diff --git a/deploy/dock_ws/src/install/.colcon_install_layout b/deploy/dock_ws/src/install/.colcon_install_layout
new file mode 100644
index 0000000..3aad533
--- /dev/null
+++ b/deploy/dock_ws/src/install/.colcon_install_layout
@@ -0,0 +1 @@
+isolated
diff --git a/deploy/dock_ws/src/install/COLCON_IGNORE b/deploy/dock_ws/src/install/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/deploy/dock_ws/src/install/_local_setup_util_ps1.py b/deploy/dock_ws/src/install/_local_setup_util_ps1.py
new file mode 100644
index 0000000..83abe63
--- /dev/null
+++ b/deploy/dock_ws/src/install/_local_setup_util_ps1.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"'
+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/dock_ws/src/install/_local_setup_util_sh.py b/deploy/dock_ws/src/install/_local_setup_util_sh.py
new file mode 100644
index 0000000..ff31198
--- /dev/null
+++ b/deploy/dock_ws/src/install/_local_setup_util_sh.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
+FORMAT_STR_USE_ENV_VAR = '${name}'
+FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"'
+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/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__builder.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__builder.hpp
new file mode 120000
index 0000000..4fefe1d
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__builder.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/detail/udp_frame__builder.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__functions.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__functions.h
new file mode 120000
index 0000000..c4a5805
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__functions.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_c/hesai_ros_driver/msg/detail/udp_frame__functions.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_fastrtps_c.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_fastrtps_c.h
new file mode 120000
index 0000000..2af4cda
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_fastrtps_c/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_fastrtps_c.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_fastrtps_cpp.hpp
new file mode 120000
index 0000000..41fbe44
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_fastrtps_cpp/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_fastrtps_cpp.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_introspection_c.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_introspection_c.h
new file mode 120000
index 0000000..d6e22e8
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_introspection_c.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_introspection_c/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_introspection_c.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_introspection_cpp.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_introspection_cpp.hpp
new file mode 120000
index 0000000..5248319
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_introspection_cpp/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_introspection_cpp.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__struct.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__struct.h
new file mode 120000
index 0000000..e4bee95
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__struct.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_c/hesai_ros_driver/msg/detail/udp_frame__struct.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__struct.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__struct.hpp
new file mode 120000
index 0000000..3886a5e
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__struct.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/detail/udp_frame__struct.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__traits.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__traits.hpp
new file mode 120000
index 0000000..b6c565e
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__traits.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/detail/udp_frame__traits.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__type_support.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__type_support.h
new file mode 120000
index 0000000..15530c9
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__type_support.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_c/hesai_ros_driver/msg/detail/udp_frame__type_support.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__type_support.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__type_support.hpp
new file mode 120000
index 0000000..de31664
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__type_support.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/detail/udp_frame__type_support.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__builder.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__builder.hpp
new file mode 120000
index 0000000..69403e1
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__builder.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/detail/udp_packet__builder.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__functions.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__functions.h
new file mode 120000
index 0000000..4e23a75
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__functions.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_c/hesai_ros_driver/msg/detail/udp_packet__functions.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_fastrtps_c.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_fastrtps_c.h
new file mode 120000
index 0000000..ca4545d
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_fastrtps_c.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_fastrtps_c/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_fastrtps_c.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_fastrtps_cpp.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_fastrtps_cpp.hpp
new file mode 120000
index 0000000..5c519bc
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_fastrtps_cpp.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_fastrtps_cpp/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_fastrtps_cpp.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_introspection_c.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_introspection_c.h
new file mode 120000
index 0000000..af9f84e
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_introspection_c.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_introspection_c/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_introspection_c.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_introspection_cpp.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_introspection_cpp.hpp
new file mode 120000
index 0000000..a74c2ec
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_introspection_cpp.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_introspection_cpp/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_introspection_cpp.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__struct.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__struct.h
new file mode 120000
index 0000000..24aa902
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__struct.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_c/hesai_ros_driver/msg/detail/udp_packet__struct.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__struct.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__struct.hpp
new file mode 120000
index 0000000..0e08596
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__struct.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/detail/udp_packet__struct.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__traits.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__traits.hpp
new file mode 120000
index 0000000..be42493
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__traits.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/detail/udp_packet__traits.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__type_support.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__type_support.h
new file mode 120000
index 0000000..ed06506
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__type_support.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_c/hesai_ros_driver/msg/detail/udp_packet__type_support.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__type_support.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__type_support.hpp
new file mode 120000
index 0000000..59b659b
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__type_support.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/detail/udp_packet__type_support.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_generator_c__visibility_control.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_generator_c__visibility_control.h
new file mode 120000
index 0000000..fa17be3
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_generator_c__visibility_control.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_c/hesai_ros_driver/msg/rosidl_generator_c__visibility_control.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_generator_cpp__visibility_control.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_generator_cpp__visibility_control.hpp
new file mode 120000
index 0000000..cb6ef3c
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_generator_cpp__visibility_control.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/rosidl_generator_cpp__visibility_control.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_fastrtps_c__visibility_control.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
new file mode 120000
index 0000000..59bd9e6
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_fastrtps_c/hesai_ros_driver/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
new file mode 120000
index 0000000..d17ae8f
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_fastrtps_cpp/hesai_ros_driver/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_introspection_c__visibility_control.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_introspection_c__visibility_control.h
new file mode 120000
index 0000000..f1b7a54
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_introspection_c__visibility_control.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_typesupport_introspection_c/hesai_ros_driver/msg/rosidl_typesupport_introspection_c__visibility_control.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_frame.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_frame.h
new file mode 120000
index 0000000..bf890f0
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_frame.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_c/hesai_ros_driver/msg/udp_frame.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_frame.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_frame.hpp
new file mode 120000
index 0000000..9768296
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_frame.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/udp_frame.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_packet.h b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_packet.h
new file mode 120000
index 0000000..da97c6c
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_packet.h
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_c/hesai_ros_driver/msg/udp_packet.h
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_packet.hpp b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_packet.hpp
new file mode 120000
index 0000000..98e64c7
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_packet.hpp
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_cpp/hesai_ros_driver/msg/udp_packet.hpp
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/lib/hesai_ros_driver/hesai_ros_driver_node b/deploy/dock_ws/src/install/hesai_ros_driver/lib/hesai_ros_driver/hesai_ros_driver_node
new file mode 120000
index 0000000..94b56c0
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/lib/hesai_ros_driver/hesai_ros_driver_node
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/hesai_ros_driver_node
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/__init__.py b/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/__init__.py
new file mode 120000
index 0000000..7e0fe8f
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/__init__.py
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_py/hesai_ros_driver/__init__.py
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/__init__.py b/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/__init__.py
new file mode 120000
index 0000000..22736c5
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/__init__.py
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_py/hesai_ros_driver/msg/__init__.py
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/_udp_frame.py b/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/_udp_frame.py
new file mode 120000
index 0000000..7765bf3
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/_udp_frame.py
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_py/hesai_ros_driver/msg/_udp_frame.py
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/_udp_packet.py b/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/_udp_packet.py
new file mode 120000
index 0000000..5c6df02
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/_udp_packet.py
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_generator_py/hesai_ros_driver/msg/_udp_packet.py
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/package_run_dependencies/hesai_ros_driver b/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/package_run_dependencies/hesai_ros_driver
new file mode 120000
index 0000000..758cb67
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/package_run_dependencies/hesai_ros_driver
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/hesai_ros_driver
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/packages/hesai_ros_driver b/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/packages/hesai_ros_driver
new file mode 120000
index 0000000..7d25761
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/packages/hesai_ros_driver
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_index/share/ament_index/resource_index/packages/hesai_ros_driver
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/parent_prefix_path/hesai_ros_driver b/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/parent_prefix_path/hesai_ros_driver
new file mode 120000
index 0000000..8f75b45
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/parent_prefix_path/hesai_ros_driver
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/hesai_ros_driver
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/rosidl_interfaces/hesai_ros_driver b/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/rosidl_interfaces/hesai_ros_driver
new file mode 120000
index 0000000..5b3996c
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/rosidl_interfaces/hesai_ros_driver
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_index/share/ament_index/resource_index/rosidl_interfaces/hesai_ros_driver
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/colcon-core/packages/hesai_ros_driver b/deploy/dock_ws/src/install/hesai_ros_driver/share/colcon-core/packages/hesai_ros_driver
new file mode 100644
index 0000000..8583513
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/colcon-core/packages/hesai_ros_driver
@@ -0,0 +1 @@
+ament_index_cpp:rclcpp:rclcpp_action:sensor_msgs:std_msgs
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_dependencies-extras.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_dependencies-extras.cmake
new file mode 120000
index 0000000..82a37a3
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_dependencies-extras.cmake
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_include_directories-extras.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_include_directories-extras.cmake
new file mode 120000
index 0000000..b8bef99
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_include_directories-extras.cmake
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_libraries-extras.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_libraries-extras.cmake
new file mode 120000
index 0000000..4d9cc7a
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_libraries-extras.cmake
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_targets-extras.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_targets-extras.cmake
new file mode 120000
index 0000000..615fad9
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_targets-extras.cmake
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_export_targets/ament_cmake_export_targets-extras.cmake
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driverConfig-version.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driverConfig-version.cmake
new file mode 120000
index 0000000..8109633
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driverConfig-version.cmake
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_core/hesai_ros_driverConfig-version.cmake
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driverConfig.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driverConfig.cmake
new file mode 120000
index 0000000..90b5db8
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driverConfig.cmake
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_core/hesai_ros_driverConfig.cmake
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cExport-release.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cExport-release.cmake
new file mode 100644
index 0000000..59e9d3c
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cExport-release.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file for configuration "Release".
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "hesai_ros_driver::hesai_ros_driver__rosidl_generator_c" for configuration "Release"
+set_property(TARGET hesai_ros_driver::hesai_ros_driver__rosidl_generator_c APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_generator_c PROPERTIES
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_generator_c.so"
+  IMPORTED_SONAME_RELEASE "libhesai_ros_driver__rosidl_generator_c.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS hesai_ros_driver::hesai_ros_driver__rosidl_generator_c )
+list(APPEND _IMPORT_CHECK_FILES_FOR_hesai_ros_driver::hesai_ros_driver__rosidl_generator_c "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_generator_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cExport.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cExport.cmake
new file mode 100644
index 0000000..b968002
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__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 hesai_ros_driver::hesai_ros_driver__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 "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target hesai_ros_driver::hesai_ros_driver__rosidl_generator_c
+add_library(hesai_ros_driver::hesai_ros_driver__rosidl_generator_c SHARED IMPORTED)
+
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_generator_c PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "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;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;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}/hesai_ros_driver__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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cppExport.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cppExport.cmake
new file mode 100644
index 0000000..2e50502
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cppExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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 hesai_ros_driver::hesai_ros_driver__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 "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target hesai_ros_driver::hesai_ros_driver__rosidl_generator_cpp
+add_library(hesai_ros_driver::hesai_ros_driver__rosidl_generator_cpp INTERFACE IMPORTED)
+
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_generator_cpp PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "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;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;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}/hesai_ros_driver__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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cExport-release.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cExport-release.cmake
new file mode 100644
index 0000000..400bfc5
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cExport-release.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file for configuration "Release".
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_c" for configuration "Release"
+set_property(TARGET hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_c APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_c PROPERTIES
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_typesupport_c.so"
+  IMPORTED_SONAME_RELEASE "libhesai_ros_driver__rosidl_typesupport_c.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_c )
+list(APPEND _IMPORT_CHECK_FILES_FOR_hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_c "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_typesupport_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cExport.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cExport.cmake
new file mode 100644
index 0000000..9b9c57b
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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 hesai_ros_driver::hesai_ros_driver__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 "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_c
+add_library(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_c SHARED IMPORTED)
+
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_c PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_c::rosidl_typesupport_c;rosidl_typesupport_interface::rosidl_typesupport_interface;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;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"
+)
+
+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}/hesai_ros_driver__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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cppExport-release.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cppExport-release.cmake
new file mode 100644
index 0000000..8f69c82
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cppExport-release.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file for configuration "Release".
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp" for configuration "Release"
+set_property(TARGET hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp PROPERTIES
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_typesupport_cpp.so"
+  IMPORTED_SONAME_RELEASE "libhesai_ros_driver__rosidl_typesupport_cpp.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp )
+list(APPEND _IMPORT_CHECK_FILES_FOR_hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_typesupport_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cppExport.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cppExport.cmake
new file mode 100644
index 0000000..ea35ff1
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cppExport.cmake
@@ -0,0 +1,99 @@
+# Generated by CMake
+
+if("${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 hesai_ros_driver::hesai_ros_driver__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 "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp
+add_library(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp SHARED IMPORTED)
+
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_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;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;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"
+)
+
+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}/hesai_ros_driver__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_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cExport-release.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cExport-release.cmake
new file mode 100644
index 0000000..4a8d488
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cExport-release.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file for configuration "Release".
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_c" for configuration "Release"
+set_property(TARGET hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_c APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_c PROPERTIES
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_typesupport_introspection_c.so"
+  IMPORTED_SONAME_RELEASE "libhesai_ros_driver__rosidl_typesupport_introspection_c.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_c )
+list(APPEND _IMPORT_CHECK_FILES_FOR_hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_c "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_typesupport_introspection_c.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cExport.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cExport.cmake
new file mode 100644
index 0000000..624fcf7
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cExport.cmake
@@ -0,0 +1,114 @@
+# Generated by CMake
+
+if("${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 hesai_ros_driver::hesai_ros_driver__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 "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_c
+add_library(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_c SHARED IMPORTED)
+
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_c PROPERTIES
+  INTERFACE_LINK_LIBRARIES "hesai_ros_driver::hesai_ros_driver__rosidl_generator_c;rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_c"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/hesai_ros_driver__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 "hesai_ros_driver::hesai_ros_driver__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(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport-release.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport-release.cmake
new file mode 100644
index 0000000..54f16de
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport-release.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file for configuration "Release".
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp" for configuration "Release"
+set_property(TARGET hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp PROPERTIES
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_typesupport_introspection_cpp.so"
+  IMPORTED_SONAME_RELEASE "libhesai_ros_driver__rosidl_typesupport_introspection_cpp.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp )
+list(APPEND _IMPORT_CHECK_FILES_FOR_hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_typesupport_introspection_cpp.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport.cmake
new file mode 100644
index 0000000..6da39fe
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport.cmake
@@ -0,0 +1,98 @@
+# Generated by CMake
+
+if("${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 hesai_ros_driver::hesai_ros_driver__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 "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp
+add_library(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp SHARED IMPORTED)
+
+set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp PROPERTIES
+  INTERFACE_LINK_LIBRARIES "rosidl_runtime_c::rosidl_runtime_c;rosidl_typesupport_interface::rosidl_typesupport_interface;rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_generator_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_c;builtin_interfaces::builtin_interfaces__rosidl_typesupport_c;builtin_interfaces::builtin_interfaces__rosidl_generator_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_cpp;builtin_interfaces::builtin_interfaces__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_generator_c;std_msgs::std_msgs__rosidl_typesupport_introspection_c;std_msgs::std_msgs__rosidl_typesupport_c;std_msgs::std_msgs__rosidl_generator_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp;std_msgs::std_msgs__rosidl_typesupport_cpp;std_msgs::std_msgs__rosidl_typesupport_introspection_cpp"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/hesai_ros_driver__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/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake-extras.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake-extras.cmake
new file mode 120000
index 0000000..b657b09
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake-extras.cmake
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_cmake/rosidl_cmake-extras.cmake
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
new file mode 120000
index 0000000..0428424
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
new file mode 120000
index 0000000..94ea7fd
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/ament_prefix_path.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/ament_prefix_path.dsv
new file mode 120000
index 0000000..390744c
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_environment_hooks/ament_prefix_path.dsv
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/ament_prefix_path.sh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/ament_prefix_path.sh
new file mode 120000
index 0000000..896b1cd
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/ament_prefix_path.sh
@@ -0,0 +1 @@
+/opt/ros/foxy/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/library_path.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/library_path.dsv
new file mode 120000
index 0000000..018acb5
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/library_path.dsv
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_environment_hooks/library_path.dsv
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/library_path.sh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/library_path.sh
new file mode 120000
index 0000000..71670b6
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/library_path.sh
@@ -0,0 +1 @@
+/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/path.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/path.dsv
new file mode 120000
index 0000000..c3a6987
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/path.dsv
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_environment_hooks/path.dsv
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/path.sh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/path.sh
new file mode 120000
index 0000000..0870ca2
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/path.sh
@@ -0,0 +1 @@
+/opt/ros/foxy/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/pythonpath.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/pythonpath.dsv
new file mode 120000
index 0000000..bbde511
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/pythonpath.dsv
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_environment_hooks/pythonpath.dsv
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/pythonpath.sh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/pythonpath.sh
new file mode 120000
index 0000000..eaec01a
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/pythonpath.sh
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_environment_hooks/pythonpath.sh
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/cmake_prefix_path.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/cmake_prefix_path.dsv
new file mode 100644
index 0000000..e119f32
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/cmake_prefix_path.ps1 b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/cmake_prefix_path.ps1
new file mode 100644
index 0000000..d03facc
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/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/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/cmake_prefix_path.sh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/cmake_prefix_path.sh
new file mode 100644
index 0000000..a948e68
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/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 "$COLCON_CURRENT_PREFIX"
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.dsv
new file mode 100644
index 0000000..89bec93
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;LD_LIBRARY_PATH;lib
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.ps1 b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.ps1
new file mode 100644
index 0000000..f6df601
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX\lib"
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.sh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.sh
new file mode 100644
index 0000000..ca3c102
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/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 "$COLCON_CURRENT_PREFIX/lib"
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.dsv
new file mode 100644
index 0000000..84dbc4c
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.8/site-packages
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.ps1 b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.ps1
new file mode 100644
index 0000000..12877ef
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.8/site-packages"
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.sh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.sh
new file mode 100644
index 0000000..ed8efd9
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/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/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/dashing_start.py b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/dashing_start.py
new file mode 120000
index 0000000..61ed7e3
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/dashing_start.py
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/launch/dashing_start.py
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/start.launch b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/start.launch
new file mode 120000
index 0000000..1be8f8b
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/start.launch
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/launch/start.launch
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/start.py b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/start.py
new file mode 120000
index 0000000..3706826
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/start.py
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/launch/start.py
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.bash b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.bash
new file mode 120000
index 0000000..ab76e18
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.bash
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_environment_hooks/local_setup.bash
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.dsv
new file mode 120000
index 0000000..47ddaa4
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.dsv
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_environment_hooks/local_setup.dsv
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.sh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.sh
new file mode 120000
index 0000000..df8a1de
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.sh
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_environment_hooks/local_setup.sh
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.zsh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.zsh
new file mode 120000
index 0000000..de07639
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.zsh
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/ament_cmake_environment_hooks/local_setup.zsh
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg/UdpFrame.idl b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg/UdpFrame.idl
new file mode 120000
index 0000000..6671d2a
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg/UdpFrame.idl
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_adapter/hesai_ros_driver/msg/UdpFrame.idl
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg/UdpPacket.idl b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg/UdpPacket.idl
new file mode 120000
index 0000000..0c0edf7
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg/UdpPacket.idl
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/build/hesai_ros_driver/rosidl_adapter/hesai_ros_driver/msg/UdpPacket.idl
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg_ros2/UdpFrame.msg b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg_ros2/UdpFrame.msg
new file mode 120000
index 0000000..6998846
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg_ros2/UdpFrame.msg
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/msg/msg_ros2/UdpFrame.msg
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg_ros2/UdpPacket.msg b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg_ros2/UdpPacket.msg
new file mode 120000
index 0000000..abb812f
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg_ros2/UdpPacket.msg
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/msg/msg_ros2/UdpPacket.msg
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.bash b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.bash
new file mode 100644
index 0000000..74333c9
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/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/hesai_ros_driver/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/hesai_ros_driver/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.dsv
new file mode 100644
index 0000000..3975b7b
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.dsv
@@ -0,0 +1,14 @@
+source;share/hesai_ros_driver/hook/cmake_prefix_path.ps1
+source;share/hesai_ros_driver/hook/cmake_prefix_path.dsv
+source;share/hesai_ros_driver/hook/cmake_prefix_path.sh
+source;share/hesai_ros_driver/hook/ld_library_path_lib.ps1
+source;share/hesai_ros_driver/hook/ld_library_path_lib.dsv
+source;share/hesai_ros_driver/hook/ld_library_path_lib.sh
+source;share/hesai_ros_driver/hook/pythonpath.ps1
+source;share/hesai_ros_driver/hook/pythonpath.dsv
+source;share/hesai_ros_driver/hook/pythonpath.sh
+source;share/hesai_ros_driver/local_setup.bash
+source;share/hesai_ros_driver/local_setup.dsv
+source;share/hesai_ros_driver/local_setup.ps1
+source;share/hesai_ros_driver/local_setup.sh
+source;share/hesai_ros_driver/local_setup.zsh
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.ps1 b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.ps1
new file mode 100644
index 0000000..63a70f7
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/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/hesai_ros_driver/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/hesai_ros_driver/hook/ld_library_path_lib.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/hesai_ros_driver/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/hesai_ros_driver/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.sh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.sh
new file mode 100644
index 0000000..ee6352f
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/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/dock_ws/src/install/hesai_ros_driver"
+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/hesai_ros_driver/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/hesai_ros_driver/hook/ld_library_path_lib.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/hesai_ros_driver/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/hesai_ros_driver/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.xml b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.xml
new file mode 120000
index 0000000..6e95f0b
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.xml
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/package.xml
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.zsh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.zsh
new file mode 100644
index 0000000..7af0f5b
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$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 "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/hesai_ros_driver/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/hesai_ros_driver/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz.rviz b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz.rviz
new file mode 120000
index 0000000..9b041a7
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz.rviz
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/rviz/rviz.rviz
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz2.rviz b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz2.rviz
new file mode 120000
index 0000000..a2826ff
--- /dev/null
+++ b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz2.rviz
@@ -0,0 +1 @@
+/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/rviz/rviz2.rviz
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/local_setup.bash b/deploy/dock_ws/src/install/local_setup.bash
new file mode 100644
index 0000000..03f0025
--- /dev/null
+++ b/deploy/dock_ws/src/install/local_setup.bash
@@ -0,0 +1,121 @@
+# generated from colcon_bash/shell/template/prefix.bash.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_bash_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
+  unset _colcon_prefix_bash_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_bash_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
diff --git a/deploy/dock_ws/src/install/local_setup.ps1 b/deploy/dock_ws/src/install/local_setup.ps1
new file mode 100644
index 0000000..6f68c8d
--- /dev/null
+++ b/deploy/dock_ws/src/install/local_setup.ps1
@@ -0,0 +1,55 @@
+# generated from colcon_powershell/shell/template/prefix.ps1.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# check environment variable for custom Python executable
+if ($env:COLCON_PYTHON_EXECUTABLE) {
+  if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
+    echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    exit 1
+  }
+  $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
+} else {
+  # use the Python executable known at configure time
+  $_colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
+    if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
+      echo "error: unable to find python3 executable"
+      exit 1
+    }
+    $_colcon_python_executable="python3"
+  }
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_powershell_source_script {
+  param (
+    $_colcon_prefix_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
+  }
+}
+
+# get all commands in topological order
+$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
+
+# execute all commands in topological order
+if ($env:COLCON_TRACE) {
+  echo "Execute generated script:"
+  echo "<<<"
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
+  echo ">>>"
+}
+if ($_colcon_ordered_commands) {
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
+}
diff --git a/deploy/dock_ws/src/install/local_setup.sh b/deploy/dock_ws/src/install/local_setup.sh
new file mode 100644
index 0000000..c5cf95d
--- /dev/null
+++ b/deploy/dock_ws/src/install/local_setup.sh
@@ -0,0 +1,137 @@
+# generated from colcon_core/shell/template/prefix.sh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/install"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+else
+  _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_sh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
+  unset _colcon_prefix_sh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_sh_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "_colcon_prefix_sh_source_script() {
+    if [ -f \"\$1\" ]; then
+      if [ -n \"\$COLCON_TRACE\" ]; then
+        echo \"# . \\\"\$1\\\"\"
+      fi
+      . \"\$1\"
+    else
+      echo \"not found: \\\"\$1\\\"\" 1>&2
+    fi
+  }"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
diff --git a/deploy/dock_ws/src/install/local_setup.zsh b/deploy/dock_ws/src/install/local_setup.zsh
new file mode 100644
index 0000000..b648710
--- /dev/null
+++ b/deploy/dock_ws/src/install/local_setup.zsh
@@ -0,0 +1,134 @@
+# generated from colcon_zsh/shell/template/prefix.zsh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+_colcon_prefix_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_zsh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # workaround SH_WORD_SPLIT not being set
+  _colcon_prefix_zsh_convert_to_array _values
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
+  unset _colcon_prefix_zsh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_zsh_prepend_unique_value
+unset _colcon_prefix_zsh_convert_to_array
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
diff --git a/deploy/dock_ws/src/install/setup.bash b/deploy/dock_ws/src/install/setup.bash
new file mode 100644
index 0000000..00edbb2
--- /dev/null
+++ b/deploy/dock_ws/src/install/setup.bash
@@ -0,0 +1,37 @@
+# generated from colcon_bash/shell/template/prefix_chain.bash.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/foxy"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/dock_ws/install"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install"
+_colcon_prefix_chain_bash_source_script "$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/dock_ws/src/install/setup.ps1 b/deploy/dock_ws/src/install/setup.ps1
new file mode 100644
index 0000000..281a9ba
--- /dev/null
+++ b/deploy/dock_ws/src/install/setup.ps1
@@ -0,0 +1,31 @@
+# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_chain_powershell_source_script {
+  param (
+    $_colcon_prefix_chain_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_chain_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
+  }
+}
+
+# source chained prefixes
+_colcon_prefix_chain_powershell_source_script "/opt/ros/foxy\local_setup.ps1"
+_colcon_prefix_chain_powershell_source_script "/home/unitree/locomotion/Go2Py/deploy/dock_ws/install\local_setup.ps1"
+_colcon_prefix_chain_powershell_source_script "/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install\local_setup.ps1"
+
+# source this prefix
+$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/dock_ws/src/install/setup.sh b/deploy/dock_ws/src/install/setup.sh
new file mode 100644
index 0000000..fa4139f
--- /dev/null
+++ b/deploy/dock_ws/src/install/setup.sh
@@ -0,0 +1,53 @@
+# generated from colcon_core/shell/template/prefix_chain.sh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/install
+if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
+  echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+  unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+  return 1
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/foxy"
+_colcon_prefix_chain_sh_source_script "$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/Go2Py/deploy/dock_ws/install"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install"
+_colcon_prefix_chain_sh_source_script "$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/dock_ws/src/install/setup.zsh b/deploy/dock_ws/src/install/setup.zsh
new file mode 100644
index 0000000..23d0d38
--- /dev/null
+++ b/deploy/dock_ws/src/install/setup.zsh
@@ -0,0 +1,37 @@
+# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/foxy"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/dock_ws/install"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install"
+_colcon_prefix_chain_zsh_source_script "$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/dock_ws/src/lidar_node/CMakeLists.txt b/deploy/dock_ws/src/lidar_node/CMakeLists.txt
index db19153..1501412 100644
--- a/deploy/dock_ws/src/lidar_node/CMakeLists.txt
+++ b/deploy/dock_ws/src/lidar_node/CMakeLists.txt
@@ -146,7 +146,8 @@ add_subdirectory(src/driver/HesaiLidar_SDK_2.0)
 
 
 find_package(CUDA)
-if(CUDA_FOUND)
+if(OFF)
+# if(CUDA_FOUND)
   
   message(=============================================================)
   message("-- CUDA Found. CUDA Support is turned On.")
diff --git a/deploy/dock_ws/src/lidar_node/node/hesai_ros_driver_node.cc b/deploy/dock_ws/src/lidar_node/node/hesai_ros_driver_node.cc
index 1078279..84ec9ff 100644
--- a/deploy/dock_ws/src/lidar_node/node/hesai_ros_driver_node.cc
+++ b/deploy/dock_ws/src/lidar_node/node/hesai_ros_driver_node.cc
@@ -100,8 +100,34 @@ int main(int argc, char** argv)
   ros::MultiThreadedSpinner spinner(2); 
   spinner.spin();
 #elif ROS2_FOUND
+std::cout << "Start of here...";
+  using namespace std::chrono;
   std::unique_lock<std::mutex> lck(g_mtx);
-  g_cv.wait(lck);
+  while(true)
+  {
+    auto timeout = steady_clock::now() + milliseconds(10);
+    // Wait with timeout
+    if (g_cv.wait_until(lck, timeout) == std::cv_status::timeout) {
+        // Handle timeout logic here
+        // std::cout << "Timeout occurred after 10ms." << std::endl;
+        // std::cout << (int)(demo_ptr->sources_driver_[0]->publish_pointcloud_flag) << std::endl;
+        for(int i=0; i<demo_ptr->sources_driver_.size(); i++)
+        {
+          if(demo_ptr->sources_driver_[i]->publish_pointcloud_flag)
+          {
+            demo_ptr->sources_driver_[i]->publish_pointcloud_flag=false;
+            demo_ptr->sources_driver_[i]->publishPointcloud();
+          }
+        }
+        
+    } else {
+        // Continue with normal processing as the condition variable was signaled
+        // ...
+        std::cout << "Condition variable was set succesffuly" << std::endl;
+        break;
+    }
+  }
+  // g_cv.wait(lck);
 #endif
 
   return 0;
diff --git a/deploy/dock_ws/src/lidar_node/src/manager/node_manager.h b/deploy/dock_ws/src/lidar_node/src/manager/node_manager.h
index 1000980..d14a950 100644
--- a/deploy/dock_ws/src/lidar_node/src/manager/node_manager.h
+++ b/deploy/dock_ws/src/lidar_node/src/manager/node_manager.h
@@ -51,7 +51,7 @@ public:
   ~NodeManager();
   NodeManager() = default;
 
-private:
+// private:
 
   std::vector<SourceDriver::Ptr> sources_driver_;
 };
diff --git a/deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros2.hpp b/deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
index 43324f9..127f7e7 100644
--- a/deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
+++ b/deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
@@ -39,6 +39,7 @@
 #include <chrono>
 #include <string>
 #include <functional>
+#include <stdbool.h>
 #ifdef __CUDACC__
   #include "hesai_lidar_sdk_gpu.cuh"
 #else
@@ -58,6 +59,9 @@ public:
   SourceDriver(SourceType src_type) {};
   void SpinRos2(){rclcpp::spin(this->node_ptr_);}
   std::shared_ptr<rclcpp::Node> node_ptr_;
+  LidarDecodedFrame<LidarPointXYZIRT> pointcloud_;
+  void publishPointcloud(void);
+  bool publish_pointcloud_flag;
 protected:
   // Save packets subscribed by 'ros_recv_packet_topic'
   void RecievePacket(const hesai_ros_driver::msg::UdpFrame::SharedPtr msg);
@@ -85,6 +89,7 @@ protected:
 
 inline void SourceDriver::Init(const YAML::Node& config)
 {
+  publish_pointcloud_flag = false;
   YAML::Node driver_config = YamlSubNodeAbort(config, "driver");
   DriverParam driver_param;
   // input related
@@ -124,13 +129,13 @@ inline void SourceDriver::Init(const YAML::Node& config)
   if (send_point_cloud_ros) {
     std::string ros_send_point_topic;
     YamlRead<std::string>(config["ros"], "ros_send_point_cloud_topic", ros_send_point_topic, "hesai_points");
-    pub_ = node_ptr_->create_publisher<sensor_msgs::msg::PointCloud2>(ros_send_point_topic, 100);
+    pub_ = node_ptr_->create_publisher<sensor_msgs::msg::PointCloud2>(ros_send_point_topic, 1);
   }
 
   if (send_packet_ros && driver_param.input_param.source_type != DATA_FROM_ROS_PACKET) {
     std::string ros_send_packet_topic;
     YamlRead<std::string>(config["ros"], "ros_send_packet_topic", ros_send_packet_topic, "hesai_packets");
-    pkt_pub_ = node_ptr_->create_publisher<hesai_ros_driver::msg::UdpFrame>(ros_send_packet_topic, 10);
+    pkt_pub_ = node_ptr_->create_publisher<hesai_ros_driver::msg::UdpFrame>(ros_send_packet_topic, 1);
   }
 
   if (driver_param.input_param.source_type == DATA_FROM_ROS_PACKET) {
@@ -180,8 +185,15 @@ inline void SourceDriver::SendPacket(const UdpFrame_t& msg, double timestamp)
 }
 
 inline void SourceDriver::SendPointCloud(const LidarDecodedFrame<LidarPointXYZIRT>& msg)
+{ 
+  pointcloud_ = msg;
+  publish_pointcloud_flag = true;
+  // pub_->publish(ToRosMsg(msg, frame_id_));
+}
+
+inline void SourceDriver::publishPointcloud(void)
 {
-  pub_->publish(ToRosMsg(msg, frame_id_));
+  pub_->publish(ToRosMsg(pointcloud_, frame_id_));
 }
 
 inline sensor_msgs::msg::PointCloud2 SourceDriver::ToRosMsg(const LidarDecodedFrame<LidarPointXYZIRT>& frame, const std::string& frame_id)
diff --git a/deploy/dock_ws/src/log/COLCON_IGNORE b/deploy/dock_ws/src/log/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/deploy/dock_ws/src/log/latest b/deploy/dock_ws/src/log/latest
new file mode 120000
index 0000000..b57d247
--- /dev/null
+++ b/deploy/dock_ws/src/log/latest
@@ -0,0 +1 @@
+latest_build
\ No newline at end of file
diff --git a/deploy/dock_ws/src/log/latest_build b/deploy/dock_ws/src/log/latest_build
new file mode 120000
index 0000000..758ae2f
--- /dev/null
+++ b/deploy/dock_ws/src/log/latest_build
@@ -0,0 +1 @@
+build_2024-02-11_12-18-27
\ No newline at end of file
diff --git a/deploy/robot_ws/src/go2py_node/src/bridge.cpp b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
index 4860cba..1288dd5 100644
--- a/deploy/robot_ws/src/go2py_node/src/bridge.cpp
+++ b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
@@ -155,10 +155,10 @@ void Custom::lowstate_callback(unitree_go::msg::LowState::SharedPtr data)
     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");
+    //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++)
     {
@@ -167,10 +167,12 @@ void Custom::lowstate_callback(unitree_go::msg::LowState::SharedPtr data)
         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);
 }
@@ -254,4 +256,4 @@ int main(int argc, char **argv)
     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
+}