diff --git a/.gitignore b/.gitignore
index 39508c2..01c5c49 100644
--- a/.gitignore
+++ b/.gitignore
@@ -168,5 +168,8 @@ deploy/dock_ws/log
 deploy/dock_ws/install
 deploy/dock_ws/build
 
+deploy/nav2_ws/install
+deploy/nav2_ws/log
+
 _isaac_sim
 .vscode
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/.colcon_install_layout b/deploy/dock_ws/src/install/.colcon_install_layout
deleted file mode 100644
index 3aad533..0000000
--- a/deploy/dock_ws/src/install/.colcon_install_layout
+++ /dev/null
@@ -1 +0,0 @@
-isolated
diff --git a/deploy/dock_ws/src/install/COLCON_IGNORE b/deploy/dock_ws/src/install/COLCON_IGNORE
deleted file mode 100644
index e69de29..0000000
diff --git a/deploy/dock_ws/src/install/_local_setup_util_ps1.py b/deploy/dock_ws/src/install/_local_setup_util_ps1.py
deleted file mode 100644
index 83abe63..0000000
--- a/deploy/dock_ws/src/install/_local_setup_util_ps1.py
+++ /dev/null
@@ -1,407 +0,0 @@
-# Copyright 2016-2019 Dirk Thomas
-# Licensed under the Apache License, Version 2.0
-
-import argparse
-from collections import OrderedDict
-import os
-from pathlib import Path
-import sys
-
-
-FORMAT_STR_COMMENT_LINE = '# {comment}'
-FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
-FORMAT_STR_USE_ENV_VAR = '$env:{name}'
-FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"'
-FORMAT_STR_REMOVE_LEADING_SEPARATOR = ''
-FORMAT_STR_REMOVE_TRAILING_SEPARATOR = ''
-
-DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
-DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
-DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
-DSV_TYPE_SET = 'set'
-DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
-DSV_TYPE_SOURCE = 'source'
-
-
-def main(argv=sys.argv[1:]):  # noqa: D103
-    parser = argparse.ArgumentParser(
-        description='Output shell commands for the packages in topological '
-                    'order')
-    parser.add_argument(
-        'primary_extension',
-        help='The file extension of the primary shell')
-    parser.add_argument(
-        'additional_extension', nargs='?',
-        help='The additional file extension to be considered')
-    parser.add_argument(
-        '--merged-install', action='store_true',
-        help='All install prefixes are merged into a single location')
-    args = parser.parse_args(argv)
-
-    packages = get_packages(Path(__file__).parent, args.merged_install)
-
-    ordered_packages = order_packages(packages)
-    for pkg_name in ordered_packages:
-        if _include_comments():
-            print(
-                FORMAT_STR_COMMENT_LINE.format_map(
-                    {'comment': 'Package: ' + pkg_name}))
-        prefix = os.path.abspath(os.path.dirname(__file__))
-        if not args.merged_install:
-            prefix = os.path.join(prefix, pkg_name)
-        for line in get_commands(
-            pkg_name, prefix, args.primary_extension,
-            args.additional_extension
-        ):
-            print(line)
-
-    for line in _remove_ending_separators():
-        print(line)
-
-
-def get_packages(prefix_path, merged_install):
-    """
-    Find packages based on colcon-specific files created during installation.
-
-    :param Path prefix_path: The install prefix path of all packages
-    :param bool merged_install: The flag if the packages are all installed
-      directly in the prefix or if each package is installed in a subdirectory
-      named after the package
-    :returns: A mapping from the package name to the set of runtime
-      dependencies
-    :rtype: dict
-    """
-    packages = {}
-    # since importing colcon_core isn't feasible here the following constant
-    # must match colcon_core.location.get_relative_package_index_path()
-    subdirectory = 'share/colcon-core/packages'
-    if merged_install:
-        # return if workspace is empty
-        if not (prefix_path / subdirectory).is_dir():
-            return packages
-        # find all files in the subdirectory
-        for p in (prefix_path / subdirectory).iterdir():
-            if not p.is_file():
-                continue
-            if p.name.startswith('.'):
-                continue
-            add_package_runtime_dependencies(p, packages)
-    else:
-        # for each subdirectory look for the package specific file
-        for p in prefix_path.iterdir():
-            if not p.is_dir():
-                continue
-            if p.name.startswith('.'):
-                continue
-            p = p / subdirectory / p.name
-            if p.is_file():
-                add_package_runtime_dependencies(p, packages)
-
-    # remove unknown dependencies
-    pkg_names = set(packages.keys())
-    for k in packages.keys():
-        packages[k] = {d for d in packages[k] if d in pkg_names}
-
-    return packages
-
-
-def add_package_runtime_dependencies(path, packages):
-    """
-    Check the path and if it exists extract the packages runtime dependencies.
-
-    :param Path path: The resource file containing the runtime dependencies
-    :param dict packages: A mapping from package names to the sets of runtime
-      dependencies to add to
-    """
-    content = path.read_text()
-    dependencies = set(content.split(os.pathsep) if content else [])
-    packages[path.name] = dependencies
-
-
-def order_packages(packages):
-    """
-    Order packages topologically.
-
-    :param dict packages: A mapping from package name to the set of runtime
-      dependencies
-    :returns: The package names
-    :rtype: list
-    """
-    # select packages with no dependencies in alphabetical order
-    to_be_ordered = list(packages.keys())
-    ordered = []
-    while to_be_ordered:
-        pkg_names_without_deps = [
-            name for name in to_be_ordered if not packages[name]]
-        if not pkg_names_without_deps:
-            reduce_cycle_set(packages)
-            raise RuntimeError(
-                'Circular dependency between: ' + ', '.join(sorted(packages)))
-        pkg_names_without_deps.sort()
-        pkg_name = pkg_names_without_deps[0]
-        to_be_ordered.remove(pkg_name)
-        ordered.append(pkg_name)
-        # remove item from dependency lists
-        for k in list(packages.keys()):
-            if pkg_name in packages[k]:
-                packages[k].remove(pkg_name)
-    return ordered
-
-
-def reduce_cycle_set(packages):
-    """
-    Reduce the set of packages to the ones part of the circular dependency.
-
-    :param dict packages: A mapping from package name to the set of runtime
-      dependencies which is modified in place
-    """
-    last_depended = None
-    while len(packages) > 0:
-        # get all remaining dependencies
-        depended = set()
-        for pkg_name, dependencies in packages.items():
-            depended = depended.union(dependencies)
-        # remove all packages which are not dependent on
-        for name in list(packages.keys()):
-            if name not in depended:
-                del packages[name]
-        if last_depended:
-            # if remaining packages haven't changed return them
-            if last_depended == depended:
-                return packages.keys()
-        # otherwise reduce again
-        last_depended = depended
-
-
-def _include_comments():
-    # skipping comment lines when COLCON_TRACE is not set speeds up the
-    # processing especially on Windows
-    return bool(os.environ.get('COLCON_TRACE'))
-
-
-def get_commands(pkg_name, prefix, primary_extension, additional_extension):
-    commands = []
-    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
-    if os.path.exists(package_dsv_path):
-        commands += process_dsv_file(
-            package_dsv_path, prefix, primary_extension, additional_extension)
-    return commands
-
-
-def process_dsv_file(
-    dsv_path, prefix, primary_extension=None, additional_extension=None
-):
-    commands = []
-    if _include_comments():
-        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
-    with open(dsv_path, 'r') as h:
-        content = h.read()
-    lines = content.splitlines()
-
-    basenames = OrderedDict()
-    for i, line in enumerate(lines):
-        # skip over empty or whitespace-only lines
-        if not line.strip():
-            continue
-        # skip over comments
-        if line.startswith('#'):
-            continue
-        try:
-            type_, remainder = line.split(';', 1)
-        except ValueError:
-            raise RuntimeError(
-                "Line %d in '%s' doesn't contain a semicolon separating the "
-                'type from the arguments' % (i + 1, dsv_path))
-        if type_ != DSV_TYPE_SOURCE:
-            # handle non-source lines
-            try:
-                commands += handle_dsv_types_except_source(
-                    type_, remainder, prefix)
-            except RuntimeError as e:
-                raise RuntimeError(
-                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
-        else:
-            # group remaining source lines by basename
-            path_without_ext, ext = os.path.splitext(remainder)
-            if path_without_ext not in basenames:
-                basenames[path_without_ext] = set()
-            assert ext.startswith('.')
-            ext = ext[1:]
-            if ext in (primary_extension, additional_extension):
-                basenames[path_without_ext].add(ext)
-
-    # add the dsv extension to each basename if the file exists
-    for basename, extensions in basenames.items():
-        if not os.path.isabs(basename):
-            basename = os.path.join(prefix, basename)
-        if os.path.exists(basename + '.dsv'):
-            extensions.add('dsv')
-
-    for basename, extensions in basenames.items():
-        if not os.path.isabs(basename):
-            basename = os.path.join(prefix, basename)
-        if 'dsv' in extensions:
-            # process dsv files recursively
-            commands += process_dsv_file(
-                basename + '.dsv', prefix, primary_extension=primary_extension,
-                additional_extension=additional_extension)
-        elif primary_extension in extensions and len(extensions) == 1:
-            # source primary-only files
-            commands += [
-                FORMAT_STR_INVOKE_SCRIPT.format_map({
-                    'prefix': prefix,
-                    'script_path': basename + '.' + primary_extension})]
-        elif additional_extension in extensions:
-            # source non-primary files
-            commands += [
-                FORMAT_STR_INVOKE_SCRIPT.format_map({
-                    'prefix': prefix,
-                    'script_path': basename + '.' + additional_extension})]
-
-    return commands
-
-
-def handle_dsv_types_except_source(type_, remainder, prefix):
-    commands = []
-    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
-        try:
-            env_name, value = remainder.split(';', 1)
-        except ValueError:
-            raise RuntimeError(
-                "doesn't contain a semicolon separating the environment name "
-                'from the value')
-        try_prefixed_value = os.path.join(prefix, value) if value else prefix
-        if os.path.exists(try_prefixed_value):
-            value = try_prefixed_value
-        if type_ == DSV_TYPE_SET:
-            commands += _set(env_name, value)
-        elif type_ == DSV_TYPE_SET_IF_UNSET:
-            commands += _set_if_unset(env_name, value)
-        else:
-            assert False
-    elif type_ in (
-        DSV_TYPE_APPEND_NON_DUPLICATE,
-        DSV_TYPE_PREPEND_NON_DUPLICATE,
-        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
-    ):
-        try:
-            env_name_and_values = remainder.split(';')
-        except ValueError:
-            raise RuntimeError(
-                "doesn't contain a semicolon separating the environment name "
-                'from the values')
-        env_name = env_name_and_values[0]
-        values = env_name_and_values[1:]
-        for value in values:
-            if not value:
-                value = prefix
-            elif not os.path.isabs(value):
-                value = os.path.join(prefix, value)
-            if (
-                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
-                not os.path.exists(value)
-            ):
-                comment = f'skip extending {env_name} with not existing ' \
-                    f'path: {value}'
-                if _include_comments():
-                    commands.append(
-                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
-            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
-                commands += _append_unique_value(env_name, value)
-            else:
-                commands += _prepend_unique_value(env_name, value)
-    else:
-        raise RuntimeError(
-            'contains an unknown environment hook type: ' + type_)
-    return commands
-
-
-env_state = {}
-
-
-def _append_unique_value(name, value):
-    global env_state
-    if name not in env_state:
-        if os.environ.get(name):
-            env_state[name] = set(os.environ[name].split(os.pathsep))
-        else:
-            env_state[name] = set()
-    # append even if the variable has not been set yet, in case a shell script sets the
-    # same variable without the knowledge of this Python script.
-    # later _remove_ending_separators() will cleanup any unintentional leading separator
-    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': extend + value})
-    if value not in env_state[name]:
-        env_state[name].add(value)
-    else:
-        if not _include_comments():
-            return []
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-def _prepend_unique_value(name, value):
-    global env_state
-    if name not in env_state:
-        if os.environ.get(name):
-            env_state[name] = set(os.environ[name].split(os.pathsep))
-        else:
-            env_state[name] = set()
-    # prepend even if the variable has not been set yet, in case a shell script sets the
-    # same variable without the knowledge of this Python script.
-    # later _remove_ending_separators() will cleanup any unintentional trailing separator
-    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value + extend})
-    if value not in env_state[name]:
-        env_state[name].add(value)
-    else:
-        if not _include_comments():
-            return []
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-# generate commands for removing prepended underscores
-def _remove_ending_separators():
-    # do nothing if the shell extension does not implement the logic
-    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
-        return []
-
-    global env_state
-    commands = []
-    for name in env_state:
-        # skip variables that already had values before this script started prepending
-        if name in os.environ:
-            continue
-        commands += [
-            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
-            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
-    return commands
-
-
-def _set(name, value):
-    global env_state
-    env_state[name] = value
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value})
-    return [line]
-
-
-def _set_if_unset(name, value):
-    global env_state
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value})
-    if env_state.get(name, os.environ.get(name)):
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-if __name__ == '__main__':  # pragma: no cover
-    try:
-        rc = main()
-    except RuntimeError as e:
-        print(str(e), file=sys.stderr)
-        rc = 1
-    sys.exit(rc)
diff --git a/deploy/dock_ws/src/install/_local_setup_util_sh.py b/deploy/dock_ws/src/install/_local_setup_util_sh.py
deleted file mode 100644
index ff31198..0000000
--- a/deploy/dock_ws/src/install/_local_setup_util_sh.py
+++ /dev/null
@@ -1,407 +0,0 @@
-# Copyright 2016-2019 Dirk Thomas
-# Licensed under the Apache License, Version 2.0
-
-import argparse
-from collections import OrderedDict
-import os
-from pathlib import Path
-import sys
-
-
-FORMAT_STR_COMMENT_LINE = '# {comment}'
-FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
-FORMAT_STR_USE_ENV_VAR = '${name}'
-FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"'
-FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi'
-FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi'
-
-DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
-DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
-DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
-DSV_TYPE_SET = 'set'
-DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
-DSV_TYPE_SOURCE = 'source'
-
-
-def main(argv=sys.argv[1:]):  # noqa: D103
-    parser = argparse.ArgumentParser(
-        description='Output shell commands for the packages in topological '
-                    'order')
-    parser.add_argument(
-        'primary_extension',
-        help='The file extension of the primary shell')
-    parser.add_argument(
-        'additional_extension', nargs='?',
-        help='The additional file extension to be considered')
-    parser.add_argument(
-        '--merged-install', action='store_true',
-        help='All install prefixes are merged into a single location')
-    args = parser.parse_args(argv)
-
-    packages = get_packages(Path(__file__).parent, args.merged_install)
-
-    ordered_packages = order_packages(packages)
-    for pkg_name in ordered_packages:
-        if _include_comments():
-            print(
-                FORMAT_STR_COMMENT_LINE.format_map(
-                    {'comment': 'Package: ' + pkg_name}))
-        prefix = os.path.abspath(os.path.dirname(__file__))
-        if not args.merged_install:
-            prefix = os.path.join(prefix, pkg_name)
-        for line in get_commands(
-            pkg_name, prefix, args.primary_extension,
-            args.additional_extension
-        ):
-            print(line)
-
-    for line in _remove_ending_separators():
-        print(line)
-
-
-def get_packages(prefix_path, merged_install):
-    """
-    Find packages based on colcon-specific files created during installation.
-
-    :param Path prefix_path: The install prefix path of all packages
-    :param bool merged_install: The flag if the packages are all installed
-      directly in the prefix or if each package is installed in a subdirectory
-      named after the package
-    :returns: A mapping from the package name to the set of runtime
-      dependencies
-    :rtype: dict
-    """
-    packages = {}
-    # since importing colcon_core isn't feasible here the following constant
-    # must match colcon_core.location.get_relative_package_index_path()
-    subdirectory = 'share/colcon-core/packages'
-    if merged_install:
-        # return if workspace is empty
-        if not (prefix_path / subdirectory).is_dir():
-            return packages
-        # find all files in the subdirectory
-        for p in (prefix_path / subdirectory).iterdir():
-            if not p.is_file():
-                continue
-            if p.name.startswith('.'):
-                continue
-            add_package_runtime_dependencies(p, packages)
-    else:
-        # for each subdirectory look for the package specific file
-        for p in prefix_path.iterdir():
-            if not p.is_dir():
-                continue
-            if p.name.startswith('.'):
-                continue
-            p = p / subdirectory / p.name
-            if p.is_file():
-                add_package_runtime_dependencies(p, packages)
-
-    # remove unknown dependencies
-    pkg_names = set(packages.keys())
-    for k in packages.keys():
-        packages[k] = {d for d in packages[k] if d in pkg_names}
-
-    return packages
-
-
-def add_package_runtime_dependencies(path, packages):
-    """
-    Check the path and if it exists extract the packages runtime dependencies.
-
-    :param Path path: The resource file containing the runtime dependencies
-    :param dict packages: A mapping from package names to the sets of runtime
-      dependencies to add to
-    """
-    content = path.read_text()
-    dependencies = set(content.split(os.pathsep) if content else [])
-    packages[path.name] = dependencies
-
-
-def order_packages(packages):
-    """
-    Order packages topologically.
-
-    :param dict packages: A mapping from package name to the set of runtime
-      dependencies
-    :returns: The package names
-    :rtype: list
-    """
-    # select packages with no dependencies in alphabetical order
-    to_be_ordered = list(packages.keys())
-    ordered = []
-    while to_be_ordered:
-        pkg_names_without_deps = [
-            name for name in to_be_ordered if not packages[name]]
-        if not pkg_names_without_deps:
-            reduce_cycle_set(packages)
-            raise RuntimeError(
-                'Circular dependency between: ' + ', '.join(sorted(packages)))
-        pkg_names_without_deps.sort()
-        pkg_name = pkg_names_without_deps[0]
-        to_be_ordered.remove(pkg_name)
-        ordered.append(pkg_name)
-        # remove item from dependency lists
-        for k in list(packages.keys()):
-            if pkg_name in packages[k]:
-                packages[k].remove(pkg_name)
-    return ordered
-
-
-def reduce_cycle_set(packages):
-    """
-    Reduce the set of packages to the ones part of the circular dependency.
-
-    :param dict packages: A mapping from package name to the set of runtime
-      dependencies which is modified in place
-    """
-    last_depended = None
-    while len(packages) > 0:
-        # get all remaining dependencies
-        depended = set()
-        for pkg_name, dependencies in packages.items():
-            depended = depended.union(dependencies)
-        # remove all packages which are not dependent on
-        for name in list(packages.keys()):
-            if name not in depended:
-                del packages[name]
-        if last_depended:
-            # if remaining packages haven't changed return them
-            if last_depended == depended:
-                return packages.keys()
-        # otherwise reduce again
-        last_depended = depended
-
-
-def _include_comments():
-    # skipping comment lines when COLCON_TRACE is not set speeds up the
-    # processing especially on Windows
-    return bool(os.environ.get('COLCON_TRACE'))
-
-
-def get_commands(pkg_name, prefix, primary_extension, additional_extension):
-    commands = []
-    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
-    if os.path.exists(package_dsv_path):
-        commands += process_dsv_file(
-            package_dsv_path, prefix, primary_extension, additional_extension)
-    return commands
-
-
-def process_dsv_file(
-    dsv_path, prefix, primary_extension=None, additional_extension=None
-):
-    commands = []
-    if _include_comments():
-        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
-    with open(dsv_path, 'r') as h:
-        content = h.read()
-    lines = content.splitlines()
-
-    basenames = OrderedDict()
-    for i, line in enumerate(lines):
-        # skip over empty or whitespace-only lines
-        if not line.strip():
-            continue
-        # skip over comments
-        if line.startswith('#'):
-            continue
-        try:
-            type_, remainder = line.split(';', 1)
-        except ValueError:
-            raise RuntimeError(
-                "Line %d in '%s' doesn't contain a semicolon separating the "
-                'type from the arguments' % (i + 1, dsv_path))
-        if type_ != DSV_TYPE_SOURCE:
-            # handle non-source lines
-            try:
-                commands += handle_dsv_types_except_source(
-                    type_, remainder, prefix)
-            except RuntimeError as e:
-                raise RuntimeError(
-                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
-        else:
-            # group remaining source lines by basename
-            path_without_ext, ext = os.path.splitext(remainder)
-            if path_without_ext not in basenames:
-                basenames[path_without_ext] = set()
-            assert ext.startswith('.')
-            ext = ext[1:]
-            if ext in (primary_extension, additional_extension):
-                basenames[path_without_ext].add(ext)
-
-    # add the dsv extension to each basename if the file exists
-    for basename, extensions in basenames.items():
-        if not os.path.isabs(basename):
-            basename = os.path.join(prefix, basename)
-        if os.path.exists(basename + '.dsv'):
-            extensions.add('dsv')
-
-    for basename, extensions in basenames.items():
-        if not os.path.isabs(basename):
-            basename = os.path.join(prefix, basename)
-        if 'dsv' in extensions:
-            # process dsv files recursively
-            commands += process_dsv_file(
-                basename + '.dsv', prefix, primary_extension=primary_extension,
-                additional_extension=additional_extension)
-        elif primary_extension in extensions and len(extensions) == 1:
-            # source primary-only files
-            commands += [
-                FORMAT_STR_INVOKE_SCRIPT.format_map({
-                    'prefix': prefix,
-                    'script_path': basename + '.' + primary_extension})]
-        elif additional_extension in extensions:
-            # source non-primary files
-            commands += [
-                FORMAT_STR_INVOKE_SCRIPT.format_map({
-                    'prefix': prefix,
-                    'script_path': basename + '.' + additional_extension})]
-
-    return commands
-
-
-def handle_dsv_types_except_source(type_, remainder, prefix):
-    commands = []
-    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
-        try:
-            env_name, value = remainder.split(';', 1)
-        except ValueError:
-            raise RuntimeError(
-                "doesn't contain a semicolon separating the environment name "
-                'from the value')
-        try_prefixed_value = os.path.join(prefix, value) if value else prefix
-        if os.path.exists(try_prefixed_value):
-            value = try_prefixed_value
-        if type_ == DSV_TYPE_SET:
-            commands += _set(env_name, value)
-        elif type_ == DSV_TYPE_SET_IF_UNSET:
-            commands += _set_if_unset(env_name, value)
-        else:
-            assert False
-    elif type_ in (
-        DSV_TYPE_APPEND_NON_DUPLICATE,
-        DSV_TYPE_PREPEND_NON_DUPLICATE,
-        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
-    ):
-        try:
-            env_name_and_values = remainder.split(';')
-        except ValueError:
-            raise RuntimeError(
-                "doesn't contain a semicolon separating the environment name "
-                'from the values')
-        env_name = env_name_and_values[0]
-        values = env_name_and_values[1:]
-        for value in values:
-            if not value:
-                value = prefix
-            elif not os.path.isabs(value):
-                value = os.path.join(prefix, value)
-            if (
-                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
-                not os.path.exists(value)
-            ):
-                comment = f'skip extending {env_name} with not existing ' \
-                    f'path: {value}'
-                if _include_comments():
-                    commands.append(
-                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
-            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
-                commands += _append_unique_value(env_name, value)
-            else:
-                commands += _prepend_unique_value(env_name, value)
-    else:
-        raise RuntimeError(
-            'contains an unknown environment hook type: ' + type_)
-    return commands
-
-
-env_state = {}
-
-
-def _append_unique_value(name, value):
-    global env_state
-    if name not in env_state:
-        if os.environ.get(name):
-            env_state[name] = set(os.environ[name].split(os.pathsep))
-        else:
-            env_state[name] = set()
-    # append even if the variable has not been set yet, in case a shell script sets the
-    # same variable without the knowledge of this Python script.
-    # later _remove_ending_separators() will cleanup any unintentional leading separator
-    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': extend + value})
-    if value not in env_state[name]:
-        env_state[name].add(value)
-    else:
-        if not _include_comments():
-            return []
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-def _prepend_unique_value(name, value):
-    global env_state
-    if name not in env_state:
-        if os.environ.get(name):
-            env_state[name] = set(os.environ[name].split(os.pathsep))
-        else:
-            env_state[name] = set()
-    # prepend even if the variable has not been set yet, in case a shell script sets the
-    # same variable without the knowledge of this Python script.
-    # later _remove_ending_separators() will cleanup any unintentional trailing separator
-    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value + extend})
-    if value not in env_state[name]:
-        env_state[name].add(value)
-    else:
-        if not _include_comments():
-            return []
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-# generate commands for removing prepended underscores
-def _remove_ending_separators():
-    # do nothing if the shell extension does not implement the logic
-    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
-        return []
-
-    global env_state
-    commands = []
-    for name in env_state:
-        # skip variables that already had values before this script started prepending
-        if name in os.environ:
-            continue
-        commands += [
-            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
-            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
-    return commands
-
-
-def _set(name, value):
-    global env_state
-    env_state[name] = value
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value})
-    return [line]
-
-
-def _set_if_unset(name, value):
-    global env_state
-    line = FORMAT_STR_SET_ENV_VAR.format_map(
-        {'name': name, 'value': value})
-    if env_state.get(name, os.environ.get(name)):
-        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
-    return [line]
-
-
-if __name__ == '__main__':  # pragma: no cover
-    try:
-        rc = main()
-    except RuntimeError as e:
-        print(str(e), file=sys.stderr)
-        rc = 1
-    sys.exit(rc)
diff --git a/deploy/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
deleted file mode 120000
index 4fefe1d..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__builder.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index c4a5805..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__functions.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 2af4cda..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 41fbe44..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index d6e22e8..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 5248319..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index e4bee95..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__struct.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 3886a5e..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__struct.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index b6c565e..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__traits.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 15530c9..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__type_support.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index de31664..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_frame__type_support.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 69403e1..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__builder.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 4e23a75..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__functions.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index ca4545d..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_fastrtps_c.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 5c519bc..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_fastrtps_cpp.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index af9f84e..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_introspection_c.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index a74c2ec..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__rosidl_typesupport_introspection_cpp.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 24aa902..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__struct.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 0e08596..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__struct.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index be42493..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__traits.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index ed06506..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__type_support.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 59b659b..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/detail/udp_packet__type_support.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index fa17be3..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_generator_c__visibility_control.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index cb6ef3c..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_generator_cpp__visibility_control.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 59bd9e6..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index d17ae8f..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index f1b7a54..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/rosidl_typesupport_introspection_c__visibility_control.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index bf890f0..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_frame.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 9768296..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_frame.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index da97c6c..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_packet.h
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 98e64c7..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/include/hesai_ros_driver/msg/udp_packet.hpp
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 94b56c0..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/lib/hesai_ros_driver/hesai_ros_driver_node
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 7e0fe8f..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 22736c5..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/__init__.py
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 7765bf3..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/_udp_frame.py
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 5c6df02..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/lib/python3.8/site-packages/hesai_ros_driver/msg/_udp_packet.py
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 758cb67..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/package_run_dependencies/hesai_ros_driver
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 7d25761..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/packages/hesai_ros_driver
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 8f75b45..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/parent_prefix_path/hesai_ros_driver
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 5b3996c..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/ament_index/resource_index/rosidl_interfaces/hesai_ros_driver
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 100644
index 8583513..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/colcon-core/packages/hesai_ros_driver
+++ /dev/null
@@ -1 +0,0 @@
-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
deleted file mode 120000
index 82a37a3..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_dependencies-extras.cmake
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index b8bef99..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_include_directories-extras.cmake
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 4d9cc7a..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_libraries-extras.cmake
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 615fad9..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/ament_cmake_export_targets-extras.cmake
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 8109633..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driverConfig-version.cmake
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 90b5db8..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driverConfig.cmake
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 100644
index 59e9d3c..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cExport-release.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# 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
deleted file mode 100644
index b968002..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget 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_${target})
-endforeach()
-unset(_IMPORT_CHECK_TARGETS)
-
-# This file does not depend on other imported targets which have
-# been exported from the same project but in a separate export set.
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cppExport.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cppExport.cmake
deleted file mode 100644
index 2e50502..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_generator_cppExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
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-
-# 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 ${_expectedTarget})
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-  unset(_targetsNotDefined)
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-if(NOT "${_targetsDefined}" STREQUAL "")
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-
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-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)
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-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}\"
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-# This file does not depend on other imported targets which have
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-
-# 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
deleted file mode 100644
index 400bfc5..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cExport-release.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# 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
deleted file mode 100644
index 9b9c57b..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
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-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
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-  if(TARGET ${_expectedTarget})
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-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_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}\"
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-
-# 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
deleted file mode 100644
index 8f69c82..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cppExport-release.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# 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
deleted file mode 100644
index ea35ff1..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_cppExport.cmake
+++ /dev/null
@@ -1,99 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
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-#----------------------------------------------------------------
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-# 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)
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-  if(NOT TARGET ${_expectedTarget})
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-  endif()
-  if(TARGET ${_expectedTarget})
-    list(APPEND _targetsDefined ${_expectedTarget})
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-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
-endif()
-if(NOT "${_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 "${_IMPORT_PREFIX}" PATH)
-if(_IMPORT_PREFIX STREQUAL "/")
-  set(_IMPORT_PREFIX "")
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-
-# Create imported target hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp
-add_library(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp SHARED IMPORTED)
-
-set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_cpp PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_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"
-)
-
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-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
-   \"${file}\"
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-* An install or uninstall procedure did not complete successfully.
-* The installation package was faulty and contained
-   \"${CMAKE_CURRENT_LIST_FILE}\"
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-
-# 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
deleted file mode 100644
index 4a8d488..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cExport-release.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# 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"
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-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
deleted file mode 100644
index 624fcf7..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cExport.cmake
+++ /dev/null
@@ -1,114 +0,0 @@
-# Generated by CMake
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-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.
-#----------------------------------------------------------------
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-# 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 ${_expectedTarget})
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-  unset(_targetsDefined)
-  unset(_targetsNotDefined)
-  unset(_expectedTargets)
-  set(CMAKE_IMPORT_FILE_VERSION)
-  cmake_policy(POP)
-  return()
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-if(NOT "${_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()
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-unset(${CMAKE_FIND_PACKAGE_NAME}_NOT_FOUND_MESSAGE_targets)
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
-cmake_policy(POP)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport-release.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport-release.cmake
deleted file mode 100644
index 54f16de..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport-release.cmake
+++ /dev/null
@@ -1,19 +0,0 @@
-#----------------------------------------------------------------
-# Generated CMake target import file for configuration "Release".
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Import target "hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp" for configuration "Release"
-set_property(TARGET hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
-set_target_properties(hesai_ros_driver::hesai_ros_driver__rosidl_typesupport_introspection_cpp PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_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 "${_IMPORT_PREFIX}/lib/libhesai_ros_driver__rosidl_typesupport_introspection_cpp.so" )
-
-# Commands beyond this point should not need to know the version.
-set(CMAKE_IMPORT_FILE_VERSION)
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport.cmake b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport.cmake
deleted file mode 100644
index 6da39fe..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/hesai_ros_driver__rosidl_typesupport_introspection_cppExport.cmake
+++ /dev/null
@@ -1,98 +0,0 @@
-# Generated by CMake
-
-if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
-   message(FATAL_ERROR "CMake >= 2.6.0 required")
-endif()
-cmake_policy(PUSH)
-cmake_policy(VERSION 2.6)
-#----------------------------------------------------------------
-# Generated CMake target import file.
-#----------------------------------------------------------------
-
-# Commands may need to know the format version.
-set(CMAKE_IMPORT_FILE_VERSION 1)
-
-# Protect against multiple inclusion, which would fail when already imported targets are added once more.
-set(_targetsDefined)
-set(_targetsNotDefined)
-set(_expectedTargets)
-foreach(_expectedTarget 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
deleted file mode 120000
index b657b09..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake-extras.cmake
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 0428424..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 94ea7fd..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 390744c..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/ament_prefix_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 896b1cd..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/ament_prefix_path.sh
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 018acb5..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/library_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 71670b6..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/library_path.sh
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index c3a6987..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 0870ca2..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/path.sh
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index bbde511..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/pythonpath.dsv
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index eaec01a..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/environment/pythonpath.sh
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 100644
index e119f32..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/cmake_prefix_path.dsv
+++ /dev/null
@@ -1 +0,0 @@
-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
deleted file mode 100644
index d03facc..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/cmake_prefix_path.ps1
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/deploy/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
deleted file mode 100644
index a948e68..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/cmake_prefix_path.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.dsv
deleted file mode 100644
index 89bec93..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;LD_LIBRARY_PATH;lib
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.ps1 b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.ps1
deleted file mode 100644
index f6df601..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.ps1
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX\lib"
diff --git a/deploy/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
deleted file mode 100644
index ca3c102..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/ld_library_path_lib.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value LD_LIBRARY_PATH "$COLCON_CURRENT_PREFIX/lib"
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.dsv b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.dsv
deleted file mode 100644
index 84dbc4c..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.dsv
+++ /dev/null
@@ -1 +0,0 @@
-prepend-non-duplicate;PYTHONPATH;lib/python3.8/site-packages
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.ps1 b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.ps1
deleted file mode 100644
index 12877ef..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.ps1
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
-
-colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.8/site-packages"
diff --git a/deploy/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
deleted file mode 100644
index ed8efd9..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/hook/pythonpath.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-# generated from colcon_core/shell/template/hook_prepend_value.sh.em
-
-_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.8/site-packages"
diff --git a/deploy/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
deleted file mode 120000
index 61ed7e3..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/dashing_start.py
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 1be8f8b..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/start.launch
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 3706826..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/launch/start.py
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index ab76e18..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.bash
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 47ddaa4..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.dsv
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index df8a1de..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.sh
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index de07639..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/local_setup.zsh
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 6671d2a..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg/UdpFrame.idl
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 0c0edf7..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg/UdpPacket.idl
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index 6998846..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg_ros2/UdpFrame.msg
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 120000
index abb812f..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/msg_ros2/UdpPacket.msg
+++ /dev/null
@@ -1 +0,0 @@
-/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
deleted file mode 100644
index 74333c9..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.bash
+++ /dev/null
@@ -1,39 +0,0 @@
-# generated from colcon_bash/shell/template/package.bash.em
-
-# This script extends the environment for this package.
-
-# a bash script is able to determine its own path if necessary
-if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-  # the prefix is two levels up from the package specific share directory
-  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
-else
-  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
-fi
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-# additional arguments: arguments to the script
-_colcon_package_bash_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$@"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# source sh script of this package
-_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/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
deleted file mode 100644
index 3975b7b..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.dsv
+++ /dev/null
@@ -1,14 +0,0 @@
-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
deleted file mode 100644
index 63a70f7..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.ps1
+++ /dev/null
@@ -1,118 +0,0 @@
-# generated from colcon_powershell/shell/template/package.ps1.em
-
-# function to append a value to a variable
-# which uses colons as separators
-# duplicates as well as leading separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-function colcon_append_unique_value {
-  param (
-    $_listname,
-    $_value
-  )
-
-  # get values from variable
-  if (Test-Path Env:$_listname) {
-    $_values=(Get-Item env:$_listname).Value
-  } else {
-    $_values=""
-  }
-  $_duplicate=""
-  # start with no values
-  $_all_values=""
-  # iterate over existing values in the variable
-  if ($_values) {
-    $_values.Split(";") | ForEach {
-      # not an empty string
-      if ($_) {
-        # not a duplicate of _value
-        if ($_ -eq $_value) {
-          $_duplicate="1"
-        }
-        if ($_all_values) {
-          $_all_values="${_all_values};$_"
-        } else {
-          $_all_values="$_"
-        }
-      }
-    }
-  }
-  # append only non-duplicates
-  if (!$_duplicate) {
-    # avoid leading separator
-    if ($_all_values) {
-      $_all_values="${_all_values};${_value}"
-    } else {
-      $_all_values="${_value}"
-    }
-  }
-
-  # export the updated variable
-  Set-Item env:\$_listname -Value "$_all_values"
-}
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-function colcon_prepend_unique_value {
-  param (
-    $_listname,
-    $_value
-  )
-
-  # get values from variable
-  if (Test-Path Env:$_listname) {
-    $_values=(Get-Item env:$_listname).Value
-  } else {
-    $_values=""
-  }
-  # start with the new value
-  $_all_values="$_value"
-  # iterate over existing values in the variable
-  if ($_values) {
-    $_values.Split(";") | ForEach {
-      # not an empty string
-      if ($_) {
-        # not a duplicate of _value
-        if ($_ -ne $_value) {
-          # keep non-duplicate values
-          $_all_values="${_all_values};$_"
-        }
-      }
-    }
-  }
-  # export the updated variable
-  Set-Item env:\$_listname -Value "$_all_values"
-}
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-# additional arguments: arguments to the script
-function colcon_package_source_powershell_script {
-  param (
-    $_colcon_package_source_powershell_script
-  )
-  # source script with conditional trace output
-  if (Test-Path $_colcon_package_source_powershell_script) {
-    if ($env:COLCON_TRACE) {
-      echo ". '$_colcon_package_source_powershell_script'"
-    }
-    . "$_colcon_package_source_powershell_script"
-  } else {
-    Write-Error "not found: '$_colcon_package_source_powershell_script'"
-  }
-}
-
-
-# a powershell script is able to determine its own path
-# the prefix is two levels up from the package specific share directory
-$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
-
-colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/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
deleted file mode 100644
index ee6352f..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.sh
+++ /dev/null
@@ -1,89 +0,0 @@
-# generated from colcon_core/shell/template/package.sh.em
-
-# This script extends the environment for this package.
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-_colcon_prepend_unique_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-
-  # get values from variable
-  eval _values=\"\$$_listname\"
-  # backup the field separator
-  _colcon_prepend_unique_value_IFS=$IFS
-  IFS=":"
-  # start with the new value
-  _all_values="$_value"
-  # workaround SH_WORD_SPLIT not being set in zsh
-  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
-    colcon_zsh_convert_to_array _values
-  fi
-  # iterate over existing values in the variable
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    # ignore duplicates of _value
-    if [ "$_item" = "$_value" ]; then
-      continue
-    fi
-    # keep non-duplicate values
-    _all_values="$_all_values:$_item"
-  done
-  unset _item
-  # restore the field separator
-  IFS=$_colcon_prepend_unique_value_IFS
-  unset _colcon_prepend_unique_value_IFS
-  # export the updated variable
-  eval export $_listname=\"$_all_values\"
-  unset _all_values
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# since a plain shell script can't determine its own path when being sourced
-# either use the provided COLCON_CURRENT_PREFIX
-# or fall back to the build time prefix (if it exists)
-_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/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 "$COLCON_CURRENT_PREFIX/share/hesai_ros_driver/local_setup.sh"
-
-unset _colcon_package_sh_source_script
-unset COLCON_CURRENT_PREFIX
-
-# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.xml b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.xml
deleted file mode 120000
index 6e95f0b..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.xml
+++ /dev/null
@@ -1 +0,0 @@
-/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/package.xml
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.zsh b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.zsh
deleted file mode 100644
index 7af0f5b..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/package.zsh
+++ /dev/null
@@ -1,50 +0,0 @@
-# generated from colcon_zsh/shell/template/package.zsh.em
-
-# This script extends the environment for this package.
-
-# a zsh script is able to determine its own path if necessary
-if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-  # the prefix is two levels up from the package specific share directory
-  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
-else
-  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
-fi
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-# additional arguments: arguments to the script
-_colcon_package_zsh_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$@"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# function to convert array-like strings into arrays
-# to workaround SH_WORD_SPLIT not being set
-colcon_zsh_convert_to_array() {
-  local _listname=$1
-  local _dollar="$"
-  local _split="{="
-  local _to_array="(\"$_dollar$_split$_listname}\")"
-  eval $_listname=$_to_array
-}
-
-# source sh script of this package
-_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/hesai_ros_driver/package.sh"
-unset convert_zsh_to_array
-
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
-COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
-
-# source zsh hooks
-_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/hesai_ros_driver/local_setup.zsh"
-
-unset COLCON_CURRENT_PREFIX
-
-unset _colcon_package_zsh_source_script
-unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz.rviz b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz.rviz
deleted file mode 120000
index 9b041a7..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz.rviz
+++ /dev/null
@@ -1 +0,0 @@
-/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/rviz/rviz.rviz
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz2.rviz b/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz2.rviz
deleted file mode 120000
index a2826ff..0000000
--- a/deploy/dock_ws/src/install/hesai_ros_driver/share/hesai_ros_driver/rviz/rviz2.rviz
+++ /dev/null
@@ -1 +0,0 @@
-/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/lidar_node/rviz/rviz2.rviz
\ No newline at end of file
diff --git a/deploy/dock_ws/src/install/local_setup.bash b/deploy/dock_ws/src/install/local_setup.bash
deleted file mode 100644
index 03f0025..0000000
--- a/deploy/dock_ws/src/install/local_setup.bash
+++ /dev/null
@@ -1,121 +0,0 @@
-# generated from colcon_bash/shell/template/prefix.bash.em
-
-# This script extends the environment with all packages contained in this
-# prefix path.
-
-# a bash script is able to determine its own path if necessary
-if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
-else
-  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
-fi
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-_colcon_prefix_bash_prepend_unique_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-
-  # get values from variable
-  eval _values=\"\$$_listname\"
-  # backup the field separator
-  _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
-  IFS=":"
-  # start with the new value
-  _all_values="$_value"
-  _contained_value=""
-  # iterate over existing values in the variable
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    # ignore duplicates of _value
-    if [ "$_item" = "$_value" ]; then
-      _contained_value=1
-      continue
-    fi
-    # keep non-duplicate values
-    _all_values="$_all_values:$_item"
-  done
-  unset _item
-  if [ -z "$_contained_value" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      if [ "$_all_values" = "$_value" ]; then
-        echo "export $_listname=$_value"
-      else
-        echo "export $_listname=$_value:\$$_listname"
-      fi
-    fi
-  fi
-  unset _contained_value
-  # restore the field separator
-  IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
-  unset _colcon_prefix_bash_prepend_unique_value_IFS
-  # export the updated variable
-  eval export $_listname=\"$_all_values\"
-  unset _all_values
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# add this prefix to the COLCON_PREFIX_PATH
-_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
-unset _colcon_prefix_bash_prepend_unique_value
-
-# check environment variable for custom Python executable
-if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
-  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
-    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
-    return 1
-  fi
-  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
-else
-  # try the Python executable known at configure time
-  _colcon_python_executable="/usr/bin/python3"
-  # if it doesn't exist try a fall back
-  if [ ! -f "$_colcon_python_executable" ]; then
-    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
-      echo "error: unable to find python3 executable"
-      return 1
-    fi
-    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
-  fi
-fi
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-_colcon_prefix_sh_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$1"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# get all commands in topological order
-_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
-unset _colcon_python_executable
-if [ -n "$COLCON_TRACE" ]; then
-  echo "$(declare -f _colcon_prefix_sh_source_script)"
-  echo "# Execute generated script:"
-  echo "# <<<"
-  echo "${_colcon_ordered_commands}"
-  echo "# >>>"
-  echo "unset _colcon_prefix_sh_source_script"
-fi
-eval "${_colcon_ordered_commands}"
-unset _colcon_ordered_commands
-
-unset _colcon_prefix_sh_source_script
-
-unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
diff --git a/deploy/dock_ws/src/install/local_setup.ps1 b/deploy/dock_ws/src/install/local_setup.ps1
deleted file mode 100644
index 6f68c8d..0000000
--- a/deploy/dock_ws/src/install/local_setup.ps1
+++ /dev/null
@@ -1,55 +0,0 @@
-# generated from colcon_powershell/shell/template/prefix.ps1.em
-
-# This script extends the environment with all packages contained in this
-# prefix path.
-
-# check environment variable for custom Python executable
-if ($env:COLCON_PYTHON_EXECUTABLE) {
-  if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
-    echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
-    exit 1
-  }
-  $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
-} else {
-  # use the Python executable known at configure time
-  $_colcon_python_executable="/usr/bin/python3"
-  # if it doesn't exist try a fall back
-  if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
-    if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
-      echo "error: unable to find python3 executable"
-      exit 1
-    }
-    $_colcon_python_executable="python3"
-  }
-}
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-function _colcon_prefix_powershell_source_script {
-  param (
-    $_colcon_prefix_powershell_source_script_param
-  )
-  # source script with conditional trace output
-  if (Test-Path $_colcon_prefix_powershell_source_script_param) {
-    if ($env:COLCON_TRACE) {
-      echo ". '$_colcon_prefix_powershell_source_script_param'"
-    }
-    . "$_colcon_prefix_powershell_source_script_param"
-  } else {
-    Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
-  }
-}
-
-# get all commands in topological order
-$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
-
-# execute all commands in topological order
-if ($env:COLCON_TRACE) {
-  echo "Execute generated script:"
-  echo "<<<"
-  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
-  echo ">>>"
-}
-if ($_colcon_ordered_commands) {
-  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
-}
diff --git a/deploy/dock_ws/src/install/local_setup.sh b/deploy/dock_ws/src/install/local_setup.sh
deleted file mode 100644
index c5cf95d..0000000
--- a/deploy/dock_ws/src/install/local_setup.sh
+++ /dev/null
@@ -1,137 +0,0 @@
-# generated from colcon_core/shell/template/prefix.sh.em
-
-# This script extends the environment with all packages contained in this
-# prefix path.
-
-# since a plain shell script can't determine its own path when being sourced
-# either use the provided COLCON_CURRENT_PREFIX
-# or fall back to the build time prefix (if it exists)
-_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/unitree/locomotion/Go2Py/deploy/dock_ws/src/install"
-if [ -z "$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 "${_colcon_ordered_commands}"
-unset _colcon_ordered_commands
-
-unset _colcon_prefix_sh_source_script
-
-unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
diff --git a/deploy/dock_ws/src/install/local_setup.zsh b/deploy/dock_ws/src/install/local_setup.zsh
deleted file mode 100644
index b648710..0000000
--- a/deploy/dock_ws/src/install/local_setup.zsh
+++ /dev/null
@@ -1,134 +0,0 @@
-# generated from colcon_zsh/shell/template/prefix.zsh.em
-
-# This script extends the environment with all packages contained in this
-# prefix path.
-
-# a zsh script is able to determine its own path if necessary
-if [ -z "$COLCON_CURRENT_PREFIX" ]; then
-  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
-else
-  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
-fi
-
-# function to convert array-like strings into arrays
-# to workaround SH_WORD_SPLIT not being set
-_colcon_prefix_zsh_convert_to_array() {
-  local _listname=$1
-  local _dollar="$"
-  local _split="{="
-  local _to_array="(\"$_dollar$_split$_listname}\")"
-  eval $_listname=$_to_array
-}
-
-# function to prepend a value to a variable
-# which uses colons as separators
-# duplicates as well as trailing separators are avoided
-# first argument: the name of the result variable
-# second argument: the value to be prepended
-_colcon_prefix_zsh_prepend_unique_value() {
-  # arguments
-  _listname="$1"
-  _value="$2"
-
-  # get values from variable
-  eval _values=\"\$$_listname\"
-  # backup the field separator
-  _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
-  IFS=":"
-  # start with the new value
-  _all_values="$_value"
-  _contained_value=""
-  # workaround SH_WORD_SPLIT not being set
-  _colcon_prefix_zsh_convert_to_array _values
-  # iterate over existing values in the variable
-  for _item in $_values; do
-    # ignore empty strings
-    if [ -z "$_item" ]; then
-      continue
-    fi
-    # ignore duplicates of _value
-    if [ "$_item" = "$_value" ]; then
-      _contained_value=1
-      continue
-    fi
-    # keep non-duplicate values
-    _all_values="$_all_values:$_item"
-  done
-  unset _item
-  if [ -z "$_contained_value" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      if [ "$_all_values" = "$_value" ]; then
-        echo "export $_listname=$_value"
-      else
-        echo "export $_listname=$_value:\$$_listname"
-      fi
-    fi
-  fi
-  unset _contained_value
-  # restore the field separator
-  IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
-  unset _colcon_prefix_zsh_prepend_unique_value_IFS
-  # export the updated variable
-  eval export $_listname=\"$_all_values\"
-  unset _all_values
-  unset _values
-
-  unset _value
-  unset _listname
-}
-
-# add this prefix to the COLCON_PREFIX_PATH
-_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
-unset _colcon_prefix_zsh_prepend_unique_value
-unset _colcon_prefix_zsh_convert_to_array
-
-# check environment variable for custom Python executable
-if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
-  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
-    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
-    return 1
-  fi
-  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
-else
-  # try the Python executable known at configure time
-  _colcon_python_executable="/usr/bin/python3"
-  # if it doesn't exist try a fall back
-  if [ ! -f "$_colcon_python_executable" ]; then
-    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
-      echo "error: unable to find python3 executable"
-      return 1
-    fi
-    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
-  fi
-fi
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-_colcon_prefix_sh_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$1"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# get all commands in topological order
-_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
-unset _colcon_python_executable
-if [ -n "$COLCON_TRACE" ]; then
-  echo "$(declare -f _colcon_prefix_sh_source_script)"
-  echo "# Execute generated script:"
-  echo "# <<<"
-  echo "${_colcon_ordered_commands}"
-  echo "# >>>"
-  echo "unset _colcon_prefix_sh_source_script"
-fi
-eval "${_colcon_ordered_commands}"
-unset _colcon_ordered_commands
-
-unset _colcon_prefix_sh_source_script
-
-unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
diff --git a/deploy/dock_ws/src/install/setup.bash b/deploy/dock_ws/src/install/setup.bash
deleted file mode 100644
index 00edbb2..0000000
--- a/deploy/dock_ws/src/install/setup.bash
+++ /dev/null
@@ -1,37 +0,0 @@
-# generated from colcon_bash/shell/template/prefix_chain.bash.em
-
-# This script extends the environment with the environment of other prefix
-# paths which were sourced when this file was generated as well as all packages
-# contained in this prefix path.
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-_colcon_prefix_chain_bash_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$1"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# source chained prefixes
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/opt/ros/foxy"
-_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/home/unitree/locomotion/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
deleted file mode 100644
index 281a9ba..0000000
--- a/deploy/dock_ws/src/install/setup.ps1
+++ /dev/null
@@ -1,31 +0,0 @@
-# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
-
-# This script extends the environment with the environment of other prefix
-# paths which were sourced when this file was generated as well as all packages
-# contained in this prefix path.
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-function _colcon_prefix_chain_powershell_source_script {
-  param (
-    $_colcon_prefix_chain_powershell_source_script_param
-  )
-  # source script with conditional trace output
-  if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
-    if ($env:COLCON_TRACE) {
-      echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
-    }
-    . "$_colcon_prefix_chain_powershell_source_script_param"
-  } else {
-    Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
-  }
-}
-
-# source chained prefixes
-_colcon_prefix_chain_powershell_source_script "/opt/ros/foxy\local_setup.ps1"
-_colcon_prefix_chain_powershell_source_script "/home/unitree/locomotion/Go2Py/deploy/dock_ws/install\local_setup.ps1"
-_colcon_prefix_chain_powershell_source_script "/home/unitree/locomotion/unitree_ros2/cyclonedds_ws/install\local_setup.ps1"
-
-# source this prefix
-$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
deleted file mode 100644
index fa4139f..0000000
--- a/deploy/dock_ws/src/install/setup.sh
+++ /dev/null
@@ -1,53 +0,0 @@
-# generated from colcon_core/shell/template/prefix_chain.sh.em
-
-# This script extends the environment with the environment of other prefix
-# paths which were sourced when this file was generated as well as all packages
-# contained in this prefix path.
-
-# since a plain shell script can't determine its own path when being sourced
-# either use the provided COLCON_CURRENT_PREFIX
-# or fall back to the build time prefix (if it exists)
-_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/unitree/locomotion/Go2Py/deploy/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
deleted file mode 100644
index 23d0d38..0000000
--- a/deploy/dock_ws/src/install/setup.zsh
+++ /dev/null
@@ -1,37 +0,0 @@
-# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
-
-# This script extends the environment with the environment of other prefix
-# paths which were sourced when this file was generated as well as all packages
-# contained in this prefix path.
-
-# function to source another script with conditional trace output
-# first argument: the path of the script
-_colcon_prefix_chain_zsh_source_script() {
-  if [ -f "$1" ]; then
-    if [ -n "$COLCON_TRACE" ]; then
-      echo "# . \"$1\""
-    fi
-    . "$1"
-  else
-    echo "not found: \"$1\"" 1>&2
-  fi
-}
-
-# source chained prefixes
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/opt/ros/foxy"
-_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/home/unitree/locomotion/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/src/manager/source_driver_ros2.hpp b/deploy/dock_ws/src/lidar_node/src/manager/source_driver_ros2.hpp
index d9048bb..7bc4e6c 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
@@ -248,9 +248,10 @@ inline sensor_msgs::msg::PointCloud2 SourceDriver::ToRosMsg(const LidarDecodedFr
   }
   printf("frame:%d points:%u packet:%d start time:%lf end time:%lf\n",frame.frame_index, frame.points_num, frame.packet_num, frame.points[0].timestamp, frame.points[frame.points_num - 1].timestamp) ;
 
-  ros_msg.header.stamp.sec = (uint32_t)floor(frame.points[0].timestamp);
-  ros_msg.header.stamp.nanosec = (uint32_t)round((frame.points[0].timestamp - ros_msg.header.stamp.sec) * 1e9);
+  // ros_msg.header.stamp.sec = (uint32_t)floor(frame.points[0].timestamp);
+  // ros_msg.header.stamp.nanosec = (uint32_t)round((frame.points[0].timestamp - ros_msg.header.stamp.sec) * 1e9);
   ros_msg.header.frame_id = frame_id_;
+  ros_msg.header.stamp = rclcpp::Clock().now();
   return ros_msg;
 }
 
diff --git a/deploy/dock_ws/src/log/COLCON_IGNORE b/deploy/dock_ws/src/log/COLCON_IGNORE
deleted file mode 100644
index e69de29..0000000
diff --git a/deploy/dock_ws/src/log/latest b/deploy/dock_ws/src/log/latest
deleted file mode 120000
index b57d247..0000000
--- a/deploy/dock_ws/src/log/latest
+++ /dev/null
@@ -1 +0,0 @@
-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
deleted file mode 120000
index 758ae2f..0000000
--- a/deploy/dock_ws/src/log/latest_build
+++ /dev/null
@@ -1 +0,0 @@
-build_2024-02-11_12-18-27
\ No newline at end of file
diff --git a/deploy/launch/dock.launch.py b/deploy/launch/dock.launch.py
index f44b184..4cee1a6 100644
--- a/deploy/launch/dock.launch.py
+++ b/deploy/launch/dock.launch.py
@@ -8,27 +8,6 @@ from launch_ros.actions import Node
 def generate_launch_description():
     return LaunchDescription([
         # launch the pointcloud to laser scan converter
-        Node(
-            package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
-            remappings=[('cloud_in', '/go2/lidar_points'),
-                        ('scan', '/go2/lidar_scans')],
-            parameters=[{
-                'target_frame': 'go2/hesai_lidar',
-                'transform_tolerance': 0.01,
-                'min_height': 0.0,
-                'max_height': 1.0,
-                'angle_min': -1.5708,  # -M_PI/2
-                'angle_max': 1.5708,  # M_PI/2
-                'angle_increment': 0.0087,  # M_PI/360.0
-                'scan_time': 0.3333,
-                'range_min': 0.45,
-                'range_max': 100.0,
-                'use_inf': True,
-                'inf_epsilon': 1.0
-            }],
-            name='pointcloud_to_laserscan'
-        ),
-
         Node(
             package='hesai_ros_driver',
             executable='hesai_ros_driver_node',
diff --git a/deploy/nav2_ws/src/sportmode_nav2/CMakeLists.txt b/deploy/nav2_ws/src/sportmode_nav2/CMakeLists.txt
new file mode 100644
index 0000000..b214568
--- /dev/null
+++ b/deploy/nav2_ws/src/sportmode_nav2/CMakeLists.txt
@@ -0,0 +1,63 @@
+cmake_minimum_required(VERSION 3.5)
+project(sportmode_nav2)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+include_directories(include include/common include/nlohmann)
+link_directories(src)
+
+set (
+  DEPENDENCY_LIST
+  rclcpp
+  std_msgs
+  rosbag2_cpp 
+  sensor_msgs 
+  geometry_msgs 
+  nav_msgs 
+  tf2 
+  tf2_geometry_msgs
+  tf2_ros
+  tf2_sensor_msgs
+)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosbag2_cpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_sensor_msgs REQUIRED)
+
+# Install params config files.
+install(DIRECTORY
+  params
+  launch
+  DESTINATION share/${PROJECT_NAME}
+  USE_SOURCE_PERMISSIONS
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/deploy/nav2_ws/src/sportmode_nav2/launch/mapping.launch.py b/deploy/nav2_ws/src/sportmode_nav2/launch/mapping.launch.py
new file mode 100644
index 0000000..5d9d345
--- /dev/null
+++ b/deploy/nav2_ws/src/sportmode_nav2/launch/mapping.launch.py
@@ -0,0 +1,48 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    laser_scan = Node(
+            package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
+            remappings=[('cloud_in', '/go2/lidar_points'),
+                        ('scan', '/go2/lidar_scans')],
+            parameters=[{
+                'target_frame': 'go2/hesai_lidar',
+                'transform_tolerance': 0.01,
+                'min_height': 0.0,
+                'max_height': 1.0,
+                'angle_min': -1.5708,  # -M_PI/2
+                'angle_max': 1.5708,  # M_PI/2
+                'angle_increment': 0.0087,  # M_PI/360.0
+                'scan_time': 0.3333,
+                'range_min': 0.45,
+                'range_max': 100.0,
+                'use_inf': True,
+                'inf_epsilon': 1.0
+            }],
+            name='pointcloud_to_laserscan'
+        )
+   
+    robot_localization = IncludeLaunchDescription(
+      PythonLaunchDescriptionSource([os.path.join(
+         get_package_share_directory('sportmode_nav2'), 'launch'),
+         '/ros_ekf.launch.py'])
+      )
+    async_mapping = IncludeLaunchDescription(
+      PythonLaunchDescriptionSource([os.path.join(
+         get_package_share_directory('sportmode_nav2'), 'launch'),
+         '/mapping_async.launch.py'])
+      )
+
+    return LaunchDescription([
+        robot_localization,
+        async_mapping,
+        laser_scan
+   ])
\ No newline at end of file
diff --git a/deploy/nav2_ws/src/sportmode_nav2/launch/mapping_async.launch.py b/deploy/nav2_ws/src/sportmode_nav2/launch/mapping_async.launch.py
new file mode 100644
index 0000000..b1ffc79
--- /dev/null
+++ b/deploy/nav2_ws/src/sportmode_nav2/launch/mapping_async.launch.py
@@ -0,0 +1,59 @@
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, LogInfo
+from launch.conditions import UnlessCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+from nav2_common.launch import HasNodeParams
+
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration('use_sim_time', default=False)
+    params_file = LaunchConfiguration('params_file')
+    default_params_file = os.path.join(get_package_share_directory("sportmode_nav2"),
+                                       'params', 'mapping_async.yaml')
+
+    declare_use_sim_time_argument = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='true',
+        description='Use simulation/Gazebo clock')
+    declare_params_file_cmd = DeclareLaunchArgument(
+        'params_file',
+        default_value=default_params_file,
+        description='Full path to the ROS2 parameters file to use for the slam_toolbox node')
+
+    # If the provided param file doesn't have slam_toolbox params, we must pass the
+    # default_params_file instead. This could happen due to automatic propagation of
+    # LaunchArguments. See:
+    # https://github.com/ros-planning/navigation2/pull/2243#issuecomment-800479866
+    has_node_params = HasNodeParams(source_file=params_file,
+                                    node_name='slam_toolbox')
+
+    actual_params_file = PythonExpression(['"', params_file, '" if ', has_node_params,
+                                           ' else "', default_params_file, '"'])
+
+    log_param_change = LogInfo(msg=['provided params_file ',  params_file,
+                                    ' does not contain slam_toolbox parameters. Using default: ',
+                                    default_params_file],
+                               condition=UnlessCondition(has_node_params))
+
+    start_async_slam_toolbox_node = Node(
+        parameters=[
+          actual_params_file,
+          {'use_sim_time': use_sim_time}
+        ],
+        package='slam_toolbox',
+        executable='async_slam_toolbox_node',
+        name='slam_toolbox',
+        output='screen')
+
+    ld = LaunchDescription()
+
+    ld.add_action(declare_use_sim_time_argument)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(log_param_change)
+    ld.add_action(start_async_slam_toolbox_node)
+
+    return ld
diff --git a/deploy/nav2_ws/src/sportmode_nav2/launch/ros_ekf.launch.py b/deploy/nav2_ws/src/sportmode_nav2/launch/ros_ekf.launch.py
new file mode 100644
index 0000000..1ee570a
--- /dev/null
+++ b/deploy/nav2_ws/src/sportmode_nav2/launch/ros_ekf.launch.py
@@ -0,0 +1,35 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+# Copyright 2019 Samsung Research America
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from ament_index_python.packages import get_package_share_directory
+import launch_ros.actions
+import os
+import yaml
+from launch.substitutions import EnvironmentVariable
+import pathlib
+import launch.actions
+from launch.actions import DeclareLaunchArgument
+
+def generate_launch_description():
+    return LaunchDescription([
+        launch_ros.actions.Node(
+            package='robot_localization',
+            executable='ekf_node',
+            name='ekf_filter_node',
+            output='screen',
+            parameters=[os.path.join(get_package_share_directory("sportmode_nav2"), 'params', 'ros_ekf.yaml')],
+           ),
+])
diff --git a/deploy/nav2_ws/src/sportmode_nav2/package.xml b/deploy/nav2_ws/src/sportmode_nav2/package.xml
new file mode 100644
index 0000000..6e7a413
--- /dev/null
+++ b/deploy/nav2_ws/src/sportmode_nav2/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>sportmode_nav2</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="zeendi@163.com">zeen</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>robot_locoalization</test_depend>
+  <test_depend>slam_toolbox</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/deploy/nav2_ws/src/sportmode_nav2/params/mapping_async.yaml b/deploy/nav2_ws/src/sportmode_nav2/params/mapping_async.yaml
new file mode 100644
index 0000000..ceccbda
--- /dev/null
+++ b/deploy/nav2_ws/src/sportmode_nav2/params/mapping_async.yaml
@@ -0,0 +1,73 @@
+slam_toolbox:
+  ros__parameters:
+
+    # Plugin params
+    solver_plugin: solver_plugins::CeresSolver
+    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner: SCHUR_JACOBI
+    ceres_trust_strategy: LEVENBERG_MARQUARDT
+    ceres_dogleg_type: TRADITIONAL_DOGLEG
+    ceres_loss_function: None
+
+    # ROS Parameters
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_link # ToDo: add a base_footprint to the URDF
+    scan_topic: /go2/lidar_scans
+    mode: mapping #localization
+
+    # if you'd like to immediately start continuing a map at a given pose
+    # or at the dock, but they are mutually exclusive, if pose is given
+    # will use pose
+    #map_file_name: test_steve
+    # map_start_pose: [0.0, 0.0, 0.0]
+    #map_start_at_dock: true
+
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 5.0
+    resolution: 0.05
+    max_laser_range: 20.0 #for rastering images
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.
+    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+    enable_interactive_mode: true
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.5
+    minimum_travel_heading: 0.5
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 10.0
+    link_match_minimum_response_fine: 0.1  
+    link_scan_maximum_distance: 1.5
+    loop_search_maximum_distance: 3.0
+    do_loop_closing: true 
+    loop_match_minimum_chain_size: 10           
+    loop_match_maximum_variance_coarse: 3.0  
+    loop_match_minimum_response_coarse: 0.35    
+    loop_match_minimum_response_fine: 0.45
+
+    # Correlation Parameters - Correlation Parameters
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1 
+
+    # Correlation Parameters - Loop Closure Parameters
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # Scan Matcher Parameters
+    distance_variance_penalty: 0.5      
+    angle_variance_penalty: 1.0    
+
+    fine_search_angle_offset: 0.00349     
+    coarse_search_angle_offset: 0.349   
+    coarse_angle_resolution: 0.0349        
+    minimum_angle_penalty: 0.9
+    minimum_distance_penalty: 0.5
+    use_response_expansion: true
diff --git a/deploy/nav2_ws/src/sportmode_nav2/params/ros_ekf.yaml b/deploy/nav2_ws/src/sportmode_nav2/params/ros_ekf.yaml
new file mode 100644
index 0000000..3a07fe3
--- /dev/null
+++ b/deploy/nav2_ws/src/sportmode_nav2/params/ros_ekf.yaml
@@ -0,0 +1,219 @@
+### ekf config file ###
+ekf_filter_node:
+    ros__parameters:
+# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin
+# computation until it receives at least one message from one of the inputs. It will then run continuously at the
+# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
+        frequency: 100.0
+
+# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict
+# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the
+# filter will generate new output. Defaults to 1 / frequency if not specified.
+        sensor_timeout: 0.1
+
+# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is
+# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar
+# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected
+# by, for example, an IMU. Defaults to false if unspecified.
+        two_d_mode: false
+
+# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for
+# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if
+# unspecified.
+        transform_time_offset: 0.0
+
+# Use this parameter to provide specify how long the tf listener should wait for a transform to become available. 
+# Defaults to 0.0 if unspecified.
+        transform_timeout: 0.0
+
+# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is
+# unhappy with any settings or data.
+        print_diagnostics: true
+
+# Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by
+# debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious
+# effects on the performance of the node. Defaults to false if unspecified.
+        debug: false
+
+# Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path.
+        debug_out_file: /path/to/debug/file.txt
+
+# Whether we'll allow old measurements to cause a re-publication of the updated state
+        permit_corrected_publication: false
+
+# Whether to publish the acceleration state. Defaults to false if unspecified.
+        publish_acceleration: false
+
+# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified.
+        publish_tf: true
+
+# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and
+# earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames.
+# The robot's position in the odom frame will drift over time, but is accurate in the short term and should be
+# continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom
+# frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your
+# robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based
+# localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame.
+# ekf_localization_node and ukf_localization_node are not concerned with the earth frame.
+# Here is how to use the following settings:
+# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system.
+#     1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of
+#         odom_frame.
+# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set
+#   "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes.
+# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates
+# from landmark observations) then:
+#     3a. Set your "world_frame" to your map_frame value
+#     3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state
+#         estimation node from robot_localization! However, that instance should *not* fuse the global data.
+        map_frame: map              # Defaults to "map" if unspecified
+        odom_frame: odom            # Defaults to "odom" if unspecified
+        base_link_frame: base_link  # Defaults to "base_link" if unspecified
+        world_frame: odom           # Defaults to the value of odom_frame if unspecified
+
+# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry,
+# geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped,
+# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0,
+# odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no
+# default values, and must be specified.
+        odom0: /utlidar/robot_odom
+
+# Each sensor reading updates some or all of the filter's state. These options give you greater control over which
+# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only
+# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the
+# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types
+# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message
+# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false
+# if unspecified, effectively making this parameter required for each sensor.
+        odom0_config: [true,  true,  true,
+                       true,  true,  true,
+                       true,  true,  true,
+                       true,  true,  true,
+                       false, false, false]
+
+# If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase
+# the size of the subscription queue so that more measurements are fused.
+        odom0_queue_size: 2
+
+# [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result
+# of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's
+# algorithm.
+        odom0_nodelay: false
+
+# [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under-
+# report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they
+# arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also
+# measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't
+# always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose
+# data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then
+# integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true
+# for twist measurements has no effect.
+        odom0_differential: false
+
+# [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point"
+# for all future measurements. While you can achieve the same effect with the differential paremeter, the key
+# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before
+# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true.
+        odom0_relative: false
+
+# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to
+# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to
+# numeric_limits<double>::max() if unspecified. It is strongly recommended that these parameters be removed if not
+# required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation.
+# For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying
+# the thresholds.
+        odom0_pose_rejection_threshold: 5.0
+        odom0_twist_rejection_threshold: 1.0
+
+        # imu0: /utlidar/imu
+        # imu0_config: [false, false, false,
+        #               true,  true,  true,
+        #               false, false, false,
+        #               true,  true,  true,
+        #               true,  true,  true]
+        # imu0_nodelay: false
+        # imu0_differential: false
+        # imu0_relative: true
+        # imu0_queue_size: 5
+        # imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
+        # imu0_twist_rejection_threshold: 0.8                #
+        # imu0_linear_acceleration_rejection_threshold: 0.8  #
+
+# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
+# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.
+        imu0_remove_gravitational_acceleration: true
+
+# [ADVANCED]  The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no
+# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During
+# correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be
+# problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When
+# this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially
+# noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance
+# for the velocity variable in question, or decrease the  variance of the variable in question in the measurement
+# itself. In addition, users can also take advantage of the control command being issued to the robot at the time we
+# make the prediction. If control is used, it will get converted into an acceleration term, which will be used during
+# predicition. Note that if an acceleration measurement for the variable in question is available from one of the
+# inputs, the control term will be ignored.
+# Whether or not we use the control input during predicition. Defaults to false.
+        use_control: true
+# Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to
+# false.
+        stamped_control: false
+# The last issued control command will be used in prediction for this period. Defaults to 0.2.
+        control_timeout: 0.2
+# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw.
+        control_config: [true, false, false, false, false, true]
+# Places limits on how large the acceleration term will be. Should match your robot's kinematics.
+        acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
+# Acceleration and deceleration limits are not always the same for robots.
+        deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
+# If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these
+# gains
+        acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
+# If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these
+# gains
+        deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
+# [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is
+# exposed as a configuration parameter. This matrix represents the noise we add to the total error after each
+# prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be.
+# However, if users find that a given variable is slow to converge, one approach is to increase the
+# process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error
+# to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are
+# ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if
+# unspecified.
+        process_noise_covariance: [0.05, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.05, 0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.06, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.03, 0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.03, 0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.06, 0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.025, 0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.025, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.04, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.01, 0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.01, 0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.02, 0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.01, 0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.01, 0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.015]
+# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal
+# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in
+# question. Users should take care not to use large values for variables that will not be measured directly. The values
+# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below
+#if unspecified.
+        initial_estimate_covariance: [1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9,  0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     1e-9,  0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     1e-9,  0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     1e-9, 0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    1e-9, 0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    1e-9]
+
diff --git a/deploy/robot_ws/src/go2_description/xacro/robot.xacro b/deploy/robot_ws/src/go2_description/xacro/robot.xacro
index c03da97..bbf43c5 100755
--- a/deploy/robot_ws/src/go2_description/xacro/robot.xacro
+++ b/deploy/robot_ws/src/go2_description/xacro/robot.xacro
@@ -22,11 +22,11 @@
         <joint name="base_static_joint" type="fixed">
             <origin rpy="0 0 0" xyz="0 0 0"/>
             <parent link="world"/>
-            <child link="base"/>
+            <child link="base_link"/>
         </joint>
     </xacro:if> 
 
-    <link name="base">
+    <link name="base_link">
         <visual>
             <origin rpy="0 0 0" xyz="0 0 0"/>
             <geometry>
@@ -37,7 +37,7 @@
 
     <joint name="floating_base" type="fixed">
         <origin rpy="0 0 0" xyz="0 0 0"/>
-        <parent link="base"/>
+        <parent link="base_link"/>
         <child link="trunk"/>
     </joint>
 
diff --git a/deploy/robot_ws/src/go2_description/xacro/robot_virtual_arm.xacro b/deploy/robot_ws/src/go2_description/xacro/robot_virtual_arm.xacro
index 26f1fe6..9119e85 100755
--- a/deploy/robot_ws/src/go2_description/xacro/robot_virtual_arm.xacro
+++ b/deploy/robot_ws/src/go2_description/xacro/robot_virtual_arm.xacro
@@ -22,11 +22,11 @@
         <joint name="base_static_joint" type="fixed">
             <origin rpy="0 0 0" xyz="0 0 0"/>
             <parent link="world"/>
-            <child link="base"/>
+            <child link="base_link"/>
         </joint>
     </xacro:if> 
 
-    <link name="base">
+    <link name="base_link">
         <visual>
             <origin rpy="0 0 0" xyz="0 0 0"/>
             <geometry>
@@ -37,7 +37,7 @@
 
     <joint name="floating_base" type="fixed">
         <origin rpy="0 0 0" xyz="0 0 0"/>
-        <parent link="base"/>
+        <parent link="base_link"/>
         <child link="trunk"/>
     </joint>