a

install/.colcon_install_layout

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

install/_local_setup_util_ps1.py

@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = ''  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = ''  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basenames = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # append even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # prepend even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)

install/_local_setup_util_sh.py

@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
+FORMAT_STR_USE_ENV_VAR = '${name}'
+FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi'  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi'  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basenames = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # append even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # prepend even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)

install/gc_bringup/lib/gc_bringup/nav_goal.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+"""
+命令行发送导航目标点到 Nav2
+
+用法:
+    ros2 run gc_bringup nav_goal 1.0 2.0 0.5        # 去 (1.0, 2.0), yaw=0.5
+    ros2 run gc_bringup nav_goal 1.0 2.0             # 去 (1.0, 2.0), yaw=0.0
+    ros2 run gc_bringup nav_goal -2.0 0.0 3.14       # 去 (-2.0, 0.0), 面朝后
+
+    # 或使用 topic pub
+    ros2 topic pub /goal_pose geometry_msgs/PoseStamped "{header: {frame_id: 'map'}, pose: {position: {x: 1.0, y: 0.0}, orientation: {z: 0.0, w: 1.0}}}"
+"""
+
+import sys
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import PoseStamped
+import math
+
+
+class GoalSender(Node):
+    def __init__(self):
+        super().__init__('goal_sender')
+        self.publisher = self.create_publisher(PoseStamped, '/goal_pose', 10)
+
+    def send_goal(self, x: float, y: float, yaw: float = 0.0):
+        msg = PoseStamped()
+        msg.header.frame_id = 'map'
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.pose.position.x = x
+        msg.pose.position.y = y
+        msg.pose.position.z = 0.0
+        msg.pose.orientation.z = math.sin(yaw / 2.0)
+        msg.pose.orientation.w = math.cos(yaw / 2.0)
+        self.publisher.publish(msg)
+        self.get_logger().info(f'发送导航目标: x={x:.2f}, y={y:.2f}, yaw={yaw:.2f}')
+
+
+def main():
+    rclpy.init()
+    sender = GoalSender()
+
+    args = sys.argv[1:]
+    if len(args) < 2:
+        print("用法: ros2 run gc_bringup nav_goal <x> <y> [yaw]")
+        print("示例: ros2 run gc_bringup nav_goal 1.0 2.0 0.5")
+        sys.exit(1)
+
+    x = float(args[0])
+    y = float(args[1])
+    yaw = float(args[2]) if len(args) > 2 else 0.0
+
+    sender.send_goal(x, y, yaw)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

install/gc_bringup/share/ament_index/resource_index/package_run_dependencies/gc_bringup

@@ -0,0 +1 @@
+gazebo_ros;robot_state_publisher;joint_state_publisher;rviz2;nav2_bringup;slam_toolbox;origincar_description;xacro;teleop_twist_keyboard;ament_lint_auto;ament_lint_common

install/gc_bringup/share/ament_index/resource_index/parent_prefix_path/gc_bringup

@@ -0,0 +1 @@
+/home/guoch/test_ws/install/gc_bringup:/home/guoch/test_ws/install/origincar_description:/home/guoch/test_ws/install/gc_slamtoolbox:/home/guoch/test_ws/install/gc_slam_toolbox_fish:/home/guoch/test_ws/install/gc_navigation_fish:/home/guoch/test_ws/install/gc_navigation2_slamtoolbox:/home/guoch/test_ws/install/gc_navigation:/opt/ros/humble

install/gc_bringup/share/colcon-core/packages/gc_bringup

@@ -0,0 +1 @@
+gazebo_ros:joint_state_publisher:nav2_bringup:origincar_description:robot_state_publisher:rviz2:slam_toolbox:teleop_twist_keyboard:xacro

install/gc_bringup/share/gc_bringup/cmake/gc_bringupConfig-version.cmake

@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "1.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()

install/gc_bringup/share/gc_bringup/cmake/gc_bringupConfig.cmake

@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_gc_bringup_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED gc_bringup_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(gc_bringup_FOUND FALSE)
+  elseif(NOT gc_bringup_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(gc_bringup_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_gc_bringup_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT gc_bringup_FIND_QUIETLY)
+  message(STATUS "Found gc_bringup: 1.0.0 (${gc_bringup_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'gc_bringup' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${gc_bringup_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(gc_bringup_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${gc_bringup_DIR}/${_extra}")
+endforeach()

install/gc_bringup/share/gc_bringup/config/mapper_params_localization.yaml

@@ -0,0 +1,60 @@
+# =============================================================================
+# slam_toolbox 定位模式参数
+# 用于在已有地图上进行定位（替代 AMCL）
+# =============================================================================
+slam_toolbox:
+  ros__parameters:
+    # 基本设置
+    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 参数
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_footprint
+    scan_topic: /scan
+    use_sim_time: True
+    mode: localization
+
+    # 调试
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02
+    map_update_interval: 10.0
+    resolution: 0.05
+    max_laser_range: 3.5
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.0
+    stack_size_to_use: 40000000
+
+    # 定位模式不需要回环检测
+    loop_search_maximum_distance: 3.0
+    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
+
+    # 扫描匹配
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1
+
+    # 回环闭合
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # 扫描匹配器
+    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

install/gc_bringup/share/gc_bringup/config/mapper_params_online_async.yaml

@@ -0,0 +1,61 @@
+# =============================================================================
+# slam_toolbox 在线异步建图参数
+# 用于实时 SLAM 建图
+# =============================================================================
+slam_toolbox:
+  ros__parameters:
+    # 基本设置
+    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 参数
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_footprint
+    scan_topic: /scan
+    use_sim_time: True
+    mode: mapping
+
+    # 调试
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02
+    map_update_interval: 5.0
+    resolution: 0.05
+    max_laser_range: 3.5
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.0
+    stack_size_to_use: 40000000
+    enable_interactive_mode: true
+
+    # 回环检测
+    loop_search_maximum_distance: 3.0
+    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
+
+    # 扫描匹配
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1
+
+    # 回环闭合
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # 扫描匹配器
+    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

install/gc_bringup/share/gc_bringup/config/nav2_params.yaml

@@ -0,0 +1,411 @@
+# =============================================================================
+# Nav2 参数 — 阿克曼底盘 + AMCL + MPPI
+# =============================================================================
+
+amcl:
+  ros__parameters:
+    use_sim_time: True
+    alpha1: 0.2
+    alpha2: 0.2
+    alpha3: 0.2
+    alpha4: 0.2
+    alpha5: 0.2
+    base_frame_id: "base_footprint"
+    beam_skip_distance: 0.5
+    beam_skip_error_threshold: 0.9
+    beam_skip_threshold: 0.3
+    do_beamskip: false
+    global_frame_id: "map"
+    lambda_short: 0.1
+    laser_likelihood_max_dist: 2.0
+    laser_max_range: 100.0
+    laser_min_range: -1.0
+    laser_model_type: "likelihood_field"
+    max_beams: 60
+    max_particles: 2000
+    min_particles: 500
+    odom_frame_id: "odom"
+    pf_err: 0.05
+    pf_z: 0.99
+    recovery_alpha_fast: 0.0
+    recovery_alpha_slow: 0.0
+    resample_interval: 1
+    # ★ 自动设定初始位姿 — 不设置的话 map→odom 的 TF 不会发布
+    set_initial_pose: true
+    initial_pose:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+      yaw: 0.0
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
+    save_pose_rate: 0.5
+    sigma_hit: 0.2
+    tf_broadcast: true
+    transform_tolerance: 10.0
+    update_min_a: 0.2
+    update_min_d: 0.25
+    z_hit: 0.5
+    z_max: 0.05
+    z_rand: 0.5
+    z_short: 0.05
+    scan_topic: scan
+
+amcl_map_client:
+  ros__parameters:
+    use_sim_time: True
+
+amcl_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator:
+  ros__parameters:
+    use_sim_time: True
+    global_frame: map
+    robot_base_frame: base_footprint
+    odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    plugin_lib_names:
+      - nav2_compute_path_to_pose_action_bt_node
+      - nav2_compute_path_through_poses_action_bt_node
+      - nav2_smooth_path_action_bt_node
+      - nav2_follow_path_action_bt_node
+      - nav2_spin_action_bt_node
+      - nav2_wait_action_bt_node
+      - nav2_back_up_action_bt_node
+      - nav2_drive_on_heading_bt_node
+      - nav2_clear_costmap_service_bt_node
+      - nav2_is_stuck_condition_bt_node
+      - nav2_goal_reached_condition_bt_node
+      - nav2_goal_updated_condition_bt_node
+      - nav2_globally_updated_goal_condition_bt_node
+      - nav2_is_path_valid_condition_bt_node
+      - nav2_initial_pose_received_condition_bt_node
+      - nav2_reinitialize_global_localization_service_bt_node
+      - nav2_rate_controller_bt_node
+      - nav2_distance_controller_bt_node
+      - nav2_speed_controller_bt_node
+      - nav2_truncate_path_action_bt_node
+      - nav2_truncate_path_local_action_bt_node
+      - nav2_goal_updater_node_bt_node
+      - nav2_recovery_node_bt_node
+      - nav2_pipeline_sequence_bt_node
+      - nav2_round_robin_node_bt_node
+      - nav2_transform_available_condition_bt_node
+      - nav2_time_expired_condition_bt_node
+      - nav2_path_expiring_timer_condition
+      - nav2_distance_traveled_condition_bt_node
+      - nav2_single_trigger_bt_node
+      - nav2_is_battery_low_condition_bt_node
+      - nav2_navigate_through_poses_action_bt_node
+      - nav2_navigate_to_pose_action_bt_node
+      - nav2_remove_passed_goals_action_bt_node
+      - nav2_planner_selector_bt_node
+      - nav2_controller_selector_bt_node
+      - nav2_goal_checker_selector_bt_node
+      - nav2_controller_cancel_bt_node
+      - nav2_path_longer_on_approach_bt_node
+      - nav2_wait_cancel_bt_node
+      - nav2_spin_cancel_bt_node
+      - nav2_back_up_cancel_bt_node
+      - nav2_drive_on_heading_cancel_bt_node
+
+bt_navigator_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    controller_frequency: 30.0
+    controller_plugins: ["FollowPath"]
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    goal_checker:
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+    FollowPath:
+      plugin: "nav2_mppi_controller::MPPIController"
+      time_steps: 56
+      model_dt: 0.05
+      batch_size: 2000
+      vx_std: 0.2
+      vy_std: 0.0
+      wz_std: 0.4
+      vx_max: 0.5
+      vx_min: -0.35
+      vy_max: 0.0
+      wz_max: 1.9
+      iteration_count: 1
+      temperature: 0.3
+      gamma: 0.015
+      motion_model: "Ackermann"
+      visualize: false
+      TrajectoryVisualizer:
+        trajectory_step: 5
+        time_step: 3
+      AckermannConstraints:
+        min_turning_r: 0.4
+      critics:
+        - "ConstraintCritic"
+        - "CostCritic"
+        - "GoalCritic"
+        - "GoalAngleCritic"
+        - "PathAlignCritic"
+        - "PathFollowCritic"
+        - "PathAngleCritic"
+        - "PreferForwardCritic"
+      ConstraintCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 4.0
+      GoalCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        threshold_to_consider: 1.4
+      GoalAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.0
+        threshold_to_consider: 0.5
+      PreferForwardCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        threshold_to_consider: 0.5
+      CostCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 3.81
+        critical_cost: 300.0
+        consider_footprint: true
+        collision_cost: 1000000.0
+        near_goal_distance: 1.0
+        trajectory_point_step: 2
+      PathAlignCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 14.0
+        max_path_occupancy_ratio: 0.05
+        trajectory_point_step: 4
+        threshold_to_consider: 0.5
+        offset_from_furthest: 20
+        use_path_orientations: false
+      PathFollowCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 5.0
+        offset_from_furthest: 5
+        threshold_to_consider: 1.4
+      PathAngleCritic:
+        enabled: true
+        cost_power: 1
+        cost_weight: 2.0
+        offset_from_furthest: 4
+        threshold_to_consider: 0.5
+        max_angle_to_furthest: 1.0
+        forward_preference: true
+
+controller_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+planner_server:
+  ros__parameters:
+    planner_plugins: ["GridBased"]
+    use_sim_time: True
+    GridBased:
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+      downsample_costmap: false
+      downsampling_factor: 1
+      tolerance: 0.25
+      allow_unknown: true
+      max_iterations: 1000000
+      max_on_approach_iterations: 1000
+      max_planning_time: 5.0
+      motion_model_for_search: "REEDS_SHEPP"
+      angle_quantization_bins: 72
+      analytic_expansion_ratio: 3.5
+      analytic_expansion_max_length: 3.0
+      minimum_turning_radius: 0.40
+      reverse_penalty: 2.0
+      change_penalty: 0.0
+      non_straight_penalty: 1.2
+      cost_penalty: 2.0
+      retrospective_penalty: 0.015
+      lookup_table_size: 20.0
+      cache_obstacle_heuristic: false
+      viz_expansions: false
+      smooth_path: True
+      smoother:
+        max_iterations: 1000
+        w_smooth: 0.3
+        w_data: 0.2
+        tolerance: 1.0e-10
+        do_refinement: true
+        refinement_num: 2
+
+planner_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+smoother_server:
+  ros__parameters:
+    use_sim_time: True
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
+
+behavior_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    behavior_plugins: ["spin", "backup", "wait"]
+    spin:
+      plugin: "nav2_behaviors/Spin"
+    backup:
+      plugin: "nav2_behaviors/BackUp"
+    wait:
+      plugin: "nav2_behaviors/Wait"
+    global_frame: odom
+    robot_base_frame: base_footprint
+    transform_tolerance: 0.5
+    use_sim_time: True
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+behavior_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      transform_tolerance: 0.5
+      global_frame: odom
+      robot_base_frame: base_footprint
+      use_sim_time: True
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
+      footprint_padding: 0.02
+      plugins: ["voxel_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      use_sim_time: True
+      transform_tolerance: 0.5
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_footprint
+      footprint: "[[0.14, 0.085], [0.14, -0.085], [-0.14, -0.085], [-0.14, 0.085]]"
+      footprint_padding: 0.02
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.55
+      always_send_full_costmap: True
+  global_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  global_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+map_server:
+  ros__parameters:
+    use_sim_time: True
+    yaml_filename: ""
+
+map_saver:
+  ros__parameters:
+    use_sim_time: True
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: True
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    use_sim_time: True
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200

install/gc_bringup/share/gc_bringup/environment/ament_prefix_path.dsv

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

install/gc_bringup/share/gc_bringup/environment/ament_prefix_path.sh

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

install/gc_bringup/share/gc_bringup/environment/path.dsv

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

install/gc_bringup/share/gc_bringup/environment/path.sh

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

install/gc_bringup/share/gc_bringup/hook/cmake_prefix_path.dsv

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

install/gc_bringup/share/gc_bringup/hook/cmake_prefix_path.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"

install/gc_bringup/share/gc_bringup/hook/cmake_prefix_path.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"

install/gc_bringup/share/gc_bringup/launch/navigation.launch.py

@@ -0,0 +1,207 @@
+#!/usr/bin/env python3
+# =============================================================================
+# gc_bringup — AMCL 导航模式 (直接启动 Nav2 节点)
+# 启动 Gazebo + 机器人 + Nav2 (AMCL 定位)
+# =============================================================================
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (DeclareLaunchArgument, ExecuteProcess,
+                            TimerAction)
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description():
+    bringup_dir = get_package_share_directory('gc_bringup')
+    origincar_dir = get_package_share_directory('origincar_description')
+
+    # ==================== 参数 ====================
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    use_gazebo = LaunchConfiguration('use_gazebo', default='true')
+    use_rviz = LaunchConfiguration('use_rviz', default='false')
+    world = LaunchConfiguration('world', default=os.path.join(
+        origincar_dir, 'world', 'gc_world.world'))
+    map_yaml = LaunchConfiguration('map', default=os.path.join(
+        bringup_dir, 'maps', 'my_map.yaml'))
+
+    declare_use_sim_time = DeclareLaunchArgument('use_sim_time', default_value='true')
+    declare_use_gazebo = DeclareLaunchArgument('use_gazebo', default_value='true')
+    declare_use_rviz = DeclareLaunchArgument('use_rviz', default_value='false')
+    declare_world = DeclareLaunchArgument(
+        'world', default_value=os.path.join(origincar_dir, 'world', 'gc_world.world'))
+    declare_map = DeclareLaunchArgument(
+        'map', default_value=os.path.join(bringup_dir, 'maps', 'my_map.yaml'))
+
+    # ==================== 机器人模型 ====================
+    default_model_path = os.path.join(origincar_dir, 'urdf', 'origincar.urdf')
+    robot_description = ParameterValue(
+        Command(['xacro ', default_model_path]), value_type=str)
+
+    # ==================== Gazebo ====================
+    start_gazebo = ExecuteProcess(
+        condition=IfCondition(use_gazebo),
+        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
+             '-s', 'libgazebo_ros_factory.so', world],
+        output='screen')
+
+    spawn_robot = Node(
+        condition=IfCondition(use_gazebo),
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=['-entity', 'mycar', '-file', default_model_path,
+                   '-x', '0.0', '-y', '0.0', '-z', '0.1'],
+        output='screen')
+
+    # ==================== TF & 机器人状态 ====================
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        parameters=[{'robot_description': robot_description,
+                     'use_sim_time': True, 'publish_frequency': 30.0}],
+        output='screen')
+
+    joint_state_publisher = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        parameters=[{'use_sim_time': True}], output='screen')
+
+    # ==================== Nav2 参数文件路径 ====================
+    nav2_params = os.path.join(bringup_dir, 'config', 'nav2_params.yaml')
+
+    # ==================== Map Server ====================
+    map_server = Node(
+        package='nav2_map_server',
+        executable='map_server',
+        name='map_server',
+        output='screen',
+        parameters=[nav2_params,
+                    {'use_sim_time': True, 'yaml_filename': map_yaml}],
+        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+    )
+
+    # ==================== AMCL ====================
+    amcl = Node(
+        package='nav2_amcl',
+        executable='amcl',
+        name='amcl',
+        output='screen',
+        parameters=[nav2_params, {'use_sim_time': True}],
+        remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+    )
+
+    # ==================== Planner Server ====================
+    planner_server = Node(
+        package='nav2_planner',
+        executable='planner_server',
+        name='planner_server',
+        output='screen',
+        parameters=[nav2_params, {'use_sim_time': True}],
+        remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+    )
+
+    # ==================== Controller Server ====================
+    controller_server = Node(
+        package='nav2_controller',
+        executable='controller_server',
+        name='controller_server',
+        output='screen',
+        parameters=[nav2_params, {'use_sim_time': True}],
+        remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+    )
+
+    # ==================== Behavior Server ====================
+    behavior_server = Node(
+        package='nav2_behaviors',
+        executable='behavior_server',
+        name='behavior_server',
+        output='screen',
+        parameters=[nav2_params, {'use_sim_time': True}],
+        remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+    )
+
+    # ==================== BT Navigator ====================
+    bt_navigator = Node(
+        package='nav2_bt_navigator',
+        executable='bt_navigator',
+        name='bt_navigator',
+        output='screen',
+        parameters=[nav2_params, {'use_sim_time': True}],
+        remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+    )
+
+    # ==================== Waypoint Follower ====================
+    waypoint_follower = Node(
+        package='nav2_waypoint_follower',
+        executable='waypoint_follower',
+        name='waypoint_follower',
+        output='screen',
+        parameters=[nav2_params, {'use_sim_time': True}],
+        remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+    )
+
+    # ==================== Lifecycle Manager (map + amcl) ====================
+    lifecycle_localization = Node(
+        package='nav2_lifecycle_manager',
+        executable='lifecycle_manager',
+        name='lifecycle_manager_localization',
+        output='screen',
+        parameters=[{'use_sim_time': True, 'autostart': True,
+                     'node_names': ['map_server', 'amcl']}],
+    )
+
+    # ==================== Lifecycle Manager (nav nodes) ====================
+    lifecycle_navigation = Node(
+        package='nav2_lifecycle_manager',
+        executable='lifecycle_manager',
+        name='lifecycle_manager_navigation',
+        output='screen',
+        parameters=[{'use_sim_time': True, 'autostart': True,
+                     'node_names': ['controller_server', 'planner_server',
+                                    'behavior_server', 'bt_navigator',
+                                    'waypoint_follower']}],
+    )
+
+    # ==================== RViz2 (可选) ====================
+    rviz_config = os.path.join(bringup_dir, 'rviz', 'navigation.rviz')
+    rviz_node = Node(
+        condition=IfCondition(use_rviz),
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config],
+        parameters=[{'use_sim_time': True}],
+        output='screen')
+
+    # ==================== 组装 ====================
+    ld = LaunchDescription()
+    ld.add_action(declare_use_sim_time)
+    ld.add_action(declare_use_gazebo)
+    ld.add_action(declare_use_rviz)
+    ld.add_action(declare_world)
+    ld.add_action(declare_map)
+
+    ld.add_action(start_gazebo)
+    ld.add_action(TimerAction(period=5.0, actions=[spawn_robot]))
+    ld.add_action(robot_state_publisher)
+    ld.add_action(joint_state_publisher)
+
+    ld.add_action(TimerAction(period=8.0, actions=[
+        map_server, amcl,
+        planner_server, controller_server, behavior_server, bt_navigator,
+        waypoint_follower,
+        lifecycle_localization, lifecycle_navigation,
+        rviz_node,
+    ]))
+
+    return ld

install/gc_bringup/share/gc_bringup/launch/navigation_slam.launch.py

@@ -0,0 +1,150 @@
+#!/usr/bin/env python3
+# =============================================================================
+# gc_bringup — slam_toolbox 定位 + 导航模式
+# 使用 slam_toolbox 定位模式替代 AMCL，适用于有 posegraph 的场景
+# =============================================================================
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (DeclareLaunchArgument, ExecuteProcess,
+                            IncludeLaunchDescription, TimerAction)
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description():
+    # ============================ 包路径 ============================
+    bringup_dir = get_package_share_directory('gc_bringup')
+    origincar_dir = get_package_share_directory('origincar_description')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+
+    # ============================ 启动参数 ============================
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    use_gazebo = LaunchConfiguration('use_gazebo', default='true')
+    use_rviz = LaunchConfiguration('use_rviz', default='true')
+    world = LaunchConfiguration('world', default=os.path.join(
+        origincar_dir, 'world', 'gc_world.world'))
+    map_yaml = LaunchConfiguration('map', default=os.path.join(
+        bringup_dir, 'maps', 'my_map.yaml'))
+
+    declare_use_sim_time = DeclareLaunchArgument('use_sim_time', default_value='true')
+    declare_use_gazebo = DeclareLaunchArgument('use_gazebo', default_value='true')
+    declare_use_rviz = DeclareLaunchArgument('use_rviz', default_value='true')
+    declare_world = DeclareLaunchArgument(
+        'world', default_value=os.path.join(origincar_dir, 'world', 'gc_world.world'))
+    declare_map = DeclareLaunchArgument(
+        'map', default_value=os.path.join(bringup_dir, 'maps', 'my_map.yaml'))
+
+    # ============================ 机器人模型 ============================
+    default_model_path = os.path.join(origincar_dir, 'urdf', 'origincar.urdf')
+    robot_description = ParameterValue(
+        Command(['xacro ', default_model_path]), value_type=str)
+
+    # ============================ Gazebo ============================
+    start_gazebo = ExecuteProcess(
+        condition=IfCondition(use_gazebo),
+        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
+             '-s', 'libgazebo_ros_factory.so', world],
+        output='screen'
+    )
+
+    spawn_robot = Node(
+        condition=IfCondition(use_gazebo),
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=['-entity', 'mycar',
+                   '-file', default_model_path,
+                   '-x', '0.0', '-y', '0.0', '-z', '0.1'],
+        output='screen'
+    )
+
+    # ============================ TF & 机器人状态 ============================
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        parameters=[{
+            'robot_description': robot_description,
+            'use_sim_time': True,
+            'publish_frequency': 30.0
+        }],
+        output='screen'
+    )
+
+    joint_state_publisher = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        parameters=[{'use_sim_time': True}],
+        output='screen'
+    )
+
+    # ============================ slam_toolbox 定位模式 ============================
+    map_base_path = os.path.join(bringup_dir, 'maps', 'my_map')
+    slam_localization_params = os.path.join(
+        bringup_dir, 'config', 'mapper_params_localization.yaml')
+
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='localization_slam_toolbox_node',
+        name='slam_toolbox',
+        output='screen',
+        parameters=[
+            slam_localization_params,
+            {
+                'map_file_name': map_base_path,
+                'use_sim_time': True
+            }
+        ]
+    )
+
+    # ============================ Nav2 Bringup (关闭内部定位，用 slam_toolbox) ============================
+    nav2_params = os.path.join(bringup_dir, 'config', 'nav2_params.yaml')
+    nav2_launch_path = os.path.join(nav2_bringup_dir, 'launch', 'bringup_launch.py')
+
+    nav2_bringup = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(nav2_launch_path),
+        launch_arguments={
+            'map': map_yaml,
+            'use_sim_time': use_sim_time,
+            'params_file': nav2_params,
+            'slam': 'False',
+            'autostart': 'True',
+            'use_composition': 'False',
+        }.items(),
+    )
+
+    # ============================ RViz2 ============================
+    rviz_config = os.path.join(bringup_dir, 'rviz', 'navigation.rviz')
+    rviz_node = Node(
+        condition=IfCondition(use_rviz),
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config],
+        parameters=[{'use_sim_time': True}],
+        output='screen'
+    )
+
+    # ============================ 组装 ============================
+    ld = LaunchDescription()
+
+    ld.add_action(declare_use_sim_time)
+    ld.add_action(declare_use_gazebo)
+    ld.add_action(declare_use_rviz)
+    ld.add_action(declare_world)
+    ld.add_action(declare_map)
+
+    ld.add_action(start_gazebo)
+    ld.add_action(TimerAction(period=5.0, actions=[spawn_robot]))
+    ld.add_action(robot_state_publisher)
+    ld.add_action(joint_state_publisher)
+    ld.add_action(TimerAction(
+        period=8.0,
+        actions=[slam_toolbox_node, nav2_bringup, rviz_node]
+    ))
+
+    return ld

install/gc_bringup/share/gc_bringup/launch/slam_mapping.launch.py

@@ -0,0 +1,153 @@
+#!/usr/bin/env python3
+# =============================================================================
+# gc_bringup — SLAM 建图模式
+# 启动 Gazebo + 机器人 + slam_toolbox 在线异步建图 + RViz
+# =============================================================================
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, TimerAction
+from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description():
+    # ============================ 包路径 ============================
+    bringup_dir = get_package_share_directory('gc_bringup')
+    origincar_dir = get_package_share_directory('origincar_description')
+
+    # ============================ 启动参数 ============================
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    use_gazebo = LaunchConfiguration('use_gazebo', default='true')
+    use_rviz = LaunchConfiguration('use_rviz', default='false')
+    world = LaunchConfiguration('world', default=os.path.join(
+        origincar_dir, 'world', 'gc_world.world'))
+
+    declare_use_sim_time = DeclareLaunchArgument(
+        'use_sim_time', default_value='true',
+        description='Use simulation (Gazebo) clock if true')
+    declare_use_gazebo = DeclareLaunchArgument(
+        'use_gazebo', default_value='true',
+        description='Start Gazebo simulation')
+    declare_use_rviz = DeclareLaunchArgument(
+        'use_rviz', default_value='false',
+        description='Start RViz2 (set true if you need local visualization)')
+    declare_world = DeclareLaunchArgument(
+        'world', default_value=os.path.join(origincar_dir, 'world', 'gc_world.world'),
+        description='Full path to Gazebo world file')
+
+    # ============================ 机器人模型 ============================
+    default_model_path = os.path.join(origincar_dir, 'urdf', 'origincar.urdf')
+    robot_description = ParameterValue(
+        Command(['xacro ', default_model_path]), value_type=str)
+
+    # ============================ Gazebo ============================
+    start_gazebo = ExecuteProcess(
+        condition=IfCondition(use_gazebo),
+        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
+             '-s', 'libgazebo_ros_factory.so', world],
+        output='screen'
+    )
+
+    spawn_robot = Node(
+        condition=IfCondition(use_gazebo),
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=['-entity', 'mycar',
+                   '-file', default_model_path,
+                   '-x', '0.0', '-y', '0.0', '-z', '0.1'],
+        output='screen'
+    )
+
+    # ============================ TF & 机器人状态 ============================
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        parameters=[{
+            'robot_description': robot_description,
+            'use_sim_time': True,
+            'publish_frequency': 30.0
+        }],
+        output='screen'
+    )
+
+    joint_state_publisher = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        parameters=[{'use_sim_time': True}],
+        output='screen'
+    )
+
+    # ============================ SLAM Toolbox (在线异步建图) ============================
+    slam_params_file = os.path.join(
+        bringup_dir, 'config', 'mapper_params_online_async.yaml')
+
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='async_slam_toolbox_node',
+        name='slam_toolbox',
+        output='screen',
+        parameters=[slam_params_file, {'use_sim_time': True}],
+        remappings=[('/scan', '/scan')]
+    )
+
+    # ============================ RViz2 ============================
+    rviz_config = os.path.join(bringup_dir, 'rviz', 'slam_mapping.rviz')
+    rviz_node = Node(
+        condition=IfCondition(use_rviz),
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config],
+        parameters=[{'use_sim_time': True}],
+        output='screen'
+    )
+
+    # ============================ 键盘遥控 (用于驱动机器人建图) ============================
+    use_teleop = LaunchConfiguration('use_teleop', default='true')
+    declare_use_teleop = DeclareLaunchArgument(
+        'use_teleop', default_value='true',
+        description='Start keyboard teleop for driving')
+
+    teleop_node = Node(
+        condition=IfCondition(use_teleop),
+        package='teleop_twist_keyboard',
+        executable='teleop_twist_keyboard',
+        name='teleop_twist_keyboard',
+        prefix='xterm -e',
+        output='screen',
+        remappings=[('/cmd_vel', '/cmd_vel')],
+        parameters=[{'use_sim_time': True}]
+    )
+
+    # ============================ 组装启动描述 ============================
+    ld = LaunchDescription()
+
+    ld.add_action(declare_use_sim_time)
+    ld.add_action(declare_use_gazebo)
+    ld.add_action(declare_use_rviz)
+    ld.add_action(declare_world)
+    ld.add_action(declare_use_teleop)
+
+    ld.add_action(start_gazebo)
+
+    # 等 Gazebo 启动后再生成机器人 (延迟 5 秒)
+    ld.add_action(TimerAction(
+        period=5.0,
+        actions=[spawn_robot]
+    ))
+
+    ld.add_action(robot_state_publisher)
+    ld.add_action(joint_state_publisher)
+
+    # 等机器人生成后再启动 SLAM (延迟 3 秒)
+    ld.add_action(TimerAction(
+        period=8.0,
+        actions=[slam_toolbox_node, teleop_node, rviz_node]
+    ))
+
+    return ld

install/gc_bringup/share/gc_bringup/local_setup.bash

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

install/gc_bringup/share/gc_bringup/local_setup.dsv

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

install/gc_bringup/share/gc_bringup/local_setup.sh

@@ -0,0 +1,184 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/guoch/test_ws/install/gc_bringup"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to append non-duplicate values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_unique_value() {
+  # arguments
+  _listname=$1
+  _value=$2
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\$$_listname
+  _duplicate=
+  _ament_append_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ $_item = $_value ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # append only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid leading separator
+    if [ -z "$_values" ]; then
+      eval $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval $_listname=\"\$$_listname:$_value\"
+      #eval echo "append list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_append_unique_value_IFS
+  unset _ament_append_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/gc_bringup/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/gc_bringup/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX

install/gc_bringup/share/gc_bringup/local_setup.zsh

@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX

install/gc_bringup/share/gc_bringup/maps/my_map.yaml

@@ -0,0 +1,7 @@
+image: my_map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-9.95, -8.29, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

install/gc_bringup/share/gc_bringup/package.bash

@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/gc_bringup/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/gc_bringup/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX

install/gc_bringup/share/gc_bringup/package.dsv

@@ -0,0 +1,8 @@
+source;share/gc_bringup/hook/cmake_prefix_path.ps1
+source;share/gc_bringup/hook/cmake_prefix_path.dsv
+source;share/gc_bringup/hook/cmake_prefix_path.sh
+source;share/gc_bringup/local_setup.bash
+source;share/gc_bringup/local_setup.dsv
+source;share/gc_bringup/local_setup.ps1
+source;share/gc_bringup/local_setup.sh
+source;share/gc_bringup/local_setup.zsh

install/gc_bringup/share/gc_bringup/package.ps1

@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values};$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values};${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values};$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/gc_bringup/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/gc_bringup/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX

install/gc_bringup/share/gc_bringup/package.sh

@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/guoch/test_ws/install/gc_bringup"
+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/gc_bringup/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/gc_bringup/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

install/gc_bringup/share/gc_bringup/package.xml

@@ -0,0 +1,28 @@
+<?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>gc_bringup</name>
+  <version>1.0.0</version>
+  <description>GC Robot Bringup: SLAM mapping and AMCL navigation for Ackermann robot with LiDAR</description>
+  <maintainer email="guoch@todo.todo">guoch</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>nav2_bringup</exec_depend>
+  <exec_depend>slam_toolbox</exec_depend>
+  <exec_depend>origincar_description</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>teleop_twist_keyboard</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

install/gc_bringup/share/gc_bringup/package.zsh

@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/gc_bringup/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/gc_bringup/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX

install/gc_bringup/share/gc_bringup/rviz/navigation.rviz

@@ -0,0 +1,133 @@
+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+  - Class: rviz_common/Views
+    Name: Views
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.8
+      Class: rviz_default_plugins/RobotModel
+      Enabled: true
+      Name: RobotModel
+      Robot Description: robot_description
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Name: TF
+      Frame Timeout: 15
+      Marker Scale: 0.3
+    - Class: rviz_default_plugins/Map
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Color Scheme: map
+      Draw Behind: true
+      Use Timestamp: false
+    - Class: rviz_default_plugins/LaserScan
+      Enabled: true
+      Name: LaserScan
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /scan
+      Size (m): 0.02
+      Style: Flat Squares
+      Decay Time: 0.3
+      Color Transformer: Intensity
+    - Class: rviz_default_plugins/Path
+      Enabled: true
+      Name: Global Plan
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /plan
+      Color: 25; 255; 0
+      Line Style: Dashed
+    - Class: rviz_default_plugins/Path
+      Enabled: true
+      Name: Local Plan
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /local_plan
+      Color: 255; 153; 0
+    - Class: rviz_default_plugins/Path
+      Enabled: true
+      Name: Smoothed Plan
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /smoothed_plan
+      Color: 255; 255; 0
+    - Class: rviz_default_plugins/Costmap
+      Enabled: true
+      Name: Local Costmap
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /local_costmap/costmap
+      Color Scheme: costmap
+      Draw Behind: false
+    - Class: rviz_default_plugins/Costmap
+      Enabled: false
+      Name: Global Costmap
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /global_costmap/costmap
+      Color Scheme: costmap
+      Draw Behind: false
+    - Alpha: 0.99
+      Class: rviz_default_plugins/ParticleCloud
+      Enabled: true
+      Name: AMCL Particle Swarm
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /particle_cloud
+      Color: 255; 0; 0
+      Style: Flat Squares
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Value: /goal_pose
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 5.0
+      Focal Point:
+        X: 0.0
+        Y: 0.0
+        Z: 0.5
+      Name: Current View
+      Pitch: 0.8
+      Yaw: 2.8

install/gc_bringup/share/gc_bringup/rviz/slam_mapping.rviz

@@ -0,0 +1,84 @@
+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+  - Class: rviz_common/Views
+    Name: Views
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.8
+      Class: rviz_default_plugins/RobotModel
+      Enabled: true
+      Name: RobotModel
+      Robot Description: robot_description
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Name: TF
+      Frame Timeout: 15
+      Marker Scale: 0.3
+    - Class: rviz_default_plugins/Map
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Color Scheme: map
+      Draw Behind: true
+      Use Timestamp: false
+    - Class: rviz_default_plugins/LaserScan
+      Enabled: true
+      Name: LaserScan
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /scan
+      Size (m): 0.02
+      Style: Flat Squares
+      Decay Time: 0.3
+      Color Transformer: Intensity
+    - Class: rviz_default_plugins/Path
+      Enabled: true
+      Name: Path (SLAM)
+      Topic:
+        Depth: 1
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /plan
+      Color: 25; 255; 0
+      Line Style: Dashed
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Value: /goal_pose
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 5.0
+      Focal Point:
+        X: 0.0
+        Y: 0.0
+        Z: 0.5
+      Name: Current View
+      Pitch: 0.8
+      Yaw: 2.8

install/gc_navigation/lib/python3.10/site-packages/gc_navigation-0.0.0-py3.10.egg-info/PKG-INFO

@@ -0,0 +1,12 @@
+Metadata-Version: 2.1
+Name: gc-navigation
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: guoch
+Maintainer-email: guoch@todo.todo
+License: TODO: License declaration
+Platform: UNKNOWN
+
+UNKNOWN
+

install/gc_navigation/lib/python3.10/site-packages/gc_navigation-0.0.0-py3.10.egg-info/SOURCES.txt

@@ -0,0 +1,15 @@
+package.xml
+setup.cfg
+setup.py
+../../build/gc_navigation/gc_navigation.egg-info/PKG-INFO
+../../build/gc_navigation/gc_navigation.egg-info/SOURCES.txt
+../../build/gc_navigation/gc_navigation.egg-info/dependency_links.txt
+../../build/gc_navigation/gc_navigation.egg-info/entry_points.txt
+../../build/gc_navigation/gc_navigation.egg-info/requires.txt
+../../build/gc_navigation/gc_navigation.egg-info/top_level.txt
+../../build/gc_navigation/gc_navigation.egg-info/zip-safe
+gc_navigation/__init__.py
+resource/gc_navigation
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py

install/gc_navigation/lib/python3.10/site-packages/gc_navigation-0.0.0-py3.10.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

install/gc_navigation/lib/python3.10/site-packages/gc_navigation-0.0.0-py3.10.egg-info/entry_points.txt

@@ -0,0 +1,3 @@
+[console_scripts]
+
+

install/gc_navigation/lib/python3.10/site-packages/gc_navigation-0.0.0-py3.10.egg-info/requires.txt

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

install/gc_navigation/lib/python3.10/site-packages/gc_navigation-0.0.0-py3.10.egg-info/top_level.txt

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

install/gc_navigation/lib/python3.10/site-packages/gc_navigation-0.0.0-py3.10.egg-info/zip-safe

@@ -0,0 +1 @@
+

install/gc_navigation/share/gc_navigation/hook/ament_prefix_path.dsv

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

install/gc_navigation/share/gc_navigation/hook/ament_prefix_path.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"

install/gc_navigation/share/gc_navigation/hook/ament_prefix_path.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"

install/gc_navigation/share/gc_navigation/hook/pythonpath.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages

install/gc_navigation/share/gc_navigation/hook/pythonpath.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.10/site-packages"

install/gc_navigation/share/gc_navigation/hook/pythonpath.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"

install/gc_navigation/share/gc_navigation/package.bash

@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/gc_navigation/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX

install/gc_navigation/share/gc_navigation/package.dsv

@@ -0,0 +1,6 @@
+source;share/gc_navigation/hook/pythonpath.ps1
+source;share/gc_navigation/hook/pythonpath.dsv
+source;share/gc_navigation/hook/pythonpath.sh
+source;share/gc_navigation/hook/ament_prefix_path.ps1
+source;share/gc_navigation/hook/ament_prefix_path.dsv
+source;share/gc_navigation/hook/ament_prefix_path.sh

install/gc_navigation/share/gc_navigation/package.ps1

@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values};$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values};${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values};$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/gc_navigation/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/gc_navigation/hook/ament_prefix_path.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX

install/gc_navigation/share/gc_navigation/package.sh

@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/guoch/test_ws/install/gc_navigation"
+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/gc_navigation/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/gc_navigation/hook/ament_prefix_path.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

install/gc_navigation/share/gc_navigation/package.xml

@@ -0,0 +1,18 @@
+<?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>gc_navigation</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="guoch@todo.todo">guoch</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

install/gc_navigation/share/gc_navigation/package.zsh

@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/gc_navigation/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX

install/gc_navigation2_slamtoolbox/share/ament_index/resource_index/package_run_dependencies/gc_navigation2_slamtoolbox

@@ -0,0 +1 @@
+ament_lint_auto;ament_lint_common

install/gc_navigation2_slamtoolbox/share/ament_index/resource_index/parent_prefix_path/gc_navigation2_slamtoolbox

@@ -0,0 +1 @@
+/home/guoch/test_ws/install/origincar_description:/home/guoch/test_ws/install/gc_slamtoolbox:/home/guoch/test_ws/install/gc_slam_toolbox_fish:/home/guoch/test_ws/install/gc_navigation_fish:/home/guoch/test_ws/install/gc_navigation2_slamtoolbox:/home/guoch/test_ws/install/gc_navigation:/home/guoch/robot_ws/install/my_robot_description:/opt/ros/humble

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/cmake/gc_navigation2_slamtoolboxConfig-version.cmake

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

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/cmake/gc_navigation2_slamtoolboxConfig.cmake

@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_gc_navigation2_slamtoolbox_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED gc_navigation2_slamtoolbox_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(gc_navigation2_slamtoolbox_FOUND FALSE)
+  elseif(NOT gc_navigation2_slamtoolbox_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(gc_navigation2_slamtoolbox_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_gc_navigation2_slamtoolbox_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT gc_navigation2_slamtoolbox_FIND_QUIETLY)
+  message(STATUS "Found gc_navigation2_slamtoolbox: 0.0.0 (${gc_navigation2_slamtoolbox_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'gc_navigation2_slamtoolbox' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${gc_navigation2_slamtoolbox_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(gc_navigation2_slamtoolbox_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${gc_navigation2_slamtoolbox_DIR}/${_extra}")
+endforeach()

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/mapper_params_lifelong.yaml

@@ -0,0 +1,89 @@
+
+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
+    scan_topic: /scan
+    use_map_saver: true
+    mode: mapping
+
+    # lifelong params
+    lifelong_search_use_tree: false
+    lifelong_minimum_score: 0.1
+    lifelong_iou_match: 0.85
+    lifelong_node_removal_score: 0.04
+    lifelong_overlap_score_scale: 0.06
+    lifelong_constraint_multiplier: 0.08
+    lifelong_nearby_penalty: 0.001
+    lifelong_candidates_scale: 0.03
+
+    # 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
+    restamp_tf: false
+    min_laser_range: 0.0 #for rastering images
+    max_laser_range: 20.0 #for rastering images
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 10.
+    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.5
+    minimum_travel_heading: 0.5
+    check_min_dist_and_heading_precisely: false
+    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
+    min_pass_through: 2
+    occupancy_threshold: 0.1

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/mapper_params_localization.yaml

@@ -0,0 +1,72 @@
+slam_toolbox:
+  ros__parameters:
+    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
+    scan_topic: /scan
+    mode: localization #localization
+
+    # if you'd like to start localizing on bringup in a map and pose
+    # map_file_name: /home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph
+    # map_start_pose: [0.0, 0.0, 0.0]
+
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 5.0
+    resolution: 0.05
+    restamp_tf: false
+    min_laser_range: 0.0 #for rastering images
+    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
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.5
+    minimum_travel_heading: 0.5
+    check_min_dist_and_heading_precisely: false
+    scan_buffer_size: 3
+    scan_buffer_maximum_scan_distance: 10.0
+    link_match_minimum_response_fine: 0.1  
+    link_scan_maximum_distance: 1.5
+    do_loop_closing: true 
+    loop_match_minimum_chain_size: 3
+    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
+    loop_search_maximum_distance: 3.0
+
+    # 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
+    min_pass_through: 2
+    occupancy_threshold: 0.1

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/mapper_params_offline.yaml

@@ -0,0 +1,71 @@
+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_footprint
+    scan_topic: /scan
+    use_map_saver: true
+    mode: mapping #localization
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 10.0
+    resolution: 0.05
+    restamp_tf: false
+    min_laser_range: 0.0 #for rastering images
+    max_laser_range: 20.0 #for rastering images
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 14400.
+    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
+    check_min_dist_and_heading_precisely: false
+    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
+    min_pass_through: 2
+    occupancy_threshold: 0.1

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/mapper_params_online_async.yaml

@@ -0,0 +1,79 @@
+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_footprint
+    scan_topic: /scan
+    use_map_saver: true
+    mode: localization #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: /home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map.posegraph
+    # 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
+    restamp_tf: false
+    min_laser_range: 0.0 #for rastering images
+    max_laser_range: 20.0 #for rastering images
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.0
+    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
+    check_min_dist_and_heading_precisely: false
+    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
+    min_pass_through: 2
+    occupancy_threshold: 0.1

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/mapper_params_online_multi_async.yaml

@@ -0,0 +1,74 @@
+$(var namespace)/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: global_odom
+    map_frame: map
+    base_frame: base_footprint
+    scan_topic: scan
+    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: 30.0
+    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
+    check_min_dist_and_heading_precisely: false
+    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

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/mapper_params_online_sync.yaml

@@ -0,0 +1,79 @@
+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_footprint
+    scan_topic: /scan
+    use_map_saver: true
+    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
+    restamp_tf: false
+    min_laser_range: 0.0 #for rastering images
+    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
+    check_min_dist_and_heading_precisely: false
+    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
+    min_pass_through: 2
+    occupancy_threshold: 0.1

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/slam_toolbox_default.rviz

@@ -0,0 +1,137 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 154
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+  - Class: slam_toolbox::SlamToolboxPlugin
+    Name: SlamToolboxPlugin
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000217000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000125000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000220053006c0061006d0054006f006f006c0062006f00780050006c007500670069006e0100000168000001850000018500ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000017e000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  SlamToolboxPlugin:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 72
+  Y: 60

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/slam_toolbox_localization.yaml

@@ -0,0 +1,55 @@
+slam_toolbox:
+  ros__parameters:
+    # 核心模式设置
+    use_sim_time: true
+    mode: "localization"  # 重要：设置为定位模式
+    map_file_name: ""  # 由启动参数传入
+    map_start_pose: [0.0,0.0,0.0]
+    # ROS框架设置
+    odom_frame: "odom"
+    map_frame: "map"
+    base_frame: "base_footprint"
+    scan_topic: "/scan"
+    
+    # 求解器设置
+    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"
+    
+    # 定位优化参数
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.05
+    minimum_travel_heading: 0.087
+    
+    # 扫描处理
+    scan_buffer_size: 50
+    throttle_scans: 2
+    
+    # 回环检测（定位模式可关闭）
+    do_loop_closing: false
+    
+    # 搜索参数
+    link_match_minimum_response_fine: 0.2
+    link_scan_maximum_distance: 2.0
+    loop_search_maximum_distance: 5.0
+    
+    # 性能参数
+    minimum_time_interval: 0.1
+    transform_publish_period: 0.02
+    map_update_interval: 0.5
+    
+    # 地图参数
+    resolution: 0.05
+    max_laser_range: 15.0
+    min_laser_range: 0.2
+    
+    # 初始位姿（可选，可以通过RViz设置）
+    # map_start_pose: [0.0, 0.0, 0.0]
+    
+    # 调试
+    debug_logging: false
+    enable_interactive_mode: true

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/environment/ament_prefix_path.dsv

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

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/environment/ament_prefix_path.sh

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

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/environment/path.dsv

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

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/environment/path.sh

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

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/hook/cmake_prefix_path.dsv

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

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/hook/cmake_prefix_path.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/hook/cmake_prefix_path.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/launch/gc_nav2_with_slamtoolbox.launch.py

@@ -0,0 +1,170 @@
+from launch.actions import IncludeLaunchDescription
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+# def generate_launch_description():
+#     # 获取包路径
+#     gc_navigation2_dir = get_package_share_directory(
+#         'gc_navigation2_slamtoolbox')
+#     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+
+#     # 声明参数
+#     use_sim_time = LaunchConfiguration('use_sim_time', default='True')
+#     slam = LaunchConfiguration('slam', default='True')
+#     localization = LaunchConfiguration('localization', default='True')
+
+#     # 定义文件路径
+#     map_yaml_path = os.path.join(gc_navigation2_dir, 'maps', 'my_map.yaml')
+#     nav2_param_path = os.path.join(
+#         gc_navigation2_dir, 'params', 'gc_navigation.yaml')
+#     slam_params_file = os.path.join(
+#         gc_navigation2_dir, 'config', 'slam_toolbox_localization.yaml')
+
+#     # 定义地图基础路径（用于 .posegraph 文件）
+#     map_base_path = os.path.join(gc_navigation2_dir, 'maps', 'my_map')
+
+#     # 检查 .posegraph 文件是否存在
+#     posegraph_path = map_base_path + '.posegraph'
+#     if not os.path.exists(posegraph_path):
+#         print(f"警告: .posegraph 文件不存在: {posegraph_path}")
+#         print("将使用 AMCL 替代")
+#         use_slam_toolbox = False
+#     else:
+#         use_slam_toolbox = True
+#         print(f"找到 .posegraph 文件: {posegraph_path}")
+
+#     # 创建启动描述
+#     ld = LaunchDescription([
+#         DeclareLaunchArgument('use_sim_time', default_value='True'),
+#         DeclareLaunchArgument('slam', default_value='True'),
+#         DeclareLaunchArgument('localization', default_value='True'),
+#     ])
+
+#     # 如果使用 slam_toolbox
+#     if use_slam_toolbox:
+#         slam_toolbox_node = Node(
+#             package='slam_toolbox',
+#             executable='localization_slam_toolbox_node',
+#             name='slam_toolbox',
+#             output='screen',
+#             parameters=[
+#                 slam_params_file,
+#                 {'map_file_name': map_base_path}
+#             ]
+#         )
+#         ld.add_action(slam_toolbox_node)
+#         # 使用 slam_toolbox 时，Nav2 不启用定位
+#         localization_arg = 'False'
+#         print("slam成功配置")
+#         ld.add_action(TimerAction(
+#             period=1.5,
+#             actions=[]
+#         ))
+
+#     else:
+#         # 使用 AMCL
+#         localization_arg = 'True'
+#     # Nav2 启动 - 使用正确的路径
+#     nav2_launch_path = os.path.join(
+#         nav2_bringup_dir, 'launch', 'bringup_launch.py')
+#     if not os.path.exists(nav2_launch_path):
+#         print(f"错误: 找不到 Nav2 启动文件: {nav2_launch_path}")
+#         return ld
+#     else:
+#         print("nav2桥，通过")
+
+#     nav2_bringup_launch = IncludeLaunchDescription(
+#         PythonLaunchDescriptionSource(nav2_launch_path),
+#         launch_arguments={
+#             'map': map_yaml_path,
+#             'use_sim_time': use_sim_time,
+#             'params_file': nav2_param_path,
+#             'slam': slam,
+#             'localization': localization_arg,
+#             'autostart': 'True',
+#         }.items(),
+#     )
+#     print("结束配置")
+#     ld.add_action(nav2_bringup_launch)
+
+#     return ld
+
+
+# def generate_launch_description():
+#     ld = LaunchDescription()
+#     # 获取参数文件路径
+#     slam_pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox')
+#     slam_file = os.path.join(
+#         slam_pkg_share, 'config', 'slam_toolbox_localization.yaml')
+#     use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+#     map_base_path = os.path.join(slam_pkg_share, 'maps', 'my_map')
+#     posegraph_path = map_base_path+'.posegraph'
+#     # 创建SLAM Toolbox节点
+#     slam_toolbox_node = Node(
+#         package='slam_toolbox',
+#         executable='async_slam_toolbox_node',  # 或 sync_slam_toolbox_node
+#         name='slam_toolbox',
+#         output='screen',
+#         parameters=[slam_file,
+#                     {
+#                         'map_file_name': map_base_path,
+#                         'use_sim_time': use_sim_time
+#                     }]
+#     )
+#     # ld.add_action(slam_toolbox_node)
+#     nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+
+#     nav_pkg = get_package_share_directory(
+#         'gc_navigation2_slamtoolbox')
+#     map_yaml_path = LaunchConfiguration('map', default=os.path.join(
+#         nav_pkg, 'maps', 'my_map.yaml'))
+#     nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
+#         nav_pkg, 'params', 'gc_navigation.yaml'))
+#     nav2_bringup_launch = IncludeLaunchDescription(
+#         PythonLaunchDescriptionSource(
+#             [nav2_bringup_dir, '/launch', '/bringup_launch.py']),
+#         launch_arguments={
+#             'map': map_yaml_path,
+#             'use_sim_time': use_sim_time,
+#             'params_file': nav2_param_path}.items(),
+#     )
+#     time=TimerAction(period=2.0,
+#                      actions=[])
+#     ld.add_action(time)
+#     ld.add_action(nav2_bringup_launch)
+    
+    
+#     return ld
+
+
+def generate_launch_description():
+    # =============================1.定位到包的地址=============================================================
+    gc_navigation_fish_dir = get_package_share_directory(
+        'gc_navigation2_slamtoolbox')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+
+    # =============================2.声明参数，获取配置文件路径===================================================
+    # use_sim_time 这里要设置成true,因为gazebo是仿真环境，其时间是通过/clock话题获取，而不是系统时间
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    map_yaml_path = LaunchConfiguration('map', default=os.path.join(
+        gc_navigation_fish_dir, 'maps', 'my_map.yaml'))
+    nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
+        gc_navigation_fish_dir, 'params', 'gc_navigation.yaml'))
+    # =============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
+    nav2_bringup_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [nav2_bringup_dir, '/launch', '/bringup_launch.py']),
+        launch_arguments={
+            'map': map_yaml_path,
+            'use_sim_time': use_sim_time,
+            'params_file': nav2_param_path}.items(),
+    )
+
+    return LaunchDescription([nav2_bringup_launch])
+
+    

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_lifelong.launch.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    # 获取参数文件路径
+    pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox')
+    params_file = os.path.join(
+        pkg_share, 'config', 'mapper_params_lifelong.yaml')
+
+    # 创建SLAM Toolbox节点
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='async_slam_toolbox_node',  # 或 sync_slam_toolbox_node
+        name='slam_toolbox',
+        output='screen',
+        parameters=[params_file]
+    )
+
+    return LaunchDescription([
+        slam_toolbox_node
+    ])

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_location.launch.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    # 获取参数文件路径
+    pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox')
+    params_file = os.path.join(
+        pkg_share, 'config', 'mapper_params_localization.yaml')
+
+    # 创建SLAM Toolbox节点
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='localization_slam_toolbox_node',  # 或 sync_slam_toolbox_node
+        name='slam_toolbox',
+        output='screen',
+        parameters=[params_file]
+    )
+
+    return LaunchDescription([
+        slam_toolbox_node
+    ])

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/launch/gc_nav_slamtoolbox_on_async.launch.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    # 获取参数文件路径
+    pkg_share = get_package_share_directory('gc_navigation2_slamtoolbox')
+    params_file = os.path.join(
+        pkg_share, 'config', 'mapper_params_online_async.yaml')
+
+    # 创建SLAM Toolbox节点
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='async_slam_toolbox_node',  # 或 sync_slam_toolbox_node
+        name='slam_toolbox',
+        output='screen',
+        parameters=[params_file]
+    )
+
+    return LaunchDescription([
+        slam_toolbox_node
+    ])

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/local_setup.bash

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

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/local_setup.dsv

@@ -0,0 +1,2 @@
+source;share/gc_navigation2_slamtoolbox/environment/ament_prefix_path.sh
+source;share/gc_navigation2_slamtoolbox/environment/path.sh

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/local_setup.sh

@@ -0,0 +1,184 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/guoch/test_ws/install/gc_navigation2_slamtoolbox"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to append non-duplicate values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_unique_value() {
+  # arguments
+  _listname=$1
+  _value=$2
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\$$_listname
+  _duplicate=
+  _ament_append_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ $_item = $_value ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # append only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid leading separator
+    if [ -z "$_values" ]; then
+      eval $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval $_listname=\"\$$_listname:$_value\"
+      #eval echo "append list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_append_unique_value_IFS
+  unset _ament_append_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/gc_navigation2_slamtoolbox/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/gc_navigation2_slamtoolbox/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/local_setup.zsh

@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX

install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/maps/my_map.yaml

@@ -0,0 +1,7 @@
+image: map_1770592084.pgm
+mode: trinary
+resolution: 0.05
+origin: [-2.15, -5.81, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25