element of the array must be an object
+            if (JSON_HEDLEY_UNLIKELY(!val.is_object()))
+            {
+                JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects", &val));
+            }
+
+            // collect mandatory members
+            const auto op = get_value("op", "op", true).template get<std::string>();
+            const auto path = get_value(op, "path", true).template get<std::string>();
+            json_pointer ptr(path);
+
+            switch (get_op(op))
+            {
+                case patch_operations::add:
+                {
+                    operation_add(ptr, get_value("add", "value", false));
+                    break;
+                }
+
+                case patch_operations::remove:
+                {
+                    operation_remove(ptr);
+                    break;
+                }
+
+                case patch_operations::replace:
+                {
+                    // the "path" location must exist - use at()
+                    result.at(ptr) = get_value("replace", "value", false);
+                    break;
+                }
+
+                case patch_operations::move:
+                {
+                    const auto from_path = get_value("move", "from", true).template get<std::string>();
+                    json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json const v = result.at(from_ptr);
+
+                    // The move operation is functionally identical to a
+                    // "remove" operation on the "from" location, followed
+                    // immediately by an "add" operation at the target
+                    // location with the value that was just removed.
+                    operation_remove(from_ptr);
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::copy:
+                {
+                    const auto from_path = get_value("copy", "from", true).template get<std::string>();
+                    const json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json const v = result.at(from_ptr);
+
+                    // The copy is functionally identical to an "add"
+                    // operation at the target location using the value
+                    // specified in the "from" member.
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::test:
+                {
+                    bool success = false;
+                    JSON_TRY
+                    {
+                        // check if "value" matches the one at "path"
+                        // the "path" location must exist - use at()
+                        success = (result.at(ptr) == get_value("test", "value", false));
+                    }
+                    JSON_INTERNAL_CATCH (out_of_range&)
+                    {
+                        // ignore out of range errors: success remains false
+                    }
+
+                    // throw an exception if test fails
+                    if (JSON_HEDLEY_UNLIKELY(!success))
+                    {
+                        JSON_THROW(other_error::create(501, detail::concat("unsuccessful: ", val.dump()), &val));
+                    }
+
+                    break;
+                }
+
+                case patch_operations::invalid:
+                default:
+                {
+                    // op must be "add", "remove", "replace", "move", "copy", or
+                    // "test"
+                    JSON_THROW(parse_error::create(105, 0, detail::concat("operation value '", op, "' is invalid"), &val));
+                }
+            }
+        }
+    }
+
+    /// @brief applies a JSON patch to a copy of the current object
+    /// @sa https://json.nlohmann.me/api/basic_json/patch/
+    basic_json patch(const basic_json& json_patch) const
+    {
+        basic_json result = *this;
+        result.patch_inplace(json_patch);
+        return result;
+    }
+
+    /// @brief creates a diff as a JSON patch
+    /// @sa https://json.nlohmann.me/api/basic_json/diff/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json diff(const basic_json& source, const basic_json& target,
+                           const std::string& path = "")
+    {
+        // the patch
+        basic_json result(value_t::array);
+
+        // if the values are the same, return empty patch
+        if (source == target)
+        {
+            return result;
+        }
+
+        if (source.type() != target.type())
+        {
+            // different types: replace value
+            result.push_back(
+            {
+                {"op", "replace"}, {"path", path}, {"value", target}
+            });
+            return result;
+        }
+
+        switch (source.type())
+        {
+            case value_t::array:
+            {
+                // first pass: traverse common elements
+                std::size_t i = 0;
+                while (i < source.size() && i < target.size())
+                {
+                    // recursive call to compare array values at index i
+                    auto temp_diff = diff(source[i], target[i], detail::concat(path, '/', std::to_string(i)));
+                    result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                    ++i;
+                }
+
+                // We now reached the end of at least one array
+                // in a second pass, traverse the remaining elements
+
+                // remove my remaining elements
+                const auto end_index = static_cast<difference_type>(result.size());
+                while (i < source.size())
+                {
+                    // add operations in reverse order to avoid invalid
+                    // indices
+                    result.insert(result.begin() + end_index, object(
+                    {
+                        {"op", "remove"},
+                        {"path", detail::concat(path, '/', std::to_string(i))}
+                    }));
+                    ++i;
+                }
+
+                // add other remaining elements
+                while (i < target.size())
+                {
+                    result.push_back(
+                    {
+                        {"op", "add"},
+                        {"path", detail::concat(path, "/-")},
+                        {"value", target[i]}
+                    });
+                    ++i;
+                }
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // first pass: traverse this object's elements
+                for (auto it = source.cbegin(); it != source.cend(); ++it)
+                {
+                    // escape the key name to be used in a JSON patch
+                    const auto path_key = detail::concat(path, '/', detail::escape(it.key()));
+
+                    if (target.find(it.key()) != target.end())
+                    {
+                        // recursive call to compare object values at key it
+                        auto temp_diff = diff(it.value(), target[it.key()], path_key);
+                        result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                    }
+                    else
+                    {
+                        // found a key that is not in o -> remove it
+                        result.push_back(object(
+                        {
+                            {"op", "remove"}, {"path", path_key}
+                        }));
+                    }
+                }
+
+                // second pass: traverse other object's elements
+                for (auto it = target.cbegin(); it != target.cend(); ++it)
+                {
+                    if (source.find(it.key()) == source.end())
+                    {
+                        // found a key that is not in this -> add it
+                        const auto path_key = detail::concat(path, '/', detail::escape(it.key()));
+                        result.push_back(
+                        {
+                            {"op", "add"}, {"path", path_key},
+                            {"value", it.value()}
+                        });
+                    }
+                }
+
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                // both primitive type: replace value
+                result.push_back(
+                {
+                    {"op", "replace"}, {"path", path}, {"value", target}
+                });
+                break;
+            }
+        }
+
+        return result;
+    }
+    /// @}
+
+    ////////////////////////////////
+    // JSON Merge Patch functions //
+    ////////////////////////////////
+
+    /// @name JSON Merge Patch functions
+    /// @{
+
+    /// @brief applies a JSON Merge Patch
+    /// @sa https://json.nlohmann.me/api/basic_json/merge_patch/
+    void merge_patch(const basic_json& apply_patch)
+    {
+        if (apply_patch.is_object())
+        {
+            if (!is_object())
+            {
+                *this = object();
+            }
+            for (auto it = apply_patch.begin(); it != apply_patch.end(); ++it)
+            {
+                if (it.value().is_null())
+                {
+                    erase(it.key());
+                }
+                else
+                {
+                    operator[](it.key()).merge_patch(it.value());
+                }
+            }
+        }
+        else
+        {
+            *this = apply_patch;
+        }
+    }
+
+    /// @}
+};
+
+/// @brief user-defined to_string function for JSON values
+/// @sa https://json.nlohmann.me/api/basic_json/to_string/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+std::string to_string(const NLOHMANN_BASIC_JSON_TPL& j)
+{
+    return j.dump();
+}
+
+inline namespace literals
+{
+inline namespace json_literals
+{
+
+/// @brief user-defined string literal for JSON values
+/// @sa https://json.nlohmann.me/api/basic_json/operator_literal_json/
+JSON_HEDLEY_NON_NULL(1)
+inline nlohmann::json operator "" _json(const char* s, std::size_t n)
+{
+    return nlohmann::json::parse(s, s + n);
+}
+
+/// @brief user-defined string literal for JSON pointer
+/// @sa https://json.nlohmann.me/api/basic_json/operator_literal_json_pointer/
+JSON_HEDLEY_NON_NULL(1)
+inline nlohmann::json::json_pointer operator "" _json_pointer(const char* s, std::size_t n)
+{
+    return nlohmann::json::json_pointer(std::string(s, n));
+}
+
+}  // namespace json_literals
+}  // namespace literals
+NLOHMANN_JSON_NAMESPACE_END
+
+///////////////////////
+// nonmember support //
+///////////////////////
+
+namespace std // NOLINT(cert-dcl58-cpp)
+{
+
+/// @brief hash value for JSON objects
+/// @sa https://json.nlohmann.me/api/basic_json/std_hash/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+struct hash<nlohmann::NLOHMANN_BASIC_JSON_TPL> // NOLINT(cert-dcl58-cpp)
+{
+    std::size_t operator()(const nlohmann::NLOHMANN_BASIC_JSON_TPL& j) const
+    {
+        return nlohmann::detail::hash(j);
+    }
+};
+
+// specialization for std::less<value_t>
+template<>
+struct less< ::nlohmann::detail::value_t> // do not remove the space after '<', see https://github.com/nlohmann/json/pull/679
+{
+    /*!
+    @brief compare two value_t enum values
+    @since version 3.0.0
+    */
+    bool operator()(::nlohmann::detail::value_t lhs,
+                    ::nlohmann::detail::value_t rhs) const noexcept
+    {
+#if JSON_HAS_THREE_WAY_COMPARISON
+        return std::is_lt(lhs <=> rhs); // *NOPAD*
+#else
+        return ::nlohmann::detail::operator<(lhs, rhs);
+#endif
+    }
+};
+
+// C++20 prohibit function specialization in the std namespace.
+#ifndef JSON_HAS_CPP_20
+
+/// @brief exchanges the values of two JSON objects
+/// @sa https://json.nlohmann.me/api/basic_json/std_swap/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+inline void swap(nlohmann::NLOHMANN_BASIC_JSON_TPL& j1, nlohmann::NLOHMANN_BASIC_JSON_TPL& j2) noexcept(  // NOLINT(readability-inconsistent-declaration-parameter-name, cert-dcl58-cpp)
+    is_nothrow_move_constructible<nlohmann::NLOHMANN_BASIC_JSON_TPL>::value&&                          // NOLINT(misc-redundant-expression)
+    is_nothrow_move_assignable<nlohmann::NLOHMANN_BASIC_JSON_TPL>::value)
+{
+    j1.swap(j2);
+}
+
+#endif
+
+}  // namespace std
+
+#if JSON_USE_GLOBAL_UDLS
+    using nlohmann::literals::json_literals::operator "" _json; // NOLINT(misc-unused-using-decls,google-global-names-in-headers)
+    using nlohmann::literals::json_literals::operator "" _json_pointer; //NOLINT(misc-unused-using-decls,google-global-names-in-headers)
+#endif
+
+#include <nlohmann/detail/macro_unscope.hpp>
+
+#endif  // INCLUDE_NLOHMANN_JSON_HPP_
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/json_fwd.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/json_fwd.hpp
new file mode 100644
index 0000000..af3ce7a
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/json_fwd.hpp
@@ -0,0 +1,75 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#ifndef INCLUDE_NLOHMANN_JSON_FWD_HPP_
+#define INCLUDE_NLOHMANN_JSON_FWD_HPP_
+
+#include <cstdint> // int64_t, uint64_t
+#include <map> // map
+#include <memory> // allocator
+#include <string> // string
+#include <vector> // vector
+
+#include <nlohmann/detail/abi_macros.hpp>
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/*!
+@brief default JSONSerializer template argument
+
+This serializer ignores the template arguments and uses ADL
+([argument-dependent lookup](https://en.cppreference.com/w/cpp/language/adl))
+for serialization.
+*/
+template<typename T = void, typename SFINAE = void>
+struct adl_serializer;
+
+/// a class to store JSON values
+/// @sa https://json.nlohmann.me/api/basic_json/
+template<template<typename U, typename V, typename... Args> class ObjectType =
+         std::map,
+         template<typename U, typename... Args> class ArrayType = std::vector,
+         class StringType = std::string, class BooleanType = bool,
+         class NumberIntegerType = std::int64_t,
+         class NumberUnsignedType = std::uint64_t,
+         class NumberFloatType = double,
+         template<typename U> class AllocatorType = std::allocator,
+         template<typename T, typename SFINAE = void> class JSONSerializer =
+         adl_serializer,
+         class BinaryType = std::vector<std::uint8_t>, // cppcheck-suppress syntaxError
+         class CustomBaseClass = void>
+class basic_json;
+
+/// @brief JSON Pointer defines a string syntax for identifying a specific value within a JSON document
+/// @sa https://json.nlohmann.me/api/json_pointer/
+template<typename RefStringType>
+class json_pointer;
+
+/*!
+@brief default specialization
+@sa https://json.nlohmann.me/api/json/
+*/
+using json = basic_json<>;
+
+/// @brief a minimal map-like container that preserves insertion order
+/// @sa https://json.nlohmann.me/api/ordered_map/
+template<class Key, class T, class IgnoredLess, class Allocator>
+struct ordered_map;
+
+/// @brief specialization that maintains the insertion order of object keys
+/// @sa https://json.nlohmann.me/api/ordered_json/
+using ordered_json = basic_json<nlohmann::ordered_map>;
+
+NLOHMANN_JSON_NAMESPACE_END
+
+#endif  // INCLUDE_NLOHMANN_JSON_FWD_HPP_
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/ordered_map.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/ordered_map.hpp
new file mode 100644
index 0000000..5d28cdf
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/ordered_map.hpp
@@ -0,0 +1,359 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <functional> // equal_to, less
+#include <initializer_list> // initializer_list
+#include <iterator> // input_iterator_tag, iterator_traits
+#include <memory> // allocator
+#include <stdexcept> // for out_of_range
+#include <type_traits> // enable_if, is_convertible
+#include <utility> // pair
+#include <vector> // vector
+
+#include <nlohmann/detail/macro_scope.hpp>
+#include <nlohmann/detail/meta/type_traits.hpp>
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/// ordered_map: a minimal map-like container that preserves insertion order
+/// for use within nlohmann::basic_json<ordered_map>
+template <class Key, class T, class IgnoredLess = std::less<Key>,
+          class Allocator = std::allocator<std::pair<const Key, T>>>
+                  struct ordered_map : std::vector<std::pair<const Key, T>, Allocator>
+{
+    using key_type = Key;
+    using mapped_type = T;
+    using Container = std::vector<std::pair<const Key, T>, Allocator>;
+    using iterator = typename Container::iterator;
+    using const_iterator = typename Container::const_iterator;
+    using size_type = typename Container::size_type;
+    using value_type = typename Container::value_type;
+#ifdef JSON_HAS_CPP_14
+    using key_compare = std::equal_to<>;
+#else
+    using key_compare = std::equal_to<Key>;
+#endif
+
+    // Explicit constructors instead of `using Container::Container`
+    // otherwise older compilers choke on it (GCC <= 5.5, xcode <= 9.4)
+    ordered_map() noexcept(noexcept(Container())) : Container{} {}
+    explicit ordered_map(const Allocator& alloc) noexcept(noexcept(Container(alloc))) : Container{alloc} {}
+    template <class It>
+    ordered_map(It first, It last, const Allocator& alloc = Allocator())
+        : Container{first, last, alloc} {}
+    ordered_map(std::initializer_list<value_type> init, const Allocator& alloc = Allocator() )
+        : Container{init, alloc} {}
+
+    std::pair<iterator, bool> emplace(const key_type& key, T&& t)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return {it, false};
+            }
+        }
+        Container::emplace_back(key, std::forward<T>(t));
+        return {std::prev(this->end()), true};
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    std::pair<iterator, bool> emplace(KeyType && key, T && t)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return {it, false};
+            }
+        }
+        Container::emplace_back(std::forward<KeyType>(key), std::forward<T>(t));
+        return {std::prev(this->end()), true};
+    }
+
+    T& operator[](const key_type& key)
+    {
+        return emplace(key, T{}).first->second;
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    T & operator[](KeyType && key)
+    {
+        return emplace(std::forward<KeyType>(key), T{}).first->second;
+    }
+
+    const T& operator[](const key_type& key) const
+    {
+        return at(key);
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    const T & operator[](KeyType && key) const
+    {
+        return at(std::forward<KeyType>(key));
+    }
+
+    T& at(const key_type& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it->second;
+            }
+        }
+
+        JSON_THROW(std::out_of_range("key not found"));
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    T & at(KeyType && key) // NOLINT(cppcoreguidelines-missing-std-forward)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it->second;
+            }
+        }
+
+        JSON_THROW(std::out_of_range("key not found"));
+    }
+
+    const T& at(const key_type& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it->second;
+            }
+        }
+
+        JSON_THROW(std::out_of_range("key not found"));
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    const T & at(KeyType && key) const // NOLINT(cppcoreguidelines-missing-std-forward)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it->second;
+            }
+        }
+
+        JSON_THROW(std::out_of_range("key not found"));
+    }
+
+    size_type erase(const key_type& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                // Since we cannot move const Keys, re-construct them in place
+                for (auto next = it; ++next != this->end(); ++it)
+                {
+                    it->~value_type(); // Destroy but keep allocation
+                    new (&*it) value_type{std::move(*next)};
+                }
+                Container::pop_back();
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    size_type erase(KeyType && key) // NOLINT(cppcoreguidelines-missing-std-forward)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                // Since we cannot move const Keys, re-construct them in place
+                for (auto next = it; ++next != this->end(); ++it)
+                {
+                    it->~value_type(); // Destroy but keep allocation
+                    new (&*it) value_type{std::move(*next)};
+                }
+                Container::pop_back();
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    iterator erase(iterator pos)
+    {
+        return erase(pos, std::next(pos));
+    }
+
+    iterator erase(iterator first, iterator last)
+    {
+        if (first == last)
+        {
+            return first;
+        }
+
+        const auto elements_affected = std::distance(first, last);
+        const auto offset = std::distance(Container::begin(), first);
+
+        // This is the start situation. We need to delete elements_affected
+        // elements (3 in this example: e, f, g), and need to return an
+        // iterator past the last deleted element (h in this example).
+        // Note that offset is the distance from the start of the vector
+        // to first. We will need this later.
+
+        // [ a, b, c, d, e, f, g, h, i, j ]
+        //               ^        ^
+        //             first    last
+
+        // Since we cannot move const Keys, we re-construct them in place.
+        // We start at first and re-construct (viz. copy) the elements from
+        // the back of the vector. Example for first iteration:
+
+        //               ,--------.
+        //               v        |   destroy e and re-construct with h
+        // [ a, b, c, d, e, f, g, h, i, j ]
+        //               ^        ^
+        //               it       it + elements_affected
+
+        for (auto it = first; std::next(it, elements_affected) != Container::end(); ++it)
+        {
+            it->~value_type(); // destroy but keep allocation
+            new (&*it) value_type{std::move(*std::next(it, elements_affected))}; // "move" next element to it
+        }
+
+        // [ a, b, c, d, h, i, j, h, i, j ]
+        //               ^        ^
+        //             first    last
+
+        // remove the unneeded elements at the end of the vector
+        Container::resize(this->size() - static_cast<size_type>(elements_affected));
+
+        // [ a, b, c, d, h, i, j ]
+        //               ^        ^
+        //             first    last
+
+        // first is now pointing past the last deleted element, but we cannot
+        // use this iterator, because it may have been invalidated by the
+        // resize call. Instead, we can return begin() + offset.
+        return Container::begin() + offset;
+    }
+
+    size_type count(const key_type& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    size_type count(KeyType && key) const // NOLINT(cppcoreguidelines-missing-std-forward)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    iterator find(const key_type& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it;
+            }
+        }
+        return Container::end();
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    iterator find(KeyType && key) // NOLINT(cppcoreguidelines-missing-std-forward)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it;
+            }
+        }
+        return Container::end();
+    }
+
+    const_iterator find(const key_type& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it;
+            }
+        }
+        return Container::end();
+    }
+
+    std::pair<iterator, bool> insert( value_type&& value )
+    {
+        return emplace(value.first, std::move(value.second));
+    }
+
+    std::pair<iterator, bool> insert( const value_type& value )
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, value.first))
+            {
+                return {it, false};
+            }
+        }
+        Container::push_back(value);
+        return {--this->end(), true};
+    }
+
+    template<typename InputIt>
+    using require_input_iter = typename std::enable_if<std::is_convertible<typename std::iterator_traits<InputIt>::iterator_category,
+            std::input_iterator_tag>::value>::type;
+
+    template<typename InputIt, typename = require_input_iter<InputIt>>
+    void insert(InputIt first, InputIt last)
+    {
+        for (auto it = first; it != last; ++it)
+        {
+            insert(*it);
+        }
+    }
+
+private:
+    JSON_NO_UNIQUE_ADDRESS key_compare m_compare = key_compare();
+};
+
+NLOHMANN_JSON_NAMESPACE_END
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/thirdparty/hedley/hedley.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/thirdparty/hedley/hedley.hpp
new file mode 100644
index 0000000..f1377f1
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/thirdparty/hedley/hedley.hpp
@@ -0,0 +1,2045 @@
+#pragma once
+
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-FileCopyrightText: 2016-2021 Evan Nemerson <evan@nemerson.com>
+// SPDX-License-Identifier: MIT
+
+/* Hedley - https://nemequ.github.io/hedley
+ * Created by Evan Nemerson <evan@nemerson.com>
+ */
+
+#if !defined(JSON_HEDLEY_VERSION) || (JSON_HEDLEY_VERSION < 15)
+#if defined(JSON_HEDLEY_VERSION)
+    #undef JSON_HEDLEY_VERSION
+#endif
+#define JSON_HEDLEY_VERSION 15
+
+#if defined(JSON_HEDLEY_STRINGIFY_EX)
+    #undef JSON_HEDLEY_STRINGIFY_EX
+#endif
+#define JSON_HEDLEY_STRINGIFY_EX(x) #x
+
+#if defined(JSON_HEDLEY_STRINGIFY)
+    #undef JSON_HEDLEY_STRINGIFY
+#endif
+#define JSON_HEDLEY_STRINGIFY(x) JSON_HEDLEY_STRINGIFY_EX(x)
+
+#if defined(JSON_HEDLEY_CONCAT_EX)
+    #undef JSON_HEDLEY_CONCAT_EX
+#endif
+#define JSON_HEDLEY_CONCAT_EX(a,b) a##b
+
+#if defined(JSON_HEDLEY_CONCAT)
+    #undef JSON_HEDLEY_CONCAT
+#endif
+#define JSON_HEDLEY_CONCAT(a,b) JSON_HEDLEY_CONCAT_EX(a,b)
+
+#if defined(JSON_HEDLEY_CONCAT3_EX)
+    #undef JSON_HEDLEY_CONCAT3_EX
+#endif
+#define JSON_HEDLEY_CONCAT3_EX(a,b,c) a##b##c
+
+#if defined(JSON_HEDLEY_CONCAT3)
+    #undef JSON_HEDLEY_CONCAT3
+#endif
+#define JSON_HEDLEY_CONCAT3(a,b,c) JSON_HEDLEY_CONCAT3_EX(a,b,c)
+
+#if defined(JSON_HEDLEY_VERSION_ENCODE)
+    #undef JSON_HEDLEY_VERSION_ENCODE
+#endif
+#define JSON_HEDLEY_VERSION_ENCODE(major,minor,revision) (((major) * 1000000) + ((minor) * 1000) + (revision))
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_MAJOR)
+    #undef JSON_HEDLEY_VERSION_DECODE_MAJOR
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_MAJOR(version) ((version) / 1000000)
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_MINOR)
+    #undef JSON_HEDLEY_VERSION_DECODE_MINOR
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_MINOR(version) (((version) % 1000000) / 1000)
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_REVISION)
+    #undef JSON_HEDLEY_VERSION_DECODE_REVISION
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_REVISION(version) ((version) % 1000)
+
+#if defined(JSON_HEDLEY_GNUC_VERSION)
+    #undef JSON_HEDLEY_GNUC_VERSION
+#endif
+#if defined(__GNUC__) && defined(__GNUC_PATCHLEVEL__)
+    #define JSON_HEDLEY_GNUC_VERSION JSON_HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__)
+#elif defined(__GNUC__)
+    #define JSON_HEDLEY_GNUC_VERSION JSON_HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, 0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_VERSION_CHECK)
+    #undef JSON_HEDLEY_GNUC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_GNUC_VERSION)
+    #define JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_GNUC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_MSVC_VERSION)
+    #undef JSON_HEDLEY_MSVC_VERSION
+#endif
+#if defined(_MSC_FULL_VER) && (_MSC_FULL_VER >= 140000000) && !defined(__ICL)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 10000000, (_MSC_FULL_VER % 10000000) / 100000, (_MSC_FULL_VER % 100000) / 100)
+#elif defined(_MSC_FULL_VER) && !defined(__ICL)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 1000000, (_MSC_FULL_VER % 1000000) / 10000, (_MSC_FULL_VER % 10000) / 10)
+#elif defined(_MSC_VER) && !defined(__ICL)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_VER / 100, _MSC_VER % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_MSVC_VERSION_CHECK)
+    #undef JSON_HEDLEY_MSVC_VERSION_CHECK
+#endif
+#if !defined(JSON_HEDLEY_MSVC_VERSION)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (0)
+#elif defined(_MSC_VER) && (_MSC_VER >= 1400)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 10000000) + (minor * 100000) + (patch)))
+#elif defined(_MSC_VER) && (_MSC_VER >= 1200)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 1000000) + (minor * 10000) + (patch)))
+#else
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_VER >= ((major * 100) + (minor)))
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_VERSION)
+    #undef JSON_HEDLEY_INTEL_VERSION
+#endif
+#if defined(__INTEL_COMPILER) && defined(__INTEL_COMPILER_UPDATE) && !defined(__ICL)
+    #define JSON_HEDLEY_INTEL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, __INTEL_COMPILER_UPDATE)
+#elif defined(__INTEL_COMPILER) && !defined(__ICL)
+    #define JSON_HEDLEY_INTEL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_VERSION_CHECK)
+    #undef JSON_HEDLEY_INTEL_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_INTEL_VERSION)
+    #define JSON_HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_INTEL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_CL_VERSION)
+    #undef JSON_HEDLEY_INTEL_CL_VERSION
+#endif
+#if defined(__INTEL_COMPILER) && defined(__INTEL_COMPILER_UPDATE) && defined(__ICL)
+    #define JSON_HEDLEY_INTEL_CL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER, __INTEL_COMPILER_UPDATE, 0)
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_CL_VERSION_CHECK)
+    #undef JSON_HEDLEY_INTEL_CL_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_INTEL_CL_VERSION)
+    #define JSON_HEDLEY_INTEL_CL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_INTEL_CL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_INTEL_CL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_PGI_VERSION)
+    #undef JSON_HEDLEY_PGI_VERSION
+#endif
+#if defined(__PGI) && defined(__PGIC__) && defined(__PGIC_MINOR__) && defined(__PGIC_PATCHLEVEL__)
+    #define JSON_HEDLEY_PGI_VERSION JSON_HEDLEY_VERSION_ENCODE(__PGIC__, __PGIC_MINOR__, __PGIC_PATCHLEVEL__)
+#endif
+
+#if defined(JSON_HEDLEY_PGI_VERSION_CHECK)
+    #undef JSON_HEDLEY_PGI_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_PGI_VERSION)
+    #define JSON_HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_PGI_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_SUNPRO_VERSION)
+    #undef JSON_HEDLEY_SUNPRO_VERSION
+#endif
+#if defined(__SUNPRO_C) && (__SUNPRO_C > 0x1000)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((((__SUNPRO_C >> 16) & 0xf) * 10) + ((__SUNPRO_C >> 12) & 0xf), (((__SUNPRO_C >> 8) & 0xf) * 10) + ((__SUNPRO_C >> 4) & 0xf), (__SUNPRO_C & 0xf) * 10)
+#elif defined(__SUNPRO_C)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((__SUNPRO_C >> 8) & 0xf, (__SUNPRO_C >> 4) & 0xf, (__SUNPRO_C) & 0xf)
+#elif defined(__SUNPRO_CC) && (__SUNPRO_CC > 0x1000)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((((__SUNPRO_CC >> 16) & 0xf) * 10) + ((__SUNPRO_CC >> 12) & 0xf), (((__SUNPRO_CC >> 8) & 0xf) * 10) + ((__SUNPRO_CC >> 4) & 0xf), (__SUNPRO_CC & 0xf) * 10)
+#elif defined(__SUNPRO_CC)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((__SUNPRO_CC >> 8) & 0xf, (__SUNPRO_CC >> 4) & 0xf, (__SUNPRO_CC) & 0xf)
+#endif
+
+#if defined(JSON_HEDLEY_SUNPRO_VERSION_CHECK)
+    #undef JSON_HEDLEY_SUNPRO_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_SUNPRO_VERSION)
+    #define JSON_HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_SUNPRO_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION)
+    #undef JSON_HEDLEY_EMSCRIPTEN_VERSION
+#endif
+#if defined(__EMSCRIPTEN__)
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION JSON_HEDLEY_VERSION_ENCODE(__EMSCRIPTEN_major__, __EMSCRIPTEN_minor__, __EMSCRIPTEN_tiny__)
+#endif
+
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK)
+    #undef JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION)
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_EMSCRIPTEN_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_ARM_VERSION)
+    #undef JSON_HEDLEY_ARM_VERSION
+#endif
+#if defined(__CC_ARM) && defined(__ARMCOMPILER_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ARMCOMPILER_VERSION / 1000000, (__ARMCOMPILER_VERSION % 1000000) / 10000, (__ARMCOMPILER_VERSION % 10000) / 100)
+#elif defined(__CC_ARM) && defined(__ARMCC_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ARMCC_VERSION / 1000000, (__ARMCC_VERSION % 1000000) / 10000, (__ARMCC_VERSION % 10000) / 100)
+#endif
+
+#if defined(JSON_HEDLEY_ARM_VERSION_CHECK)
+    #undef JSON_HEDLEY_ARM_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_ARM_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_ARM_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_IBM_VERSION)
+    #undef JSON_HEDLEY_IBM_VERSION
+#endif
+#if defined(__ibmxl__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ibmxl_version__, __ibmxl_release__, __ibmxl_modification__)
+#elif defined(__xlC__) && defined(__xlC_ver__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, (__xlC_ver__ >> 8) & 0xff)
+#elif defined(__xlC__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, 0)
+#endif
+
+#if defined(JSON_HEDLEY_IBM_VERSION_CHECK)
+    #undef JSON_HEDLEY_IBM_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_IBM_VERSION)
+    #define JSON_HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_IBM_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_VERSION)
+    #undef JSON_HEDLEY_TI_VERSION
+#endif
+#if \
+    defined(__TI_COMPILER_VERSION__) && \
+    ( \
+      defined(__TMS470__) || defined(__TI_ARM__) || \
+      defined(__MSP430__) || \
+      defined(__TMS320C2000__) \
+    )
+#if (__TI_COMPILER_VERSION__ >= 16000000)
+    #define JSON_HEDLEY_TI_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+#endif
+
+#if defined(JSON_HEDLEY_TI_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_VERSION)
+    #define JSON_HEDLEY_TI_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION)
+    #undef JSON_HEDLEY_TI_CL2000_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C2000__)
+    #define JSON_HEDLEY_TI_CL2000_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL2000_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION)
+    #define JSON_HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL2000_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL430_VERSION)
+    #undef JSON_HEDLEY_TI_CL430_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__MSP430__)
+    #define JSON_HEDLEY_TI_CL430_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL430_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL430_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL430_VERSION)
+    #define JSON_HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL430_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION)
+    #undef JSON_HEDLEY_TI_ARMCL_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && (defined(__TMS470__) || defined(__TI_ARM__))
+    #define JSON_HEDLEY_TI_ARMCL_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_ARMCL_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION)
+    #define JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_ARMCL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION)
+    #undef JSON_HEDLEY_TI_CL6X_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C6X__)
+    #define JSON_HEDLEY_TI_CL6X_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL6X_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION)
+    #define JSON_HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL6X_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION)
+    #undef JSON_HEDLEY_TI_CL7X_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__C7000__)
+    #define JSON_HEDLEY_TI_CL7X_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL7X_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION)
+    #define JSON_HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL7X_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION)
+    #undef JSON_HEDLEY_TI_CLPRU_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__PRU__)
+    #define JSON_HEDLEY_TI_CLPRU_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CLPRU_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION)
+    #define JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CLPRU_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_CRAY_VERSION)
+    #undef JSON_HEDLEY_CRAY_VERSION
+#endif
+#if defined(_CRAYC)
+    #if defined(_RELEASE_PATCHLEVEL)
+        #define JSON_HEDLEY_CRAY_VERSION JSON_HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, _RELEASE_PATCHLEVEL)
+    #else
+        #define JSON_HEDLEY_CRAY_VERSION JSON_HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, 0)
+    #endif
+#endif
+
+#if defined(JSON_HEDLEY_CRAY_VERSION_CHECK)
+    #undef JSON_HEDLEY_CRAY_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_CRAY_VERSION)
+    #define JSON_HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_CRAY_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_IAR_VERSION)
+    #undef JSON_HEDLEY_IAR_VERSION
+#endif
+#if defined(__IAR_SYSTEMS_ICC__)
+    #if __VER__ > 1000
+        #define JSON_HEDLEY_IAR_VERSION JSON_HEDLEY_VERSION_ENCODE((__VER__ / 1000000), ((__VER__ / 1000) % 1000), (__VER__ % 1000))
+    #else
+        #define JSON_HEDLEY_IAR_VERSION JSON_HEDLEY_VERSION_ENCODE(__VER__ / 100, __VER__ % 100, 0)
+    #endif
+#endif
+
+#if defined(JSON_HEDLEY_IAR_VERSION_CHECK)
+    #undef JSON_HEDLEY_IAR_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_IAR_VERSION)
+    #define JSON_HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_IAR_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TINYC_VERSION)
+    #undef JSON_HEDLEY_TINYC_VERSION
+#endif
+#if defined(__TINYC__)
+    #define JSON_HEDLEY_TINYC_VERSION JSON_HEDLEY_VERSION_ENCODE(__TINYC__ / 1000, (__TINYC__ / 100) % 10, __TINYC__ % 100)
+#endif
+
+#if defined(JSON_HEDLEY_TINYC_VERSION_CHECK)
+    #undef JSON_HEDLEY_TINYC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TINYC_VERSION)
+    #define JSON_HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TINYC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_DMC_VERSION)
+    #undef JSON_HEDLEY_DMC_VERSION
+#endif
+#if defined(__DMC__)
+    #define JSON_HEDLEY_DMC_VERSION JSON_HEDLEY_VERSION_ENCODE(__DMC__ >> 8, (__DMC__ >> 4) & 0xf, __DMC__ & 0xf)
+#endif
+
+#if defined(JSON_HEDLEY_DMC_VERSION_CHECK)
+    #undef JSON_HEDLEY_DMC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_DMC_VERSION)
+    #define JSON_HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_DMC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_COMPCERT_VERSION)
+    #undef JSON_HEDLEY_COMPCERT_VERSION
+#endif
+#if defined(__COMPCERT_VERSION__)
+    #define JSON_HEDLEY_COMPCERT_VERSION JSON_HEDLEY_VERSION_ENCODE(__COMPCERT_VERSION__ / 10000, (__COMPCERT_VERSION__ / 100) % 100, __COMPCERT_VERSION__ % 100)
+#endif
+
+#if defined(JSON_HEDLEY_COMPCERT_VERSION_CHECK)
+    #undef JSON_HEDLEY_COMPCERT_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_COMPCERT_VERSION)
+    #define JSON_HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_COMPCERT_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_PELLES_VERSION)
+    #undef JSON_HEDLEY_PELLES_VERSION
+#endif
+#if defined(__POCC__)
+    #define JSON_HEDLEY_PELLES_VERSION JSON_HEDLEY_VERSION_ENCODE(__POCC__ / 100, __POCC__ % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_PELLES_VERSION_CHECK)
+    #undef JSON_HEDLEY_PELLES_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_PELLES_VERSION)
+    #define JSON_HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_PELLES_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_MCST_LCC_VERSION)
+    #undef JSON_HEDLEY_MCST_LCC_VERSION
+#endif
+#if defined(__LCC__) && defined(__LCC_MINOR__)
+    #define JSON_HEDLEY_MCST_LCC_VERSION JSON_HEDLEY_VERSION_ENCODE(__LCC__ / 100, __LCC__ % 100, __LCC_MINOR__)
+#endif
+
+#if defined(JSON_HEDLEY_MCST_LCC_VERSION_CHECK)
+    #undef JSON_HEDLEY_MCST_LCC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_MCST_LCC_VERSION)
+    #define JSON_HEDLEY_MCST_LCC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_MCST_LCC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_MCST_LCC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_VERSION)
+    #undef JSON_HEDLEY_GCC_VERSION
+#endif
+#if \
+    defined(JSON_HEDLEY_GNUC_VERSION) && \
+    !defined(__clang__) && \
+    !defined(JSON_HEDLEY_INTEL_VERSION) && \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_ARM_VERSION) && \
+    !defined(JSON_HEDLEY_CRAY_VERSION) && \
+    !defined(JSON_HEDLEY_TI_VERSION) && \
+    !defined(JSON_HEDLEY_TI_ARMCL_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL430_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL2000_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL6X_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL7X_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CLPRU_VERSION) && \
+    !defined(__COMPCERT__) && \
+    !defined(JSON_HEDLEY_MCST_LCC_VERSION)
+    #define JSON_HEDLEY_GCC_VERSION JSON_HEDLEY_GNUC_VERSION
+#endif
+
+#if defined(JSON_HEDLEY_GCC_VERSION_CHECK)
+    #undef JSON_HEDLEY_GCC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_GCC_VERSION)
+    #define JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_GCC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_ATTRIBUTE
+#endif
+#if \
+  defined(__has_attribute) && \
+  ( \
+    (!defined(JSON_HEDLEY_IAR_VERSION) || JSON_HEDLEY_IAR_VERSION_CHECK(8,5,9)) \
+  )
+#  define JSON_HEDLEY_HAS_ATTRIBUTE(attribute) __has_attribute(attribute)
+#else
+#  define JSON_HEDLEY_HAS_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+    #define JSON_HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_HAS_ATTRIBUTE(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+    #define JSON_HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_HAS_ATTRIBUTE(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE
+#endif
+#if \
+    defined(__has_cpp_attribute) && \
+    defined(__cplusplus) && \
+    (!defined(JSON_HEDLEY_SUNPRO_VERSION) || JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0))
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS)
+    #undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS
+#endif
+#if !defined(__cplusplus) || !defined(__has_cpp_attribute)
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0)
+#elif \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_IAR_VERSION) && \
+    (!defined(JSON_HEDLEY_SUNPRO_VERSION) || JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0)) && \
+    (!defined(JSON_HEDLEY_MSVC_VERSION) || JSON_HEDLEY_MSVC_VERSION_CHECK(19,20,0))
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) JSON_HEDLEY_HAS_CPP_ATTRIBUTE(ns::attribute)
+#else
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE
+#endif
+#if defined(__has_cpp_attribute) && defined(__cplusplus)
+    #define JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE
+#endif
+#if defined(__has_cpp_attribute) && defined(__cplusplus)
+    #define JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_BUILTIN)
+    #undef JSON_HEDLEY_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_HAS_BUILTIN(builtin) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_HAS_BUILTIN(builtin) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_BUILTIN)
+    #undef JSON_HEDLEY_GNUC_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_BUILTIN)
+    #undef JSON_HEDLEY_GCC_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_FEATURE)
+    #undef JSON_HEDLEY_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_HAS_FEATURE(feature) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_HAS_FEATURE(feature) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_FEATURE)
+    #undef JSON_HEDLEY_GNUC_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_FEATURE)
+    #undef JSON_HEDLEY_GCC_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_EXTENSION)
+    #undef JSON_HEDLEY_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_HAS_EXTENSION(extension) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_HAS_EXTENSION(extension) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_EXTENSION)
+    #undef JSON_HEDLEY_GNUC_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_EXTENSION)
+    #undef JSON_HEDLEY_GCC_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_WARNING)
+    #undef JSON_HEDLEY_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_HAS_WARNING(warning) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_HAS_WARNING(warning) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_WARNING)
+    #undef JSON_HEDLEY_GNUC_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_WARNING)
+    #undef JSON_HEDLEY_GCC_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if \
+    (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \
+    defined(__clang__) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(18,4,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_CRAY_VERSION_CHECK(5,0,0) || \
+    JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,17) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(8,0,0) || \
+    (JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) && defined(__C99_PRAGMA_OPERATOR))
+    #define JSON_HEDLEY_PRAGMA(value) _Pragma(#value)
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_PRAGMA(value) __pragma(value)
+#else
+    #define JSON_HEDLEY_PRAGMA(value)
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_PUSH)
+    #undef JSON_HEDLEY_DIAGNOSTIC_PUSH
+#endif
+#if defined(JSON_HEDLEY_DIAGNOSTIC_POP)
+    #undef JSON_HEDLEY_DIAGNOSTIC_POP
+#endif
+#if defined(__clang__)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("clang diagnostic push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("clang diagnostic pop")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("GCC diagnostic push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop")
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH __pragma(warning(push))
+    #define JSON_HEDLEY_DIAGNOSTIC_POP __pragma(warning(pop))
+#elif JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("pop")
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,4,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("diag_push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("diag_pop")
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,90,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH
+    #define JSON_HEDLEY_DIAGNOSTIC_POP
+#endif
+
+/* JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_ is for
+   HEDLEY INTERNAL USE ONLY.  API subject to change without notice. */
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_
+#endif
+#if defined(__cplusplus)
+#  if JSON_HEDLEY_HAS_WARNING("-Wc++98-compat")
+#    if JSON_HEDLEY_HAS_WARNING("-Wc++17-extensions")
+#      if JSON_HEDLEY_HAS_WARNING("-Wc++1z-extensions")
+#        define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+    _Pragma("clang diagnostic ignored \"-Wc++17-extensions\"") \
+    _Pragma("clang diagnostic ignored \"-Wc++1z-extensions\"") \
+    xpr \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#      else
+#        define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+    _Pragma("clang diagnostic ignored \"-Wc++17-extensions\"") \
+    xpr \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#      endif
+#    else
+#      define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+    xpr \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#    endif
+#  endif
+#endif
+#if !defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(x) x
+#endif
+
+#if defined(JSON_HEDLEY_CONST_CAST)
+    #undef JSON_HEDLEY_CONST_CAST
+#endif
+#if defined(__cplusplus)
+#  define JSON_HEDLEY_CONST_CAST(T, expr) (const_cast<T>(expr))
+#elif \
+  JSON_HEDLEY_HAS_WARNING("-Wcast-qual") || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_CONST_CAST(T, expr) (__extension__ ({ \
+        JSON_HEDLEY_DIAGNOSTIC_PUSH \
+        JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL \
+        ((T) (expr)); \
+        JSON_HEDLEY_DIAGNOSTIC_POP \
+    }))
+#else
+#  define JSON_HEDLEY_CONST_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_REINTERPRET_CAST)
+    #undef JSON_HEDLEY_REINTERPRET_CAST
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_REINTERPRET_CAST(T, expr) (reinterpret_cast<T>(expr))
+#else
+    #define JSON_HEDLEY_REINTERPRET_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_STATIC_CAST)
+    #undef JSON_HEDLEY_STATIC_CAST
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_STATIC_CAST(T, expr) (static_cast<T>(expr))
+#else
+    #define JSON_HEDLEY_STATIC_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_CPP_CAST)
+    #undef JSON_HEDLEY_CPP_CAST
+#endif
+#if defined(__cplusplus)
+#  if JSON_HEDLEY_HAS_WARNING("-Wold-style-cast")
+#    define JSON_HEDLEY_CPP_CAST(T, expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wold-style-cast\"") \
+    ((T) (expr)) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#  elif JSON_HEDLEY_IAR_VERSION_CHECK(8,3,0)
+#    define JSON_HEDLEY_CPP_CAST(T, expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("diag_suppress=Pe137") \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#  else
+#    define JSON_HEDLEY_CPP_CAST(T, expr) ((T) (expr))
+#  endif
+#else
+#  define JSON_HEDLEY_CPP_CAST(T, expr) (expr)
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wdeprecated-declarations")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warning(disable:1478 1786)")
+#elif JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED __pragma(warning(disable:1478 1786))
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(20,7,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1216,1444,1445")
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1444")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED __pragma(warning(disable:4996))
+#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1444")
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1291,1718")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && !defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,E_DEPRECATED_ATT,E_DEPRECATED_ATT_MESS)")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,symdeprecated,symdeprecated2)")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress=Pe1444,Pe1215")
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,90,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warn(disable:2241)")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("clang diagnostic ignored \"-Wunknown-pragmas\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("warning(disable:161)")
+#elif JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS __pragma(warning(disable:161))
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 1675")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("GCC diagnostic ignored \"-Wunknown-pragmas\"")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS __pragma(warning(disable:4068))
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(16,9,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163")
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress=Pe161")
+#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 161")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-attributes")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("clang diagnostic ignored \"-Wunknown-attributes\"")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(17,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("warning(disable:1292)")
+#elif JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES __pragma(warning(disable:1292))
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(19,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES __pragma(warning(disable:5030))
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(20,7,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097,1098")
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("error_messages(off,attrskipunsup)")
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1173")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress=Pe1097")
+#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wcast-qual")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("clang diagnostic ignored \"-Wcast-qual\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("warning(disable:2203 2331)")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("GCC diagnostic ignored \"-Wcast-qual\"")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunused-function")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION _Pragma("clang diagnostic ignored \"-Wunused-function\"")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION _Pragma("GCC diagnostic ignored \"-Wunused-function\"")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(1,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION __pragma(warning(disable:4505))
+#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION _Pragma("diag_suppress 3142")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION
+#endif
+
+#if defined(JSON_HEDLEY_DEPRECATED)
+    #undef JSON_HEDLEY_DEPRECATED
+#endif
+#if defined(JSON_HEDLEY_DEPRECATED_FOR)
+    #undef JSON_HEDLEY_DEPRECATED_FOR
+#endif
+#if \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __declspec(deprecated("Since " # since))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated("Since " #since "; use " #replacement))
+#elif \
+    (JSON_HEDLEY_HAS_EXTENSION(attribute_deprecated_with_message) && !defined(JSON_HEDLEY_IAR_VERSION)) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,5,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_DEPRECATED(since) __attribute__((__deprecated__("Since " #since)))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__("Since " #since "; use " #replacement)))
+#elif defined(__cplusplus) && (__cplusplus >= 201402L)
+    #define JSON_HEDLEY_DEPRECATED(since) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since)]])
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since "; use " #replacement)]])
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(deprecated) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __attribute__((__deprecated__))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__))
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_PELLES_VERSION_CHECK(6,50,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __declspec(deprecated)
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated)
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DEPRECATED(since) _Pragma("deprecated")
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) _Pragma("deprecated")
+#else
+    #define JSON_HEDLEY_DEPRECATED(since)
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement)
+#endif
+
+#if defined(JSON_HEDLEY_UNAVAILABLE)
+    #undef JSON_HEDLEY_UNAVAILABLE
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(warning) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_UNAVAILABLE(available_since) __attribute__((__warning__("Not available until " #available_since)))
+#else
+    #define JSON_HEDLEY_UNAVAILABLE(available_since)
+#endif
+
+#if defined(JSON_HEDLEY_WARN_UNUSED_RESULT)
+    #undef JSON_HEDLEY_WARN_UNUSED_RESULT
+#endif
+#if defined(JSON_HEDLEY_WARN_UNUSED_RESULT_MSG)
+    #undef JSON_HEDLEY_WARN_UNUSED_RESULT_MSG
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(warn_unused_result) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT __attribute__((__warn_unused_result__))
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) __attribute__((__warn_unused_result__))
+#elif (JSON_HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard) >= 201907L)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard(msg)]])
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+#elif defined(_Check_return_) /* SAL */
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT _Check_return_
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) _Check_return_
+#else
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg)
+#endif
+
+#if defined(JSON_HEDLEY_SENTINEL)
+    #undef JSON_HEDLEY_SENTINEL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(sentinel) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,4,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_SENTINEL(position) __attribute__((__sentinel__(position)))
+#else
+    #define JSON_HEDLEY_SENTINEL(position)
+#endif
+
+#if defined(JSON_HEDLEY_NO_RETURN)
+    #undef JSON_HEDLEY_NO_RETURN
+#endif
+#if JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_NO_RETURN __noreturn
+#elif \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_NO_RETURN __attribute__((__noreturn__))
+#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
+    #define JSON_HEDLEY_NO_RETURN _Noreturn
+#elif defined(__cplusplus) && (__cplusplus >= 201103L)
+    #define JSON_HEDLEY_NO_RETURN JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[noreturn]])
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(noreturn) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,2,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0)
+    #define JSON_HEDLEY_NO_RETURN __attribute__((__noreturn__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_NO_RETURN _Pragma("does_not_return")
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_NO_RETURN __declspec(noreturn)
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_NO_RETURN _Pragma("FUNC_NEVER_RETURNS;")
+#elif JSON_HEDLEY_COMPCERT_VERSION_CHECK(3,2,0)
+    #define JSON_HEDLEY_NO_RETURN __attribute((noreturn))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(9,0,0)
+    #define JSON_HEDLEY_NO_RETURN __declspec(noreturn)
+#else
+    #define JSON_HEDLEY_NO_RETURN
+#endif
+
+#if defined(JSON_HEDLEY_NO_ESCAPE)
+    #undef JSON_HEDLEY_NO_ESCAPE
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(noescape)
+    #define JSON_HEDLEY_NO_ESCAPE __attribute__((__noescape__))
+#else
+    #define JSON_HEDLEY_NO_ESCAPE
+#endif
+
+#if defined(JSON_HEDLEY_UNREACHABLE)
+    #undef JSON_HEDLEY_UNREACHABLE
+#endif
+#if defined(JSON_HEDLEY_UNREACHABLE_RETURN)
+    #undef JSON_HEDLEY_UNREACHABLE_RETURN
+#endif
+#if defined(JSON_HEDLEY_ASSUME)
+    #undef JSON_HEDLEY_ASSUME
+#endif
+#if \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_ASSUME(expr) __assume(expr)
+#elif JSON_HEDLEY_HAS_BUILTIN(__builtin_assume)
+    #define JSON_HEDLEY_ASSUME(expr) __builtin_assume(expr)
+#elif \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0)
+    #if defined(__cplusplus)
+        #define JSON_HEDLEY_ASSUME(expr) std::_nassert(expr)
+    #else
+        #define JSON_HEDLEY_ASSUME(expr) _nassert(expr)
+    #endif
+#endif
+#if \
+    (JSON_HEDLEY_HAS_BUILTIN(__builtin_unreachable) && (!defined(JSON_HEDLEY_ARM_VERSION))) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,5,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(18,10,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,5) || \
+    JSON_HEDLEY_CRAY_VERSION_CHECK(10,0,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_UNREACHABLE() __builtin_unreachable()
+#elif defined(JSON_HEDLEY_ASSUME)
+    #define JSON_HEDLEY_UNREACHABLE() JSON_HEDLEY_ASSUME(0)
+#endif
+#if !defined(JSON_HEDLEY_ASSUME)
+    #if defined(JSON_HEDLEY_UNREACHABLE)
+        #define JSON_HEDLEY_ASSUME(expr) JSON_HEDLEY_STATIC_CAST(void, ((expr) ? 1 : (JSON_HEDLEY_UNREACHABLE(), 1)))
+    #else
+        #define JSON_HEDLEY_ASSUME(expr) JSON_HEDLEY_STATIC_CAST(void, expr)
+    #endif
+#endif
+#if defined(JSON_HEDLEY_UNREACHABLE)
+    #if  \
+        JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+        JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0)
+        #define JSON_HEDLEY_UNREACHABLE_RETURN(value) return (JSON_HEDLEY_STATIC_CAST(void, JSON_HEDLEY_ASSUME(0)), (value))
+    #else
+        #define JSON_HEDLEY_UNREACHABLE_RETURN(value) JSON_HEDLEY_UNREACHABLE()
+    #endif
+#else
+    #define JSON_HEDLEY_UNREACHABLE_RETURN(value) return (value)
+#endif
+#if !defined(JSON_HEDLEY_UNREACHABLE)
+    #define JSON_HEDLEY_UNREACHABLE() JSON_HEDLEY_ASSUME(0)
+#endif
+
+JSON_HEDLEY_DIAGNOSTIC_PUSH
+#if JSON_HEDLEY_HAS_WARNING("-Wpedantic")
+    #pragma clang diagnostic ignored "-Wpedantic"
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wc++98-compat-pedantic") && defined(__cplusplus)
+    #pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
+#endif
+#if JSON_HEDLEY_GCC_HAS_WARNING("-Wvariadic-macros",4,0,0)
+    #if defined(__clang__)
+        #pragma clang diagnostic ignored "-Wvariadic-macros"
+    #elif defined(JSON_HEDLEY_GCC_VERSION)
+        #pragma GCC diagnostic ignored "-Wvariadic-macros"
+    #endif
+#endif
+#if defined(JSON_HEDLEY_NON_NULL)
+    #undef JSON_HEDLEY_NON_NULL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(nonnull) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0)
+    #define JSON_HEDLEY_NON_NULL(...) __attribute__((__nonnull__(__VA_ARGS__)))
+#else
+    #define JSON_HEDLEY_NON_NULL(...)
+#endif
+JSON_HEDLEY_DIAGNOSTIC_POP
+
+#if defined(JSON_HEDLEY_PRINTF_FORMAT)
+    #undef JSON_HEDLEY_PRINTF_FORMAT
+#endif
+#if defined(__MINGW32__) && JSON_HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && !defined(__USE_MINGW_ANSI_STDIO)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(ms_printf, string_idx, first_to_check)))
+#elif defined(__MINGW32__) && JSON_HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && defined(__USE_MINGW_ANSI_STDIO)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(gnu_printf, string_idx, first_to_check)))
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(format) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(__printf__, string_idx, first_to_check)))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(6,0,0)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __declspec(vaformat(printf,string_idx,first_to_check))
+#else
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check)
+#endif
+
+#if defined(JSON_HEDLEY_CONSTEXPR)
+    #undef JSON_HEDLEY_CONSTEXPR
+#endif
+#if defined(__cplusplus)
+    #if __cplusplus >= 201103L
+        #define JSON_HEDLEY_CONSTEXPR JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(constexpr)
+    #endif
+#endif
+#if !defined(JSON_HEDLEY_CONSTEXPR)
+    #define JSON_HEDLEY_CONSTEXPR
+#endif
+
+#if defined(JSON_HEDLEY_PREDICT)
+    #undef JSON_HEDLEY_PREDICT
+#endif
+#if defined(JSON_HEDLEY_LIKELY)
+    #undef JSON_HEDLEY_LIKELY
+#endif
+#if defined(JSON_HEDLEY_UNLIKELY)
+    #undef JSON_HEDLEY_UNLIKELY
+#endif
+#if defined(JSON_HEDLEY_UNPREDICTABLE)
+    #undef JSON_HEDLEY_UNPREDICTABLE
+#endif
+#if JSON_HEDLEY_HAS_BUILTIN(__builtin_unpredictable)
+    #define JSON_HEDLEY_UNPREDICTABLE(expr) __builtin_unpredictable((expr))
+#endif
+#if \
+  (JSON_HEDLEY_HAS_BUILTIN(__builtin_expect_with_probability) && !defined(JSON_HEDLEY_PGI_VERSION)) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(9,0,0) || \
+  JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+#  define JSON_HEDLEY_PREDICT(expr, value, probability) __builtin_expect_with_probability(  (expr), (value), (probability))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability)   __builtin_expect_with_probability(!!(expr),    1   , (probability))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability)  __builtin_expect_with_probability(!!(expr),    0   , (probability))
+#  define JSON_HEDLEY_LIKELY(expr)                      __builtin_expect                 (!!(expr),    1                  )
+#  define JSON_HEDLEY_UNLIKELY(expr)                    __builtin_expect                 (!!(expr),    0                  )
+#elif \
+  (JSON_HEDLEY_HAS_BUILTIN(__builtin_expect) && !defined(JSON_HEDLEY_INTEL_CL_VERSION)) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,27) || \
+  JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \
+  JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+#  define JSON_HEDLEY_PREDICT(expr, expected, probability) \
+    (((probability) >= 0.9) ? __builtin_expect((expr), (expected)) : (JSON_HEDLEY_STATIC_CAST(void, expected), (expr)))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability) \
+    (__extension__ ({ \
+        double hedley_probability_ = (probability); \
+        ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 1) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 0) : !!(expr))); \
+    }))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability) \
+    (__extension__ ({ \
+        double hedley_probability_ = (probability); \
+        ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 0) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 1) : !!(expr))); \
+    }))
+#  define JSON_HEDLEY_LIKELY(expr)   __builtin_expect(!!(expr), 1)
+#  define JSON_HEDLEY_UNLIKELY(expr) __builtin_expect(!!(expr), 0)
+#else
+#  define JSON_HEDLEY_PREDICT(expr, expected, probability) (JSON_HEDLEY_STATIC_CAST(void, expected), (expr))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability) (!!(expr))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability) (!!(expr))
+#  define JSON_HEDLEY_LIKELY(expr) (!!(expr))
+#  define JSON_HEDLEY_UNLIKELY(expr) (!!(expr))
+#endif
+#if !defined(JSON_HEDLEY_UNPREDICTABLE)
+    #define JSON_HEDLEY_UNPREDICTABLE(expr) JSON_HEDLEY_PREDICT(expr, 1, 0.5)
+#endif
+
+#if defined(JSON_HEDLEY_MALLOC)
+    #undef JSON_HEDLEY_MALLOC
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(malloc) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(12,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_MALLOC __attribute__((__malloc__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_MALLOC _Pragma("returns_new_memory")
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_MALLOC __declspec(restrict)
+#else
+    #define JSON_HEDLEY_MALLOC
+#endif
+
+#if defined(JSON_HEDLEY_PURE)
+    #undef JSON_HEDLEY_PURE
+#endif
+#if \
+  JSON_HEDLEY_HAS_ATTRIBUTE(pure) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(2,96,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+  JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+#  define JSON_HEDLEY_PURE __attribute__((__pure__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+#  define JSON_HEDLEY_PURE _Pragma("does_not_write_global_data")
+#elif defined(__cplusplus) && \
+    ( \
+      JSON_HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \
+      JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0) || \
+      JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) \
+    )
+#  define JSON_HEDLEY_PURE _Pragma("FUNC_IS_PURE;")
+#else
+#  define JSON_HEDLEY_PURE
+#endif
+
+#if defined(JSON_HEDLEY_CONST)
+    #undef JSON_HEDLEY_CONST
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(const) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(2,5,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_CONST __attribute__((__const__))
+#elif \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_CONST _Pragma("no_side_effect")
+#else
+    #define JSON_HEDLEY_CONST JSON_HEDLEY_PURE
+#endif
+
+#if defined(JSON_HEDLEY_RESTRICT)
+    #undef JSON_HEDLEY_RESTRICT
+#endif
+#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && !defined(__cplusplus)
+    #define JSON_HEDLEY_RESTRICT restrict
+#elif \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,4) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) || \
+    defined(__clang__) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_RESTRICT __restrict
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,3,0) && !defined(__cplusplus)
+    #define JSON_HEDLEY_RESTRICT _Restrict
+#else
+    #define JSON_HEDLEY_RESTRICT
+#endif
+
+#if defined(JSON_HEDLEY_INLINE)
+    #undef JSON_HEDLEY_INLINE
+#endif
+#if \
+    (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \
+    (defined(__cplusplus) && (__cplusplus >= 199711L))
+    #define JSON_HEDLEY_INLINE inline
+#elif \
+    defined(JSON_HEDLEY_GCC_VERSION) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(6,2,0)
+    #define JSON_HEDLEY_INLINE __inline__
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(12,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,1,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_INLINE __inline
+#else
+    #define JSON_HEDLEY_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_ALWAYS_INLINE)
+    #undef JSON_HEDLEY_ALWAYS_INLINE
+#endif
+#if \
+  JSON_HEDLEY_HAS_ATTRIBUTE(always_inline) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) || \
+  JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE __attribute__((__always_inline__)) JSON_HEDLEY_INLINE
+#elif \
+  JSON_HEDLEY_MSVC_VERSION_CHECK(12,0,0) || \
+  JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE __forceinline
+#elif defined(__cplusplus) && \
+    ( \
+      JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+      JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+      JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+      JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+      JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+      JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) \
+    )
+#  define JSON_HEDLEY_ALWAYS_INLINE _Pragma("FUNC_ALWAYS_INLINE;")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE _Pragma("inline=forced")
+#else
+#  define JSON_HEDLEY_ALWAYS_INLINE JSON_HEDLEY_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_NEVER_INLINE)
+    #undef JSON_HEDLEY_NEVER_INLINE
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(noinline) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0)
+    #define JSON_HEDLEY_NEVER_INLINE __attribute__((__noinline__))
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_NEVER_INLINE __declspec(noinline)
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(10,2,0)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("noinline")
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("FUNC_CANNOT_INLINE;")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("inline=never")
+#elif JSON_HEDLEY_COMPCERT_VERSION_CHECK(3,2,0)
+    #define JSON_HEDLEY_NEVER_INLINE __attribute((noinline))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(9,0,0)
+    #define JSON_HEDLEY_NEVER_INLINE __declspec(noinline)
+#else
+    #define JSON_HEDLEY_NEVER_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_PRIVATE)
+    #undef JSON_HEDLEY_PRIVATE
+#endif
+#if defined(JSON_HEDLEY_PUBLIC)
+    #undef JSON_HEDLEY_PUBLIC
+#endif
+#if defined(JSON_HEDLEY_IMPORT)
+    #undef JSON_HEDLEY_IMPORT
+#endif
+#if defined(_WIN32) || defined(__CYGWIN__)
+#  define JSON_HEDLEY_PRIVATE
+#  define JSON_HEDLEY_PUBLIC   __declspec(dllexport)
+#  define JSON_HEDLEY_IMPORT   __declspec(dllimport)
+#else
+#  if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(visibility) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+    ( \
+      defined(__TI_EABI__) && \
+      ( \
+        (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+        JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) \
+      ) \
+    ) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+#    define JSON_HEDLEY_PRIVATE __attribute__((__visibility__("hidden")))
+#    define JSON_HEDLEY_PUBLIC  __attribute__((__visibility__("default")))
+#  else
+#    define JSON_HEDLEY_PRIVATE
+#    define JSON_HEDLEY_PUBLIC
+#  endif
+#  define JSON_HEDLEY_IMPORT    extern
+#endif
+
+#if defined(JSON_HEDLEY_NO_THROW)
+    #undef JSON_HEDLEY_NO_THROW
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(nothrow) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_NO_THROW __attribute__((__nothrow__))
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,1,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0)
+    #define JSON_HEDLEY_NO_THROW __declspec(nothrow)
+#else
+    #define JSON_HEDLEY_NO_THROW
+#endif
+
+#if defined(JSON_HEDLEY_FALL_THROUGH)
+    #undef JSON_HEDLEY_FALL_THROUGH
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(fallthrough) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(7,0,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_FALL_THROUGH __attribute__((__fallthrough__))
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(clang,fallthrough)
+    #define JSON_HEDLEY_FALL_THROUGH JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[clang::fallthrough]])
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE(fallthrough)
+    #define JSON_HEDLEY_FALL_THROUGH JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[fallthrough]])
+#elif defined(__fallthrough) /* SAL */
+    #define JSON_HEDLEY_FALL_THROUGH __fallthrough
+#else
+    #define JSON_HEDLEY_FALL_THROUGH
+#endif
+
+#if defined(JSON_HEDLEY_RETURNS_NON_NULL)
+    #undef JSON_HEDLEY_RETURNS_NON_NULL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(returns_nonnull) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_RETURNS_NON_NULL __attribute__((__returns_nonnull__))
+#elif defined(_Ret_notnull_) /* SAL */
+    #define JSON_HEDLEY_RETURNS_NON_NULL _Ret_notnull_
+#else
+    #define JSON_HEDLEY_RETURNS_NON_NULL
+#endif
+
+#if defined(JSON_HEDLEY_ARRAY_PARAM)
+    #undef JSON_HEDLEY_ARRAY_PARAM
+#endif
+#if \
+    defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && \
+    !defined(__STDC_NO_VLA__) && \
+    !defined(__cplusplus) && \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_TINYC_VERSION)
+    #define JSON_HEDLEY_ARRAY_PARAM(name) (name)
+#else
+    #define JSON_HEDLEY_ARRAY_PARAM(name)
+#endif
+
+#if defined(JSON_HEDLEY_IS_CONSTANT)
+    #undef JSON_HEDLEY_IS_CONSTANT
+#endif
+#if defined(JSON_HEDLEY_REQUIRE_CONSTEXPR)
+    #undef JSON_HEDLEY_REQUIRE_CONSTEXPR
+#endif
+/* JSON_HEDLEY_IS_CONSTEXPR_ is for
+   HEDLEY INTERNAL USE ONLY.  API subject to change without notice. */
+#if defined(JSON_HEDLEY_IS_CONSTEXPR_)
+    #undef JSON_HEDLEY_IS_CONSTEXPR_
+#endif
+#if \
+    JSON_HEDLEY_HAS_BUILTIN(__builtin_constant_p) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,19) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0) && !defined(__cplusplus)) || \
+    JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_IS_CONSTANT(expr) __builtin_constant_p(expr)
+#endif
+#if !defined(__cplusplus)
+#  if \
+       JSON_HEDLEY_HAS_BUILTIN(__builtin_types_compatible_p) || \
+       JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+       JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+       JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+       JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \
+       JSON_HEDLEY_ARM_VERSION_CHECK(5,4,0) || \
+       JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,24)
+#if defined(__INTPTR_TYPE__)
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0)), int*)
+#else
+    #include <stdint.h>
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((intptr_t) ((expr) * 0)) : (int*) 0)), int*)
+#endif
+#  elif \
+       ( \
+          defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L) && \
+          !defined(JSON_HEDLEY_SUNPRO_VERSION) && \
+          !defined(JSON_HEDLEY_PGI_VERSION) && \
+          !defined(JSON_HEDLEY_IAR_VERSION)) || \
+       (JSON_HEDLEY_HAS_EXTENSION(c_generic_selections) && !defined(JSON_HEDLEY_IAR_VERSION)) || \
+       JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0) || \
+       JSON_HEDLEY_INTEL_VERSION_CHECK(17,0,0) || \
+       JSON_HEDLEY_IBM_VERSION_CHECK(12,1,0) || \
+       JSON_HEDLEY_ARM_VERSION_CHECK(5,3,0)
+#if defined(__INTPTR_TYPE__)
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0), int*: 1, void*: 0)
+#else
+    #include <stdint.h>
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((intptr_t) * 0) : (int*) 0), int*: 1, void*: 0)
+#endif
+#  elif \
+       defined(JSON_HEDLEY_GCC_VERSION) || \
+       defined(JSON_HEDLEY_INTEL_VERSION) || \
+       defined(JSON_HEDLEY_TINYC_VERSION) || \
+       defined(JSON_HEDLEY_TI_ARMCL_VERSION) || \
+       JSON_HEDLEY_TI_CL430_VERSION_CHECK(18,12,0) || \
+       defined(JSON_HEDLEY_TI_CL2000_VERSION) || \
+       defined(JSON_HEDLEY_TI_CL6X_VERSION) || \
+       defined(JSON_HEDLEY_TI_CL7X_VERSION) || \
+       defined(JSON_HEDLEY_TI_CLPRU_VERSION) || \
+       defined(__clang__)
+#    define JSON_HEDLEY_IS_CONSTEXPR_(expr) ( \
+        sizeof(void) != \
+        sizeof(*( \
+                  1 ? \
+                  ((void*) ((expr) * 0L) ) : \
+((struct { char v[sizeof(void) * 2]; } *) 1) \
+                ) \
+              ) \
+                                            )
+#  endif
+#endif
+#if defined(JSON_HEDLEY_IS_CONSTEXPR_)
+    #if !defined(JSON_HEDLEY_IS_CONSTANT)
+        #define JSON_HEDLEY_IS_CONSTANT(expr) JSON_HEDLEY_IS_CONSTEXPR_(expr)
+    #endif
+    #define JSON_HEDLEY_REQUIRE_CONSTEXPR(expr) (JSON_HEDLEY_IS_CONSTEXPR_(expr) ? (expr) : (-1))
+#else
+    #if !defined(JSON_HEDLEY_IS_CONSTANT)
+        #define JSON_HEDLEY_IS_CONSTANT(expr) (0)
+    #endif
+    #define JSON_HEDLEY_REQUIRE_CONSTEXPR(expr) (expr)
+#endif
+
+#if defined(JSON_HEDLEY_BEGIN_C_DECLS)
+    #undef JSON_HEDLEY_BEGIN_C_DECLS
+#endif
+#if defined(JSON_HEDLEY_END_C_DECLS)
+    #undef JSON_HEDLEY_END_C_DECLS
+#endif
+#if defined(JSON_HEDLEY_C_DECL)
+    #undef JSON_HEDLEY_C_DECL
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_BEGIN_C_DECLS extern "C" {
+    #define JSON_HEDLEY_END_C_DECLS }
+    #define JSON_HEDLEY_C_DECL extern "C"
+#else
+    #define JSON_HEDLEY_BEGIN_C_DECLS
+    #define JSON_HEDLEY_END_C_DECLS
+    #define JSON_HEDLEY_C_DECL
+#endif
+
+#if defined(JSON_HEDLEY_STATIC_ASSERT)
+    #undef JSON_HEDLEY_STATIC_ASSERT
+#endif
+#if \
+  !defined(__cplusplus) && ( \
+      (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L)) || \
+      (JSON_HEDLEY_HAS_FEATURE(c_static_assert) && !defined(JSON_HEDLEY_INTEL_CL_VERSION)) || \
+      JSON_HEDLEY_GCC_VERSION_CHECK(6,0,0) || \
+      JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+      defined(_Static_assert) \
+    )
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message) _Static_assert(expr, message)
+#elif \
+  (defined(__cplusplus) && (__cplusplus >= 201103L)) || \
+  JSON_HEDLEY_MSVC_VERSION_CHECK(16,0,0) || \
+  JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(static_assert(expr, message))
+#else
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message)
+#endif
+
+#if defined(JSON_HEDLEY_NULL)
+    #undef JSON_HEDLEY_NULL
+#endif
+#if defined(__cplusplus)
+    #if __cplusplus >= 201103L
+        #define JSON_HEDLEY_NULL JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(nullptr)
+    #elif defined(NULL)
+        #define JSON_HEDLEY_NULL NULL
+    #else
+        #define JSON_HEDLEY_NULL JSON_HEDLEY_STATIC_CAST(void*, 0)
+    #endif
+#elif defined(NULL)
+    #define JSON_HEDLEY_NULL NULL
+#else
+    #define JSON_HEDLEY_NULL ((void*) 0)
+#endif
+
+#if defined(JSON_HEDLEY_MESSAGE)
+    #undef JSON_HEDLEY_MESSAGE
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define JSON_HEDLEY_MESSAGE(msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \
+    JSON_HEDLEY_PRAGMA(message msg) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#elif \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,4,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message msg)
+#elif JSON_HEDLEY_CRAY_VERSION_CHECK(5,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(_CRI message msg)
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#else
+#  define JSON_HEDLEY_MESSAGE(msg)
+#endif
+
+#if defined(JSON_HEDLEY_WARNING)
+    #undef JSON_HEDLEY_WARNING
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define JSON_HEDLEY_WARNING(msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \
+    JSON_HEDLEY_PRAGMA(clang warning msg) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#elif \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,8,0) || \
+  JSON_HEDLEY_PGI_VERSION_CHECK(18,4,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_PRAGMA(GCC warning msg)
+#elif \
+  JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0) || \
+  JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#else
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_MESSAGE(msg)
+#endif
+
+#if defined(JSON_HEDLEY_REQUIRE)
+    #undef JSON_HEDLEY_REQUIRE
+#endif
+#if defined(JSON_HEDLEY_REQUIRE_MSG)
+    #undef JSON_HEDLEY_REQUIRE_MSG
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(diagnose_if)
+#  if JSON_HEDLEY_HAS_WARNING("-Wgcc-compat")
+#    define JSON_HEDLEY_REQUIRE(expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \
+    __attribute__((diagnose_if(!(expr), #expr, "error"))) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#    define JSON_HEDLEY_REQUIRE_MSG(expr,msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \
+    __attribute__((diagnose_if(!(expr), msg, "error"))) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#  else
+#    define JSON_HEDLEY_REQUIRE(expr) __attribute__((diagnose_if(!(expr), #expr, "error")))
+#    define JSON_HEDLEY_REQUIRE_MSG(expr,msg) __attribute__((diagnose_if(!(expr), msg, "error")))
+#  endif
+#else
+#  define JSON_HEDLEY_REQUIRE(expr)
+#  define JSON_HEDLEY_REQUIRE_MSG(expr,msg)
+#endif
+
+#if defined(JSON_HEDLEY_FLAGS)
+    #undef JSON_HEDLEY_FLAGS
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(flag_enum) && (!defined(__cplusplus) || JSON_HEDLEY_HAS_WARNING("-Wbitfield-enum-conversion"))
+    #define JSON_HEDLEY_FLAGS __attribute__((__flag_enum__))
+#else
+    #define JSON_HEDLEY_FLAGS
+#endif
+
+#if defined(JSON_HEDLEY_FLAGS_CAST)
+    #undef JSON_HEDLEY_FLAGS_CAST
+#endif
+#if JSON_HEDLEY_INTEL_VERSION_CHECK(19,0,0)
+#  define JSON_HEDLEY_FLAGS_CAST(T, expr) (__extension__ ({ \
+        JSON_HEDLEY_DIAGNOSTIC_PUSH \
+        _Pragma("warning(disable:188)") \
+        ((T) (expr)); \
+        JSON_HEDLEY_DIAGNOSTIC_POP \
+    }))
+#else
+#  define JSON_HEDLEY_FLAGS_CAST(T, expr) JSON_HEDLEY_STATIC_CAST(T, expr)
+#endif
+
+#if defined(JSON_HEDLEY_EMPTY_BASES)
+    #undef JSON_HEDLEY_EMPTY_BASES
+#endif
+#if \
+    (JSON_HEDLEY_MSVC_VERSION_CHECK(19,0,23918) && !JSON_HEDLEY_MSVC_VERSION_CHECK(20,0,0)) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_EMPTY_BASES __declspec(empty_bases)
+#else
+    #define JSON_HEDLEY_EMPTY_BASES
+#endif
+
+/* Remaining macros are deprecated. */
+
+#if defined(JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK)
+    #undef JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK
+#endif
+#if defined(__clang__)
+    #define JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) (0)
+#else
+    #define JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_CLANG_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_BUILTIN)
+    #undef JSON_HEDLEY_CLANG_HAS_BUILTIN
+#endif
+#define JSON_HEDLEY_CLANG_HAS_BUILTIN(builtin) JSON_HEDLEY_HAS_BUILTIN(builtin)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_FEATURE)
+    #undef JSON_HEDLEY_CLANG_HAS_FEATURE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_FEATURE(feature) JSON_HEDLEY_HAS_FEATURE(feature)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_EXTENSION)
+    #undef JSON_HEDLEY_CLANG_HAS_EXTENSION
+#endif
+#define JSON_HEDLEY_CLANG_HAS_EXTENSION(extension) JSON_HEDLEY_HAS_EXTENSION(extension)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_DECLSPEC_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_WARNING)
+    #undef JSON_HEDLEY_CLANG_HAS_WARNING
+#endif
+#define JSON_HEDLEY_CLANG_HAS_WARNING(warning) JSON_HEDLEY_HAS_WARNING(warning)
+
+#endif /* !defined(JSON_HEDLEY_VERSION) || (JSON_HEDLEY_VERSION < X) */
diff --git a/deploy/robot_ws/src/go2py_node/include/nlohmann/thirdparty/hedley/hedley_undef.hpp b/deploy/robot_ws/src/go2py_node/include/nlohmann/thirdparty/hedley/hedley_undef.hpp
new file mode 100644
index 0000000..d0c58ff
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/include/nlohmann/thirdparty/hedley/hedley_undef.hpp
@@ -0,0 +1,158 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.2
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2022 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#undef JSON_HEDLEY_ALWAYS_INLINE
+#undef JSON_HEDLEY_ARM_VERSION
+#undef JSON_HEDLEY_ARM_VERSION_CHECK
+#undef JSON_HEDLEY_ARRAY_PARAM
+#undef JSON_HEDLEY_ASSUME
+#undef JSON_HEDLEY_BEGIN_C_DECLS
+#undef JSON_HEDLEY_CLANG_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_BUILTIN
+#undef JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_EXTENSION
+#undef JSON_HEDLEY_CLANG_HAS_FEATURE
+#undef JSON_HEDLEY_CLANG_HAS_WARNING
+#undef JSON_HEDLEY_COMPCERT_VERSION
+#undef JSON_HEDLEY_COMPCERT_VERSION_CHECK
+#undef JSON_HEDLEY_CONCAT
+#undef JSON_HEDLEY_CONCAT3
+#undef JSON_HEDLEY_CONCAT3_EX
+#undef JSON_HEDLEY_CONCAT_EX
+#undef JSON_HEDLEY_CONST
+#undef JSON_HEDLEY_CONSTEXPR
+#undef JSON_HEDLEY_CONST_CAST
+#undef JSON_HEDLEY_CPP_CAST
+#undef JSON_HEDLEY_CRAY_VERSION
+#undef JSON_HEDLEY_CRAY_VERSION_CHECK
+#undef JSON_HEDLEY_C_DECL
+#undef JSON_HEDLEY_DEPRECATED
+#undef JSON_HEDLEY_DEPRECATED_FOR
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION
+#undef JSON_HEDLEY_DIAGNOSTIC_POP
+#undef JSON_HEDLEY_DIAGNOSTIC_PUSH
+#undef JSON_HEDLEY_DMC_VERSION
+#undef JSON_HEDLEY_DMC_VERSION_CHECK
+#undef JSON_HEDLEY_EMPTY_BASES
+#undef JSON_HEDLEY_EMSCRIPTEN_VERSION
+#undef JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK
+#undef JSON_HEDLEY_END_C_DECLS
+#undef JSON_HEDLEY_FLAGS
+#undef JSON_HEDLEY_FLAGS_CAST
+#undef JSON_HEDLEY_GCC_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_BUILTIN
+#undef JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_EXTENSION
+#undef JSON_HEDLEY_GCC_HAS_FEATURE
+#undef JSON_HEDLEY_GCC_HAS_WARNING
+#undef JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK
+#undef JSON_HEDLEY_GCC_VERSION
+#undef JSON_HEDLEY_GCC_VERSION_CHECK
+#undef JSON_HEDLEY_GNUC_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_BUILTIN
+#undef JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_EXTENSION
+#undef JSON_HEDLEY_GNUC_HAS_FEATURE
+#undef JSON_HEDLEY_GNUC_HAS_WARNING
+#undef JSON_HEDLEY_GNUC_VERSION
+#undef JSON_HEDLEY_GNUC_VERSION_CHECK
+#undef JSON_HEDLEY_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_BUILTIN
+#undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS
+#undef JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_EXTENSION
+#undef JSON_HEDLEY_HAS_FEATURE
+#undef JSON_HEDLEY_HAS_WARNING
+#undef JSON_HEDLEY_IAR_VERSION
+#undef JSON_HEDLEY_IAR_VERSION_CHECK
+#undef JSON_HEDLEY_IBM_VERSION
+#undef JSON_HEDLEY_IBM_VERSION_CHECK
+#undef JSON_HEDLEY_IMPORT
+#undef JSON_HEDLEY_INLINE
+#undef JSON_HEDLEY_INTEL_CL_VERSION
+#undef JSON_HEDLEY_INTEL_CL_VERSION_CHECK
+#undef JSON_HEDLEY_INTEL_VERSION
+#undef JSON_HEDLEY_INTEL_VERSION_CHECK
+#undef JSON_HEDLEY_IS_CONSTANT
+#undef JSON_HEDLEY_IS_CONSTEXPR_
+#undef JSON_HEDLEY_LIKELY
+#undef JSON_HEDLEY_MALLOC
+#undef JSON_HEDLEY_MCST_LCC_VERSION
+#undef JSON_HEDLEY_MCST_LCC_VERSION_CHECK
+#undef JSON_HEDLEY_MESSAGE
+#undef JSON_HEDLEY_MSVC_VERSION
+#undef JSON_HEDLEY_MSVC_VERSION_CHECK
+#undef JSON_HEDLEY_NEVER_INLINE
+#undef JSON_HEDLEY_NON_NULL
+#undef JSON_HEDLEY_NO_ESCAPE
+#undef JSON_HEDLEY_NO_RETURN
+#undef JSON_HEDLEY_NO_THROW
+#undef JSON_HEDLEY_NULL
+#undef JSON_HEDLEY_PELLES_VERSION
+#undef JSON_HEDLEY_PELLES_VERSION_CHECK
+#undef JSON_HEDLEY_PGI_VERSION
+#undef JSON_HEDLEY_PGI_VERSION_CHECK
+#undef JSON_HEDLEY_PREDICT
+#undef JSON_HEDLEY_PRINTF_FORMAT
+#undef JSON_HEDLEY_PRIVATE
+#undef JSON_HEDLEY_PUBLIC
+#undef JSON_HEDLEY_PURE
+#undef JSON_HEDLEY_REINTERPRET_CAST
+#undef JSON_HEDLEY_REQUIRE
+#undef JSON_HEDLEY_REQUIRE_CONSTEXPR
+#undef JSON_HEDLEY_REQUIRE_MSG
+#undef JSON_HEDLEY_RESTRICT
+#undef JSON_HEDLEY_RETURNS_NON_NULL
+#undef JSON_HEDLEY_SENTINEL
+#undef JSON_HEDLEY_STATIC_ASSERT
+#undef JSON_HEDLEY_STATIC_CAST
+#undef JSON_HEDLEY_STRINGIFY
+#undef JSON_HEDLEY_STRINGIFY_EX
+#undef JSON_HEDLEY_SUNPRO_VERSION
+#undef JSON_HEDLEY_SUNPRO_VERSION_CHECK
+#undef JSON_HEDLEY_TINYC_VERSION
+#undef JSON_HEDLEY_TINYC_VERSION_CHECK
+#undef JSON_HEDLEY_TI_ARMCL_VERSION
+#undef JSON_HEDLEY_TI_ARMCL_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL2000_VERSION
+#undef JSON_HEDLEY_TI_CL2000_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL430_VERSION
+#undef JSON_HEDLEY_TI_CL430_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL6X_VERSION
+#undef JSON_HEDLEY_TI_CL6X_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL7X_VERSION
+#undef JSON_HEDLEY_TI_CL7X_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CLPRU_VERSION
+#undef JSON_HEDLEY_TI_CLPRU_VERSION_CHECK
+#undef JSON_HEDLEY_TI_VERSION
+#undef JSON_HEDLEY_TI_VERSION_CHECK
+#undef JSON_HEDLEY_UNAVAILABLE
+#undef JSON_HEDLEY_UNLIKELY
+#undef JSON_HEDLEY_UNPREDICTABLE
+#undef JSON_HEDLEY_UNREACHABLE
+#undef JSON_HEDLEY_UNREACHABLE_RETURN
+#undef JSON_HEDLEY_VERSION
+#undef JSON_HEDLEY_VERSION_DECODE_MAJOR
+#undef JSON_HEDLEY_VERSION_DECODE_MINOR
+#undef JSON_HEDLEY_VERSION_DECODE_REVISION
+#undef JSON_HEDLEY_VERSION_ENCODE
+#undef JSON_HEDLEY_WARNING
+#undef JSON_HEDLEY_WARN_UNUSED_RESULT
+#undef JSON_HEDLEY_WARN_UNUSED_RESULT_MSG
+#undef JSON_HEDLEY_FALL_THROUGH
diff --git a/deploy/robot_ws/src/go2py_node/package.xml b/deploy/robot_ws/src/go2py_node/package.xml
new file mode 100644
index 0000000..edb456d
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>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/src/go2py_node/src/bridge.cpp b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
new file mode 100644
index 0000000..8ac57b4
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
@@ -0,0 +1,258 @@
+#include "unitree_go/msg/low_state.hpp"
+#include "unitree_go/msg/imu_state.hpp"
+#include "unitree_go/msg/motor_state.hpp"
+
+#include "unitree_go/msg/low_cmd.hpp"
+#include "unitree_go/msg/motor_cmd.hpp"
+#include "unitree_go/msg/bms_cmd.hpp"
+#include "common/motor_crc.h"
+
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/imu.hpp"
+#include "sensor_msgs/msg/joint_state.hpp"
+#include "sensor_msgs/msg/temperature.hpp"
+#include "sensor_msgs/msg/battery_state.hpp"
+#include "geometry_msgs/msg/twist_stamped.hpp"
+#include "nav_msgs/msg/odometry.hpp"
+#include <tf2/LinearMath/Quaternion.h>
+
+
+// headers needed for highlevel control
+#include "unitree_go/msg/sport_mode_state.hpp"
+#include "unitree_api/msg/request.hpp"
+#include "common/ros2_sport_client.h"
+
+class Custom: public rclcpp::Node
+{
+    public:
+        Custom() : Node("go2py_bridge_node")
+        {
+            pub_odom = this->create_publisher<nav_msgs::msg::Odometry>("/go2/odom", 1);
+            pub_imu  = this->create_publisher<sensor_msgs::msg::Imu>("/go2/imu", 1);
+            pub_joint  = this->create_publisher<sensor_msgs::msg::JointState>("/go2/joint_states", 1);
+            sub_twist = this->create_subscription<geometry_msgs::msg::TwistStamped>("/go2/twist_cmd", 1, std::bind(&Custom::twistCmdCallback, this, std::placeholders::_1));
+            
+            // Go2 highlevel subscriber and publishers
+            // the state_suber is set to subscribe "sportmodestate" topic
+            highstate_suber = this->create_subscription<unitree_go::msg::SportModeState>(
+                "sportmodestate", 10, std::bind(&Custom::highstate_callback, this, std::placeholders::_1));
+            // the req_puber is set to subscribe "/api/sport/request" topic with dt
+            highreq_puber = this->create_publisher<unitree_api::msg::Request>("/api/sport/request", 10);
+            
+            //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));
+            lowcmd_puber = this->create_publisher<unitree_go::msg::LowCmd>("/lowcmd", 10);
+
+        }
+    private:
+        // Highlevel twist command through standard ROS2 message type
+        void twistCmdCallback(const geometry_msgs::msg::TwistStamped::SharedPtr msg);
+        geometry_msgs::msg::TwistStamped twist_cmd;
+        rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr sub_twist;
+        uint64_t last_highcmd_stamp = 0;
+        
+        // ROS2 standard joint state, IMU, and odometry publishers
+        rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr pub_imu;
+        rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr pub_joint;
+        rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub_odom;
+        
+        // Highlevel interface
+        void highstate_callback(unitree_go::msg::SportModeState::SharedPtr data);
+        rclcpp::Subscription<unitree_go::msg::SportModeState>::SharedPtr highstate_suber;
+        rclcpp::Publisher<unitree_api::msg::Request>::SharedPtr highreq_puber;
+        unitree_api::msg::Request highreq; // Unitree Go2 ROS2 request message
+        SportClient sport_req;
+        
+        // Lowlevel interface
+        void lowstate_callback(unitree_go::msg::LowState::SharedPtr data);
+        rclcpp::Subscription<unitree_go::msg::LowState>::SharedPtr lowstate_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;
+        uint64_t last_lowcmd_stamp = 0;
+
+        void init_lowcmd()
+        {
+
+            for (int i = 0; i < 20; i++)
+            {
+                lowcmd_msg.motor_cmd[i].mode = 0x01; //Set toque mode, 0x00 is passive mode
+                lowcmd_msg.motor_cmd[i].q = PosStopF;
+                lowcmd_msg.motor_cmd[i].kp = 0;
+                lowcmd_msg.motor_cmd[i].dq = VelStopF;
+                lowcmd_msg.motor_cmd[i].kd = 0;
+                lowcmd_msg.motor_cmd[i].tau = 0;
+            }
+        }
+
+        struct {
+            float px;
+            float py;
+            float height;
+            float roll;
+            float pitch;
+            float yaw;
+            float imu_temp;
+            float wx;
+            float wy;
+            float wz; 
+            float ax;
+            float qy;
+            float az; 
+            float vx;
+            float vy;
+            float foot_force[4];
+        }highstate;     
+};
+
+void Custom::lowstate_callback(unitree_go::msg::LowState::SharedPtr data)
+{
+    // std::cout << data->tick << std::endl;
+    sensor_msgs::msg::Imu imu;
+    sensor_msgs::msg::JointState joint_state;
+    nav_msgs::msg::Odometry odom_state;
+
+    // Load the IMU message
+    imu.header.stamp=rclcpp::Clock().now();
+    imu.header.frame_id = "imu_link";
+    imu.orientation.w = data->imu_state.quaternion[0];
+    imu.orientation.x = data->imu_state.quaternion[1];
+    imu.orientation.y = data->imu_state.quaternion[2];
+    imu.orientation.z = data->imu_state.quaternion[3];
+    imu.linear_acceleration.x = data->imu_state.accelerometer[0];
+    imu.linear_acceleration.y = data->imu_state.accelerometer[1];
+    imu.linear_acceleration.z = data->imu_state.accelerometer[2];
+    imu.angular_velocity.x = data->imu_state.gyroscope[0];
+    imu.angular_velocity.y = data->imu_state.gyroscope[1];
+    imu.angular_velocity.z = data->imu_state.gyroscope[2];
+    // Load the joint state messages
+    joint_state.header.stamp = imu.header.stamp;
+    joint_state.header.frame_id = "trunk";
+    joint_state.name.push_back("FR_hip_joint");
+    joint_state.name.push_back("FR_thigh_joint");
+    joint_state.name.push_back("FR_calf_joint");
+
+    joint_state.name.push_back("FL_hip_joint");
+    joint_state.name.push_back("FL_thigh_joint");
+    joint_state.name.push_back("FL_calf_joint");
+
+    joint_state.name.push_back("RR_hip_joint");
+    joint_state.name.push_back("RR_thigh_joint");
+    joint_state.name.push_back("RR_calf_joint");
+
+    joint_state.name.push_back("RL_hip_joint");
+    joint_state.name.push_back("RL_thigh_joint");
+    joint_state.name.push_back("RL_calf_joint");
+    // add foot force joint state for contact detection
+    joint_state.name.push_back("FR_foot_force");
+    joint_state.name.push_back("FL_foot_force");
+    joint_state.name.push_back("RR_foot_force");
+    joint_state.name.push_back("RL_foot_force");
+
+    for(int i=0; i<12; i++)
+    {
+        joint_state.position.push_back(data->motor_state[i].q);
+        joint_state.velocity.push_back(data->motor_state[i].dq);
+        joint_state.effort.push_back(data->motor_state[i].tau_est);
+    }
+    // use the last four joint_state.position to store the foot force
+    for(int i=0; i<4; i++)
+    {
+        joint_state.effort.push_back(data->foot_force[i]);
+    }
+    pub_joint->publish(joint_state);
+    pub_imu->publish(imu);
+}
+
+void Custom::highstate_callback(unitree_go::msg::SportModeState::SharedPtr data)
+{
+    highstate.px = data->position[0];
+    highstate.py = data->position[1];
+    highstate.roll = data->imu_state.rpy[0];
+    highstate.pitch = data->imu_state.rpy[1];
+    highstate.yaw = data->imu_state.rpy[2];
+    for(int i=0; i<4; i++)
+    {
+        highstate.foot_force[i]=data->foot_force[i];
+    }
+    highstate.height = data->body_height;
+    
+    nav_msgs::msg::Odometry odom_state;
+    // odometry states published by the onboard high-level controller
+    odom_state.header.stamp = rclcpp::Clock().now();
+    odom_state.header.frame_id = "odom";
+    odom_state.child_frame_id = "base_link";
+    odom_state.pose.pose.position.x = data->position[0];
+    odom_state.pose.pose.position.y = data->position[1];
+    odom_state.pose.pose.position.z = data->body_height;
+
+
+    odom_state.twist.twist.linear.x = data->velocity[0];
+    odom_state.twist.twist.linear.y = data->velocity[1];
+    odom_state.twist.twist.linear.z = data->velocity[2];
+    odom_state.twist.twist.angular.z= data->yaw_speed;
+    double position_R = 0.05;
+    double orientation_R = 0.005;
+    odom_state.pose.covariance = {
+        position_R, 0, 0, 0, 0, 0,  // Covariance for position x
+        0, position_R, 0, 0, 0, 0,  // Covariance for position y
+        0, 0, position_R, 0, 0, 0,  // Covariance for position z
+        0, 0, 0, orientation_R, 0, 0,  // Covariance for orientation roll
+        0, 0, 0, 0, orientation_R, 0,  // Covariance for orientation pitch
+        0, 0, 0, 0, 0, orientation_R   // Covariance for orientation yaw    
+    };
+
+    odom_state.twist.covariance = {
+        position_R, 0, 0, 0, 0, 0,  // Covariance for position x
+        0, position_R, 0, 0, 0, 0,  // Covariance for position y
+        0, 0, position_R, 0, 0, 0,  // Covariance for position z
+        0, 0, 0, orientation_R, 0, 0,  // Covariance for orientation roll
+        0, 0, 0, 0, orientation_R, 0,  // Covariance for orientation pitch
+        0, 0, 0, 0, 0, orientation_R   // Covariance for orientation yaw    
+    };
+    
+    pub_odom->publish(odom_state);
+}
+
+void Custom::twistCmdCallback(const geometry_msgs::msg::TwistStamped::SharedPtr msg)
+{
+    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)
+{
+    // 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
+}
+
+int main(int argc, char **argv)
+{
+    rclcpp::init(argc, argv);                          // Initialize rclcpp
+    rclcpp::spin(std::make_shared<Custom>()); // Run ROS2 node which is make share with low_state_suber class
+    rclcpp::shutdown();                                // Exit
+    return 0;
+}
\ No newline at end of file
diff --git a/deploy/robot_ws/src/go2py_node/src/common/motor_crc.cpp b/deploy/robot_ws/src/go2py_node/src/common/motor_crc.cpp
new file mode 100644
index 0000000..5e05005
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/src/common/motor_crc.cpp
@@ -0,0 +1,75 @@
+#include "motor_crc.h"
+
+
+void get_crc(unitree_go::msg::LowCmd& msg)
+{
+    LowCmd raw{};
+    memcpy(&raw.head[0], &msg.head[0], 2);
+
+    raw.levelFlag=msg.level_flag;
+    raw.frameReserve=msg.frame_reserve;
+
+    memcpy(&raw.SN[0],&msg.sn[0], 8);
+    memcpy(&raw.version[0], &msg.version[0], 8);
+
+	raw.bandWidth=msg.bandwidth;
+
+
+    for(int i = 0; i<20; i++)
+    {
+        raw.motorCmd[i].mode=msg.motor_cmd[i].mode;
+        raw.motorCmd[i].q=msg.motor_cmd[i].q;
+        raw.motorCmd[i].dq=msg.motor_cmd[i].dq;
+        raw.motorCmd[i].tau=msg.motor_cmd[i].tau;
+        raw.motorCmd[i].Kp=msg.motor_cmd[i].kp;
+        raw.motorCmd[i].Kd=msg.motor_cmd[i].kd;
+
+        memcpy(&raw.motorCmd[i].reserve[0], &msg.motor_cmd[i].reserve[0], 12);
+    }
+
+    raw.bms.off=msg.bms_cmd.off;
+    memcpy(&raw.bms.reserve[0],&msg.bms_cmd.reserve[0],  3);
+
+
+    memcpy(&raw.wirelessRemote[0], &msg.wireless_remote[0], 40);
+
+    memcpy(&raw.led[0], &msg.led[0],  12);  // go2
+    memcpy(&raw.fan[0], &msg.fan[0],  2);
+    raw.gpio=msg.gpio;    // go2
+
+	raw.reserve=msg.reserve;
+
+    raw.crc=crc32_core((uint32_t *)&raw, (sizeof(LowCmd)>>2)-1);
+    msg.crc=raw.crc;
+
+    
+}
+
+
+uint32_t crc32_core(uint32_t* ptr, uint32_t len)
+{
+    uint32_t xbit = 0;
+    uint32_t data = 0;
+    uint32_t CRC32 = 0xFFFFFFFF;
+    const uint32_t dwPolynomial = 0x04c11db7;
+    for (uint32_t i = 0; i < len; i++)
+    {
+        xbit = 1 << 31;
+        data = ptr[i];
+        for (uint32_t bits = 0; bits < 32; bits++)
+        {
+            if (CRC32 & 0x80000000)
+            {
+                CRC32 <<= 1;
+                CRC32 ^= dwPolynomial;
+            }
+            else
+                CRC32 <<= 1;
+            if (data & xbit)
+                CRC32 ^= dwPolynomial;
+
+            xbit >>= 1;
+        }
+    }
+    return CRC32;
+}
\ No newline at end of file
diff --git a/deploy/robot_ws/src/go2py_node/src/common/ros2_sport_client.cpp b/deploy/robot_ws/src/go2py_node/src/common/ros2_sport_client.cpp
new file mode 100644
index 0000000..d46922d
--- /dev/null
+++ b/deploy/robot_ws/src/go2py_node/src/common/ros2_sport_client.cpp
@@ -0,0 +1,192 @@
+#include "ros2_sport_client.h"
+
+void SportClient::Damp(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_DAMP;
+}
+
+void SportClient::BalanceStand(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_BALANCESTAND;
+}
+
+void SportClient::StopMove(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_STOPMOVE;
+}
+
+void SportClient::StandUp(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_STANDUP;
+}
+
+void SportClient::StandDown(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_STANDDOWN;
+}
+
+void SportClient::RecoveryStand(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_RECOVERYSTAND;
+}
+
+void SportClient::Euler(unitree_api::msg::Request &req, float roll, float pitch, float yaw)
+{
+    nlohmann::json js;
+    js["x"] = roll;
+    js["y"] = pitch;
+    js["z"] = yaw;
+    req.parameter = js.dump();
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_EULER;
+}
+
+void SportClient::Move(unitree_api::msg::Request &req, float vx, float vy, float vyaw)
+{
+    nlohmann::json js;
+    js["x"] = vx;
+    js["y"] = vy;
+    js["z"] = vyaw;
+    req.parameter = js.dump();
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_MOVE;
+}
+
+void SportClient::Sit(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_SIT;
+}
+
+void SportClient::RiseSit(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_RISESIT;
+}
+
+void SportClient::SwitchGait(unitree_api::msg::Request &req, int d)
+{
+    nlohmann::json js;
+    js["data"] = d;
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_SWITCHGAIT;
+    req.parameter = js.dump();
+}
+
+void SportClient::Trigger(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_TRIGGER;
+}
+
+void SportClient::BodyHeight(unitree_api::msg::Request &req, float height)
+{
+    nlohmann::json js;
+    js["data"] = height;
+    req.parameter = js.dump();
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_BODYHEIGHT;
+}
+
+void SportClient::FootRaiseHeight(unitree_api::msg::Request &req, float height)
+{
+    nlohmann::json js;
+    js["data"] = height;
+    req.parameter = js.dump();
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_FOOTRAISEHEIGHT;
+}
+
+void SportClient::SpeedLevel(unitree_api::msg::Request &req, int level)
+{
+    nlohmann::json js;
+    js["data"] = level;
+    req.parameter = js.dump();
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_SPEEDLEVEL;
+}
+
+void SportClient::Hello(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_HELLO;
+}
+
+void SportClient::Stretch(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_STRETCH;
+}
+
+
+void SportClient::TrajectoryFollow(unitree_api::msg::Request &req, std::vector<PathPoint> &path)
+{
+    nlohmann::json js_path;
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_TRAJECTORYFOLLOW;
+    for (int i = 0; i < 30; i++)
+    {
+        nlohmann::json js_point;
+        js_point["t_from_start"] = path[i].timeFromStart;
+        js_point["x"] = path[i].x;
+        js_point["y"] = path[i].y;
+        js_point["yaw"] = path[i].yaw;
+        js_point["vx"] = path[i].vx;
+        js_point["vy"] = path[i].vy;
+        js_point["vyaw"] = path[i].vyaw;
+        js_path.push_back(js_point);
+    }
+    req.parameter =js_path.dump();
+}
+
+void SportClient::SwitchJoystick(unitree_api::msg::Request &req, bool flag)
+{
+    nlohmann::json js;
+    js["data"] = flag;
+    req.parameter = js.dump();
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_SWITCHJOYSTICK;
+}
+
+void SportClient::ContinuousGait(unitree_api::msg::Request &req, bool flag)
+{
+    nlohmann::json js;
+    js["data"] = flag;
+    req.parameter = js.dump();
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_CONTINUOUSGAIT;
+}
+
+void SportClient::Wallow(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_WALLOW;
+}
+
+void SportClient::Content(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_CONTENT;
+}
+
+void SportClient::Pose(unitree_api::msg::Request &req, bool flag)
+{
+    nlohmann::json js;
+    js["data"] = flag;
+    req.parameter = js.dump();
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_POSE;
+}
+
+void SportClient::Scrape(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_SCRAPE;
+}
+
+void SportClient::FrontFlip(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_FRONTFLIP;
+}
+
+void SportClient::FrontJump(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_FRONTJUMP;
+}
+
+void SportClient::FrontPounce(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_FRONTPOUNCE;
+}
+
+void SportClient::Dance1(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_DANCE1;
+}
+
+void SportClient::Dance2(unitree_api::msg::Request &req)
+{
+    req.header.identity.api_id = ROBOT_SPORT_API_ID_DANCE2;
+}
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_api/CMakeLists.txt b/deploy/robot_ws/src/unitree/unitree_api/CMakeLists.txt
new file mode 100755
index 0000000..4e7c4b9
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_api/CMakeLists.txt
@@ -0,0 +1,64 @@
+cmake_minimum_required(VERSION 3.5)
+project(unitree_api)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(rosidl_generator_dds_idl REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+        "msg/Request.msg"
+        "msg/RequestHeader.msg"
+        "msg/RequestIdentity.msg"
+        "msg/RequestLease.msg"
+        "msg/RequestPolicy.msg"
+        "msg/Response.msg"
+        "msg/ResponseHeader.msg"
+        "msg/ResponseStatus.msg"
+
+  DEPENDENCIES geometry_msgs
+)
+
+rosidl_generate_dds_interfaces(
+  ${rosidl_generate_interfaces_TARGET}__dds_connext_idl
+  IDL_TUPLES ${rosidl_generate_interfaces_IDL_TUPLES}
+  OUTPUT_SUBFOLDERS "dds_connext"
+)
+add_dependencies(
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}__dds_connext_idl
+)
+
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/deploy/robot_ws/src/unitree/unitree_api/msg/Request.msg b/deploy/robot_ws/src/unitree/unitree_api/msg/Request.msg
new file mode 100755
index 0000000..b1df58a
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_api/msg/Request.msg
@@ -0,0 +1,3 @@
+RequestHeader header
+string parameter
+uint8[] binary
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_api/msg/RequestHeader.msg b/deploy/robot_ws/src/unitree/unitree_api/msg/RequestHeader.msg
new file mode 100755
index 0000000..022161b
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_api/msg/RequestHeader.msg
@@ -0,0 +1,3 @@
+RequestIdentity identity
+RequestLease lease
+RequestPolicy policy
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_api/msg/RequestIdentity.msg b/deploy/robot_ws/src/unitree/unitree_api/msg/RequestIdentity.msg
new file mode 100755
index 0000000..90011ff
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_api/msg/RequestIdentity.msg
@@ -0,0 +1,2 @@
+int64  id
+int64 api_id
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_api/msg/RequestLease.msg b/deploy/robot_ws/src/unitree/unitree_api/msg/RequestLease.msg
new file mode 100755
index 0000000..85f692f
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_api/msg/RequestLease.msg
@@ -0,0 +1 @@
+int64 id
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_api/msg/RequestPolicy.msg b/deploy/robot_ws/src/unitree/unitree_api/msg/RequestPolicy.msg
new file mode 100755
index 0000000..89e00c2
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_api/msg/RequestPolicy.msg
@@ -0,0 +1,2 @@
+int32 priority
+bool noreply
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_api/msg/Response.msg b/deploy/robot_ws/src/unitree/unitree_api/msg/Response.msg
new file mode 100755
index 0000000..2036630
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_api/msg/Response.msg
@@ -0,0 +1,3 @@
+ResponseHeader header
+string data
+int8[] binary
diff --git a/deploy/robot_ws/src/unitree/unitree_api/msg/ResponseHeader.msg b/deploy/robot_ws/src/unitree/unitree_api/msg/ResponseHeader.msg
new file mode 100755
index 0000000..3d51649
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_api/msg/ResponseHeader.msg
@@ -0,0 +1,2 @@
+RequestIdentity identity
+ResponseStatus status
diff --git a/deploy/robot_ws/src/unitree/unitree_api/msg/ResponseStatus.msg b/deploy/robot_ws/src/unitree/unitree_api/msg/ResponseStatus.msg
new file mode 100755
index 0000000..1d379fa
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_api/msg/ResponseStatus.msg
@@ -0,0 +1 @@
+int32 code
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_api/package.xml b/deploy/robot_ws/src/unitree/unitree_api/package.xml
new file mode 100755
index 0000000..915a946
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_api/package.xml
@@ -0,0 +1,23 @@
+<?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/src/unitree/unitree_go/CMakeLists.txt b/deploy/robot_ws/src/unitree/unitree_go/CMakeLists.txt
new file mode 100755
index 0000000..2cab5df
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/CMakeLists.txt
@@ -0,0 +1,77 @@
+cmake_minimum_required(VERSION 3.5)
+project(unitree_go)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(rosidl_generator_dds_idl REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+        "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"
+  DEPENDENCIES geometry_msgs
+)
+
+rosidl_generate_dds_interfaces(
+  ${rosidl_generate_interfaces_TARGET}__dds_connext_idl
+  IDL_TUPLES ${rosidl_generate_interfaces_IDL_TUPLES}
+  OUTPUT_SUBFOLDERS "dds_connext"
+)
+add_dependencies(
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}__dds_connext_idl
+)
+
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/deploy/robot_ws/src/unitree/unitree_go/msg/AudioData.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/AudioData.msg
new file mode 100755
index 0000000..6e889bc
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/AudioData.msg
@@ -0,0 +1,2 @@
+uint64 time_frame
+uint8[] data
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_go/msg/BmsCmd.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/BmsCmd.msg
new file mode 100755
index 0000000..bdbf9c3
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/BmsCmd.msg
@@ -0,0 +1,2 @@
+uint8 off
+uint8[3] reserve
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_go/msg/BmsState.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/BmsState.msg
new file mode 100755
index 0000000..052e4d5
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/BmsState.msg
@@ -0,0 +1,9 @@
+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/src/unitree/unitree_go/msg/Error.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/Error.msg
new file mode 100755
index 0000000..4a5a631
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/Error.msg
@@ -0,0 +1,2 @@
+uint32 source
+uint32 state
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_go/msg/Go2FrontVideoData.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/Go2FrontVideoData.msg
new file mode 100755
index 0000000..3c294f3
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/Go2FrontVideoData.msg
@@ -0,0 +1,4 @@
+uint64 time_frame
+uint8[] video720p
+uint8[] video360p
+uint8[] video180p 
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_go/msg/HeightMap.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/HeightMap.msg
new file mode 100755
index 0000000..4e6f3b2
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/HeightMap.msg
@@ -0,0 +1,15 @@
+# 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/src/unitree/unitree_go/msg/IMUState.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/IMUState.msg
new file mode 100755
index 0000000..e065d04
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/IMUState.msg
@@ -0,0 +1,5 @@
+float32[4] quaternion
+float32[3] gyroscope
+float32[3] accelerometer
+float32[3] rpy
+int8 temperature
diff --git a/deploy/robot_ws/src/unitree/unitree_go/msg/InterfaceConfig.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/InterfaceConfig.msg
new file mode 100755
index 0000000..c43bd20
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/InterfaceConfig.msg
@@ -0,0 +1,3 @@
+uint8 mode
+uint8 value
+uint8[2] reserve
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_go/msg/LidarState.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/LidarState.msg
new file mode 100755
index 0000000..d8b4eb2
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/LidarState.msg
@@ -0,0 +1,17 @@
+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/src/unitree/unitree_go/msg/LowCmd.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/LowCmd.msg
new file mode 100755
index 0000000..464a31d
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/LowCmd.msg
@@ -0,0 +1,15 @@
+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/src/unitree/unitree_go/msg/LowState.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/LowState.msg
new file mode 100755
index 0000000..ceaed32
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/LowState.msg
@@ -0,0 +1,22 @@
+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/src/unitree/unitree_go/msg/MotorCmd.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/MotorCmd.msg
new file mode 100755
index 0000000..67cd1bf
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/MotorCmd.msg
@@ -0,0 +1,7 @@
+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/src/unitree/unitree_go/msg/MotorState.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/MotorState.msg
new file mode 100755
index 0000000..2e1a739
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/MotorState.msg
@@ -0,0 +1,11 @@
+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/src/unitree/unitree_go/msg/PathPoint.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/PathPoint.msg
new file mode 100755
index 0000000..08b4945
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/PathPoint.msg
@@ -0,0 +1,7 @@
+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/src/unitree/unitree_go/msg/Req.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/Req.msg
new file mode 100755
index 0000000..af14a7d
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/Req.msg
@@ -0,0 +1,2 @@
+string uuid
+string body
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_go/msg/Res.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/Res.msg
new file mode 100755
index 0000000..8070258
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/Res.msg
@@ -0,0 +1,3 @@
+string uuid
+uint8[] data
+string body
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_go/msg/SportModeCmd.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/SportModeCmd.msg
new file mode 100755
index 0000000..e5ccb46
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/SportModeCmd.msg
@@ -0,0 +1,13 @@
+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/src/unitree/unitree_go/msg/SportModeState.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/SportModeState.msg
new file mode 100755
index 0000000..7a6c1e6
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/SportModeState.msg
@@ -0,0 +1,17 @@
+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/src/unitree/unitree_go/msg/TimeSpec.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/TimeSpec.msg
new file mode 100755
index 0000000..188b3c1
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/TimeSpec.msg
@@ -0,0 +1,5 @@
+# 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/src/unitree/unitree_go/msg/UwbState.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/UwbState.msg
new file mode 100755
index 0000000..ed1da3a
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/UwbState.msg
@@ -0,0 +1,19 @@
+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/src/unitree/unitree_go/msg/UwbSwitch.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/UwbSwitch.msg
new file mode 100755
index 0000000..db8ec91
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/UwbSwitch.msg
@@ -0,0 +1 @@
+uint8 enabled
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_go/msg/WirelessController.msg b/deploy/robot_ws/src/unitree/unitree_go/msg/WirelessController.msg
new file mode 100755
index 0000000..12965ff
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/msg/WirelessController.msg
@@ -0,0 +1,5 @@
+float32 lx
+float32 ly
+float32 rx
+float32 ry
+uint16 keys
\ No newline at end of file
diff --git a/deploy/robot_ws/src/unitree/unitree_go/package.xml b/deploy/robot_ws/src/unitree/unitree_go/package.xml
new file mode 100755
index 0000000..1a26d14
--- /dev/null
+++ b/deploy/robot_ws/src/unitree/unitree_go/package.xml
@@ -0,0 +1,23 @@
+<?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>