diff --git a/obj_dec b/obj_dec
new file mode 160000
index 0000000..60eda90
--- /dev/null
+++ b/obj_dec
@@ -0,0 +1 @@
+Subproject commit 60eda90a16756c42c97b3ff300941f568d12c43e
diff --git a/pibot_ros b/pibot_ros
new file mode 160000
index 0000000..93a75cf
--- /dev/null
+++ b/pibot_ros
@@ -0,0 +1 @@
+Subproject commit 93a75cf9ca698c80845a1bd56da944b7f54b0b65
diff --git a/project/projectCarFollowing/.catkin_workspace b/project/projectCarFollowing/.catkin_workspace
new file mode 100644
index 0000000..52fd97e
--- /dev/null
+++ b/project/projectCarFollowing/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/project/projectCarFollowing/.vscode/settings.json b/project/projectCarFollowing/.vscode/settings.json
new file mode 100644
index 0000000..8fcfabf
--- /dev/null
+++ b/project/projectCarFollowing/.vscode/settings.json
@@ -0,0 +1,70 @@
+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "set": "cpp",
+        "source_location": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp",
+        "bit": "cpp",
+        "*.ipp": "cpp"
+    }
+}
\ No newline at end of file
diff --git a/project/projectCarFollowing/build/.built_by b/project/projectCarFollowing/build/.built_by
new file mode 100644
index 0000000..2e212dd
--- /dev/null
+++ b/project/projectCarFollowing/build/.built_by
@@ -0,0 +1 @@
+catkin_make
\ No newline at end of file
diff --git a/project/projectCarFollowing/build/CATKIN_IGNORE b/project/projectCarFollowing/build/CATKIN_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectCarFollowing/build/CMakeCache.txt b/project/projectCarFollowing/build/CMakeCache.txt
new file mode 100644
index 0000000..bbb7391
--- /dev/null
+++ b/project/projectCarFollowing/build/CMakeCache.txt
@@ -0,0 +1,777 @@
+# This is the CMakeCache file.
+# For build in directory: /home/firefly/project/projectCarFollowing/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Builds the googlemock subproject
+BUILD_GMOCK:BOOL=ON
+
+//Build dynamically-linked binaries
+BUILD_SHARED_LIBS:BOOL=ON
+
+//The directory containing a CMake configuration file for Boost.
+Boost_DIR:PATH=/usr/local/lib/cmake/Boost-1.75.0
+
+//Path to a file.
+Boost_INCLUDE_DIR:PATH=/usr/local/include
+
+//List of ';' separated packages to exclude
+CATKIN_BLACKLIST_PACKAGES:STRING=
+
+//catkin devel space
+CATKIN_DEVEL_PREFIX:PATH=/home/firefly/project/projectCarFollowing/devel
+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
+//Catkin skip testing
+CATKIN_SKIP_TESTING:BOOL=OFF
+
+//Replace the CMake install command with a custom implementation
+// using symlinks instead of copying resources
+CATKIN_SYMLINK_INSTALL:BOOL=OFF
+
+//List of ';' separated packages to build
+CATKIN_WHITELIST_PACKAGES:STRING=
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the C compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the C compiler during DEBUG builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the C compiler during MINSIZEREL builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the C compiler during RELEASE builds.
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
+CMAKE_EXE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during DEBUG builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during MINSIZEREL builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during RELEASE builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during RELWITHDEBINFO builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//User executables (bin)
+CMAKE_INSTALL_BINDIR:PATH=bin
+
+//Read-only architecture-independent data (DATAROOTDIR)
+CMAKE_INSTALL_DATADIR:PATH=
+
+//Read-only architecture-independent data root (share)
+CMAKE_INSTALL_DATAROOTDIR:PATH=share
+
+//Documentation root (DATAROOTDIR/doc/PROJECT_NAME)
+CMAKE_INSTALL_DOCDIR:PATH=
+
+//C header files (include)
+CMAKE_INSTALL_INCLUDEDIR:PATH=include
+
+//Info documentation (DATAROOTDIR/info)
+CMAKE_INSTALL_INFODIR:PATH=
+
+//Object code libraries (lib)
+CMAKE_INSTALL_LIBDIR:PATH=lib
+
+//Program executables (libexec)
+CMAKE_INSTALL_LIBEXECDIR:PATH=libexec
+
+//Locale-dependent data (DATAROOTDIR/locale)
+CMAKE_INSTALL_LOCALEDIR:PATH=
+
+//Modifiable single-machine data (var)
+CMAKE_INSTALL_LOCALSTATEDIR:PATH=var
+
+//Man documentation (DATAROOTDIR/man)
+CMAKE_INSTALL_MANDIR:PATH=
+
+//C header files for non-gcc (/usr/include)
+CMAKE_INSTALL_OLDINCLUDEDIR:PATH=/usr/include
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/firefly/project/projectCarFollowing/install
+
+//Run-time variable data (LOCALSTATEDIR/run)
+CMAKE_INSTALL_RUNSTATEDIR:PATH=
+
+//System admin executables (sbin)
+CMAKE_INSTALL_SBINDIR:PATH=sbin
+
+//Modifiable architecture-independent data (com)
+CMAKE_INSTALL_SHAREDSTATEDIR:PATH=com
+
+//Read-only single-machine data (etc)
+CMAKE_INSTALL_SYSCONFDIR:PATH=etc
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules during
+// all build types.
+CMAKE_MODULE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of modules during
+// DEBUG builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of modules during
+// MINSIZEREL builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELEASE builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELWITHDEBINFO builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_DESCRIPTION:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=Project
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION:STATIC=1.10.0
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_MAJOR:STATIC=1
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_MINOR:STATIC=10
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_PATCH:STATIC=0
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_TWEAK:STATIC=
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Path to a program.
+CMAKE_READELF:FILEPATH=/usr/bin/readelf
+
+//Flags used by the linker during the creation of shared libraries
+// during all build types.
+CMAKE_SHARED_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during DEBUG builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during MINSIZEREL builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELWITHDEBINFO builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries
+// during all build types.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during DEBUG builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during MINSIZEREL builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELEASE builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELWITHDEBINFO builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a program.
+DOXYGEN_EXECUTABLE:FILEPATH=DOXYGEN_EXECUTABLE-NOTFOUND
+
+//Path to a program.
+EMPY_EXECUTABLE:FILEPATH=EMPY_EXECUTABLE-NOTFOUND
+
+//Empy script
+EMPY_SCRIPT:STRING=/usr/lib/python3/dist-packages/em.py
+
+//Path to a library.
+GMOCK_LIBRARY:FILEPATH=GMOCK_LIBRARY-NOTFOUND
+
+//Path to a library.
+GMOCK_LIBRARY_DEBUG:FILEPATH=GMOCK_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+GMOCK_MAIN_LIBRARY:FILEPATH=GMOCK_MAIN_LIBRARY-NOTFOUND
+
+//Path to a library.
+GMOCK_MAIN_LIBRARY_DEBUG:FILEPATH=GMOCK_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//The directory containing a CMake configuration file for GMock.
+GMock_DIR:PATH=GMock_DIR-NOTFOUND
+
+//Path to a file.
+GTEST_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+GTEST_LIBRARY:FILEPATH=/usr/lib/aarch64-linux-gnu/libgtest.a
+
+//Path to a library.
+GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY:FILEPATH=/usr/lib/aarch64-linux-gnu/libgtest_main.a
+
+//Path to a library.
+GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//The directory containing a CMake configuration file for GTest.
+GTest_DIR:PATH=GTest_DIR-NOTFOUND
+
+//Enable installation of googletest. (Projects embedding googletest
+// may want to turn this OFF.)
+INSTALL_GTEST:BOOL=OFF
+
+//lsb_release executable was found
+LSB_FOUND:BOOL=TRUE
+
+//Path to a program.
+LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release
+
+//Path to a program.
+NOSETESTS:FILEPATH=/usr/bin/nosetests3
+
+//The directory containing a CMake configuration file for OpenCV.
+OpenCV_DIR:PATH=/usr/local/lib/cmake/opencv4
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=3
+
+//Location of Python module em
+PY_EM:STRING=/usr/lib/python3/dist-packages/em.py
+
+//Value Computed by CMake
+Project_BINARY_DIR:STATIC=/home/firefly/project/projectCarFollowing/build
+
+//Value Computed by CMake
+Project_SOURCE_DIR:STATIC=/home/firefly/project/projectCarFollowing/src
+
+//Path to a library.
+RT_LIBRARY:FILEPATH=/usr/lib/aarch64-linux-gnu/librt.so
+
+//Enable debian style python package layout
+SETUPTOOLS_DEB_LAYOUT:BOOL=ON
+
+//Name of the computer/site where compile is being run
+SITE:STRING=firefly
+
+//LSB Distrib tag
+UBUNTU:BOOL=TRUE
+
+//LSB Distrib - codename tag
+UBUNTU_FOCAL:BOOL=TRUE
+
+//Path to a file.
+_gmock_INCLUDES:FILEPATH=/usr/src/googletest/googlemock/include/gmock/gmock.h
+
+//Path to a file.
+_gmock_SOURCES:FILEPATH=/usr/src/gmock/src/gmock.cc
+
+//Path to a file.
+_gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h
+
+//Path to a file.
+_gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc
+
+//The directory containing a CMake configuration file for boost_headers.
+boost_headers_DIR:PATH=/usr/local/lib/cmake/boost_headers-1.75.0
+
+//The directory containing a CMake configuration file for catkin.
+catkin_DIR:PATH=/opt/ros/noetic/share/catkin/cmake
+
+//The directory containing a CMake configuration file for cpp_common.
+cpp_common_DIR:PATH=/opt/ros/noetic/share/cpp_common/cmake
+
+//The directory containing a CMake configuration file for gencpp.
+gencpp_DIR:PATH=/opt/ros/noetic/share/gencpp/cmake
+
+//The directory containing a CMake configuration file for geneus.
+geneus_DIR:PATH=/opt/ros/noetic/share/geneus/cmake
+
+//The directory containing a CMake configuration file for genlisp.
+genlisp_DIR:PATH=/opt/ros/noetic/share/genlisp/cmake
+
+//The directory containing a CMake configuration file for genmsg.
+genmsg_DIR:PATH=/opt/ros/noetic/share/genmsg/cmake
+
+//The directory containing a CMake configuration file for gennodejs.
+gennodejs_DIR:PATH=/opt/ros/noetic/share/gennodejs/cmake
+
+//The directory containing a CMake configuration file for genpy.
+genpy_DIR:PATH=/opt/ros/noetic/share/genpy/cmake
+
+//The directory containing a CMake configuration file for geometry_msgs.
+geometry_msgs_DIR:PATH=/opt/ros/noetic/share/geometry_msgs/cmake
+
+//Value Computed by CMake
+gmock_BINARY_DIR:STATIC=/home/firefly/project/projectCarFollowing/build/gtest/googlemock
+
+//Dependencies for the target
+gmock_LIB_DEPENDS:STATIC=general;gtest;
+
+//Value Computed by CMake
+gmock_SOURCE_DIR:STATIC=/usr/src/googletest/googlemock
+
+//Build all of Google Mock's own tests.
+gmock_build_tests:BOOL=OFF
+
+//Dependencies for the target
+gmock_main_LIB_DEPENDS:STATIC=general;gmock;
+
+//Value Computed by CMake
+googletest-distribution_BINARY_DIR:STATIC=/home/firefly/project/projectCarFollowing/build/gtest
+
+//Value Computed by CMake
+googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest
+
+//Value Computed by CMake
+gtest_BINARY_DIR:STATIC=/home/firefly/project/projectCarFollowing/build/gtest/googletest
+
+//Value Computed by CMake
+gtest_SOURCE_DIR:STATIC=/usr/src/googletest/googletest
+
+//Build gtest's sample programs.
+gtest_build_samples:BOOL=OFF
+
+//Build all of gtest's own tests.
+gtest_build_tests:BOOL=OFF
+
+//Disable uses of pthreads in gtest.
+gtest_disable_pthreads:BOOL=OFF
+
+//Use shared (DLL) run-time lib even when Google Test is built
+// as static lib.
+gtest_force_shared_crt:BOOL=OFF
+
+//Build gtest with internal symbols hidden in shared libraries.
+gtest_hide_internal_symbols:BOOL=OFF
+
+//Dependencies for the target
+gtest_main_LIB_DEPENDS:STATIC=general;gtest;
+
+//Path to a library.
+lib:FILEPATH=/opt/ros/noetic/lib/libxmlrpcpp.so
+
+//The directory containing a CMake configuration file for message_generation.
+message_generation_DIR:PATH=/opt/ros/noetic/share/message_generation/cmake
+
+//The directory containing a CMake configuration file for message_runtime.
+message_runtime_DIR:PATH=/opt/ros/noetic/share/message_runtime/cmake
+
+//Value Computed by CMake
+ros_merge_test_BINARY_DIR:STATIC=/home/firefly/project/projectCarFollowing/build/ros_merge_test
+
+//Value Computed by CMake
+ros_merge_test_SOURCE_DIR:STATIC=/home/firefly/project/projectCarFollowing/src/ros_merge_test
+
+//The directory containing a CMake configuration file for rosconsole.
+rosconsole_DIR:PATH=/opt/ros/noetic/share/rosconsole/cmake
+
+//The directory containing a CMake configuration file for roscpp.
+roscpp_DIR:PATH=/opt/ros/noetic/share/roscpp/cmake
+
+//The directory containing a CMake configuration file for roscpp_serialization.
+roscpp_serialization_DIR:PATH=/opt/ros/noetic/share/roscpp_serialization/cmake
+
+//The directory containing a CMake configuration file for roscpp_traits.
+roscpp_traits_DIR:PATH=/opt/ros/noetic/share/roscpp_traits/cmake
+
+//The directory containing a CMake configuration file for rosgraph_msgs.
+rosgraph_msgs_DIR:PATH=/opt/ros/noetic/share/rosgraph_msgs/cmake
+
+//The directory containing a CMake configuration file for rospy.
+rospy_DIR:PATH=/opt/ros/noetic/share/rospy/cmake
+
+//The directory containing a CMake configuration file for rostime.
+rostime_DIR:PATH=/opt/ros/noetic/share/rostime/cmake
+
+//The directory containing a CMake configuration file for std_msgs.
+std_msgs_DIR:PATH=/opt/ros/noetic/share/std_msgs/cmake
+
+//The directory containing a CMake configuration file for xmlrpcpp.
+xmlrpcpp_DIR:PATH=/opt/ros/noetic/share/xmlrpcpp/cmake
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//ADVANCED property for variable: Boost_DIR
+Boost_DIR-ADVANCED:INTERNAL=1
+//catkin environment
+CATKIN_ENV:INTERNAL=/home/firefly/project/projectCarFollowing/build/catkin_generated/env_cached.sh
+CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/firefly/project/projectCarFollowing/build/test_results
+//ADVANCED property for variable: CMAKE_ADDR2LINE
+CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_AR
+CMAKE_AR-ADVANCED:INTERNAL=1
+//This is the directory where this CMakeCache.txt was created
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/firefly/project/projectCarFollowing/build
+//Major version of cmake used to create the current loaded cache
+CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3
+//Minor version of cmake used to create the current loaded cache
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=16
+//Patch version of cmake used to create the current loaded cache
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=3
+//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE
+CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1
+//Path to CMake executable.
+CMAKE_COMMAND:INTERNAL=/usr/bin/cmake
+//Path to cpack program executable.
+CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack
+//Path to ctest program executable.
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+
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+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
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+   /* __SUNPRO_CC = 0xVRP */
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+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
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+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
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+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
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+
+#elif defined(__clang__) && defined(__apple_build_version__)
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+#  define SIMULATE_ID "MSVC"
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+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
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+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
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+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
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+#  define SIMULATE_ID "MSVC"
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+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
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+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
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+#elif defined(__GNUC__)
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+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
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+# endif
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+#elif defined(_MSC_VER)
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+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
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+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
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+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
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+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
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+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
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+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
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+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
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+#elif defined(__OpenBSD__) || defined(__OPENBSD)
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+#elif defined(__sun) || defined(sun)
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+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
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+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
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+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
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+#elif defined(__bsdos__)
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+#elif defined(_MPRAS) || defined(MPRAS)
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+#  define PLATFORM_ID "Linux"
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+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
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+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
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+# else /* unknown platform */
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+# endif
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+# else /* regular Integrity */
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+
+#endif
+
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+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
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+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
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+
+# elif defined(_M_IX86)
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+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+  || (defined(__ibmxl__) || defined(__IBMC__))
+#  define C_DIALECT "90"
+# else
+#  define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+  "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/project/projectCarFollowing/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/project/projectCarFollowing/build/CMakeFiles/3.16.3/CompilerIdC/a.out
new file mode 100755
index 0000000..1926469
Binary files /dev/null and b/project/projectCarFollowing/build/CMakeFiles/3.16.3/CompilerIdC/a.out differ
diff --git a/project/projectCarFollowing/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/project/projectCarFollowing/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..69cfdba
--- /dev/null
+++ b/project/projectCarFollowing/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
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+
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+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
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+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
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+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
+#elif CXX_STD >= 201402L
+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
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+	$(MAKE) -f ros_merge_test/CMakeFiles/std_msgs_generate_messages_py.dir/build.make ros_merge_test/CMakeFiles/std_msgs_generate_messages_py.dir/build
+.PHONY : std_msgs_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test_generate_messages_py
+
+# Build rule for target.
+ros_merge_test_generate_messages_py: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_generate_messages_py
+.PHONY : ros_merge_test_generate_messages_py
+
+# fast build rule for target.
+ros_merge_test_generate_messages_py/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_py.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_py.dir/build
+.PHONY : ros_merge_test_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named std_msgs_generate_messages_nodejs
+
+# Build rule for target.
+std_msgs_generate_messages_nodejs: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_nodejs
+.PHONY : std_msgs_generate_messages_nodejs
+
+# fast build rule for target.
+std_msgs_generate_messages_nodejs/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/std_msgs_generate_messages_nodejs.dir/build.make ros_merge_test/CMakeFiles/std_msgs_generate_messages_nodejs.dir/build
+.PHONY : std_msgs_generate_messages_nodejs/fast
+
+#=============================================================================
+# Target rules for targets named geometry_msgs_generate_messages_eus
+
+# Build rule for target.
+geometry_msgs_generate_messages_eus: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 geometry_msgs_generate_messages_eus
+.PHONY : geometry_msgs_generate_messages_eus
+
+# fast build rule for target.
+geometry_msgs_generate_messages_eus/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/geometry_msgs_generate_messages_eus.dir/build.make ros_merge_test/CMakeFiles/geometry_msgs_generate_messages_eus.dir/build
+.PHONY : geometry_msgs_generate_messages_eus/fast
+
+#=============================================================================
+# Target rules for targets named roscpp_generate_messages_nodejs
+
+# Build rule for target.
+roscpp_generate_messages_nodejs: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 roscpp_generate_messages_nodejs
+.PHONY : roscpp_generate_messages_nodejs
+
+# fast build rule for target.
+roscpp_generate_messages_nodejs/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/roscpp_generate_messages_nodejs.dir/build.make ros_merge_test/CMakeFiles/roscpp_generate_messages_nodejs.dir/build
+.PHONY : roscpp_generate_messages_nodejs/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test
+
+# Build rule for target.
+ros_merge_test: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test
+.PHONY : ros_merge_test
+
+# fast build rule for target.
+ros_merge_test/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test.dir/build
+.PHONY : ros_merge_test/fast
+
+#=============================================================================
+# Target rules for targets named geometry_msgs_generate_messages_nodejs
+
+# Build rule for target.
+geometry_msgs_generate_messages_nodejs: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 geometry_msgs_generate_messages_nodejs
+.PHONY : geometry_msgs_generate_messages_nodejs
+
+# fast build rule for target.
+geometry_msgs_generate_messages_nodejs/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/geometry_msgs_generate_messages_nodejs.dir/build.make ros_merge_test/CMakeFiles/geometry_msgs_generate_messages_nodejs.dir/build
+.PHONY : geometry_msgs_generate_messages_nodejs/fast
+
+#=============================================================================
+# Target rules for targets named _ros_merge_test_generate_messages_check_deps_RawImu
+
+# Build rule for target.
+_ros_merge_test_generate_messages_check_deps_RawImu: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 _ros_merge_test_generate_messages_check_deps_RawImu
+.PHONY : _ros_merge_test_generate_messages_check_deps_RawImu
+
+# fast build rule for target.
+_ros_merge_test_generate_messages_check_deps_RawImu/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/_ros_merge_test_generate_messages_check_deps_RawImu.dir/build.make ros_merge_test/CMakeFiles/_ros_merge_test_generate_messages_check_deps_RawImu.dir/build
+.PHONY : _ros_merge_test_generate_messages_check_deps_RawImu/fast
+
+#=============================================================================
+# Target rules for targets named _ros_merge_test_generate_messages_check_deps_dis_info_array
+
+# Build rule for target.
+_ros_merge_test_generate_messages_check_deps_dis_info_array: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 _ros_merge_test_generate_messages_check_deps_dis_info_array
+.PHONY : _ros_merge_test_generate_messages_check_deps_dis_info_array
+
+# fast build rule for target.
+_ros_merge_test_generate_messages_check_deps_dis_info_array/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/_ros_merge_test_generate_messages_check_deps_dis_info_array.dir/build.make ros_merge_test/CMakeFiles/_ros_merge_test_generate_messages_check_deps_dis_info_array.dir/build
+.PHONY : _ros_merge_test_generate_messages_check_deps_dis_info_array/fast
+
+#=============================================================================
+# Target rules for targets named roscpp_generate_messages_lisp
+
+# Build rule for target.
+roscpp_generate_messages_lisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 roscpp_generate_messages_lisp
+.PHONY : roscpp_generate_messages_lisp
+
+# fast build rule for target.
+roscpp_generate_messages_lisp/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/roscpp_generate_messages_lisp.dir/build.make ros_merge_test/CMakeFiles/roscpp_generate_messages_lisp.dir/build
+.PHONY : roscpp_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named _ros_merge_test_generate_messages_check_deps_dis_info
+
+# Build rule for target.
+_ros_merge_test_generate_messages_check_deps_dis_info: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 _ros_merge_test_generate_messages_check_deps_dis_info
+.PHONY : _ros_merge_test_generate_messages_check_deps_dis_info
+
+# fast build rule for target.
+_ros_merge_test_generate_messages_check_deps_dis_info/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/_ros_merge_test_generate_messages_check_deps_dis_info.dir/build.make ros_merge_test/CMakeFiles/_ros_merge_test_generate_messages_check_deps_dis_info.dir/build
+.PHONY : _ros_merge_test_generate_messages_check_deps_dis_info/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test_gencpp
+
+# Build rule for target.
+ros_merge_test_gencpp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_gencpp
+.PHONY : ros_merge_test_gencpp
+
+# fast build rule for target.
+ros_merge_test_gencpp/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_gencpp.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_gencpp.dir/build
+.PHONY : ros_merge_test_gencpp/fast
+
+#=============================================================================
+# Target rules for targets named std_msgs_generate_messages_lisp
+
+# Build rule for target.
+std_msgs_generate_messages_lisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_lisp
+.PHONY : std_msgs_generate_messages_lisp
+
+# fast build rule for target.
+std_msgs_generate_messages_lisp/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/std_msgs_generate_messages_lisp.dir/build.make ros_merge_test/CMakeFiles/std_msgs_generate_messages_lisp.dir/build
+.PHONY : std_msgs_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test_generate_messages_eus
+
+# Build rule for target.
+ros_merge_test_generate_messages_eus: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_generate_messages_eus
+.PHONY : ros_merge_test_generate_messages_eus
+
+# fast build rule for target.
+ros_merge_test_generate_messages_eus/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_eus.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_eus.dir/build
+.PHONY : ros_merge_test_generate_messages_eus/fast
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... install/strip"
+	@echo "... install/local"
+	@echo "... install"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... edit_cache"
+	@echo "... test"
+	@echo "... doxygen"
+	@echo "... run_tests"
+	@echo "... clean_test_results"
+	@echo "... tests"
+	@echo "... download_extra_data"
+	@echo "... gmock_main"
+	@echo "... gmock"
+	@echo "... gtest_main"
+	@echo "... gtest"
+	@echo "... ros_merge_test_node"
+	@echo "... ros_merge_test_genpy"
+	@echo "... ros_merge_test_gennodejs"
+	@echo "... ros_merge_test_generate_messages_nodejs"
+	@echo "... ros_merge_test_generate_messages_lisp"
+	@echo "... rosgraph_msgs_generate_messages_py"
+	@echo "... geometry_msgs_generate_messages_cpp"
+	@echo "... rosgraph_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_geneus"
+	@echo "... rosgraph_msgs_generate_messages_eus"
+	@echo "... std_msgs_generate_messages_cpp"
+	@echo "... rosgraph_msgs_generate_messages_cpp"
+	@echo "... std_msgs_generate_messages_eus"
+	@echo "... geometry_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_cpp"
+	@echo "... roscpp_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages"
+	@echo "... rosgraph_msgs_generate_messages_nodejs"
+	@echo "... ros_merge_test_genlisp"
+	@echo "... roscpp_generate_messages_eus"
+	@echo "... roscpp_generate_messages_cpp"
+	@echo "... geometry_msgs_generate_messages_py"
+	@echo "... std_msgs_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages_py"
+	@echo "... std_msgs_generate_messages_nodejs"
+	@echo "... geometry_msgs_generate_messages_eus"
+	@echo "... roscpp_generate_messages_nodejs"
+	@echo "... ros_merge_test"
+	@echo "... geometry_msgs_generate_messages_nodejs"
+	@echo "... _ros_merge_test_generate_messages_check_deps_RawImu"
+	@echo "... _ros_merge_test_generate_messages_check_deps_dis_info_array"
+	@echo "... roscpp_generate_messages_lisp"
+	@echo "... _ros_merge_test_generate_messages_check_deps_dis_info"
+	@echo "... ros_merge_test_gencpp"
+	@echo "... std_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_eus"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/project/projectCarFollowing/build/atomic_configure/.rosinstall b/project/projectCarFollowing/build/atomic_configure/.rosinstall
new file mode 100644
index 0000000..d8a84a1
--- /dev/null
+++ b/project/projectCarFollowing/build/atomic_configure/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/firefly/project/projectCarFollowing/devel/setup.sh
diff --git a/project/projectCarFollowing/build/atomic_configure/_setup_util.py b/project/projectCarFollowing/build/atomic_configure/_setup_util.py
new file mode 100755
index 0000000..7d7477e
--- /dev/null
+++ b/project/projectCarFollowing/build/atomic_configure/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectCarFollowing/build/atomic_configure/env.sh b/project/projectCarFollowing/build/atomic_configure/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectCarFollowing/build/atomic_configure/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectCarFollowing/build/atomic_configure/local_setup.bash b/project/projectCarFollowing/build/atomic_configure/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectCarFollowing/build/atomic_configure/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectCarFollowing/build/atomic_configure/local_setup.sh b/project/projectCarFollowing/build/atomic_configure/local_setup.sh
new file mode 100644
index 0000000..13e82a5
--- /dev/null
+++ b/project/projectCarFollowing/build/atomic_configure/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarFollowing/devel}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectCarFollowing/build/atomic_configure/local_setup.zsh b/project/projectCarFollowing/build/atomic_configure/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectCarFollowing/build/atomic_configure/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectCarFollowing/build/atomic_configure/setup.bash b/project/projectCarFollowing/build/atomic_configure/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectCarFollowing/build/atomic_configure/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectCarFollowing/build/atomic_configure/setup.sh b/project/projectCarFollowing/build/atomic_configure/setup.sh
new file mode 100644
index 0000000..f7bc4c3
--- /dev/null
+++ b/project/projectCarFollowing/build/atomic_configure/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarFollowing/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectCarFollowing/build/atomic_configure/setup.zsh b/project/projectCarFollowing/build/atomic_configure/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectCarFollowing/build/atomic_configure/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectCarFollowing/build/catkin/catkin_generated/version/package.cmake b/project/projectCarFollowing/build/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 0000000..c37e287
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,24 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.8.10")
+set(catkin_MAINTAINER "Michael Carroll <michael@openrobotics.org>, Tully Foote <tfoote@openrobotics.org>")
+set(catkin_PACKAGE_FORMAT "3")
+set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools")
+set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools")
+set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose")
+set(catkin_DOC_DEPENDS )
+set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin")
+set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues")
+set(catkin_URL_REPOSITORY "https://github.com/ros/catkin")
+set(catkin_DEPRECATED "")
\ No newline at end of file
diff --git a/project/projectCarFollowing/build/catkin_generated/env_cached.sh b/project/projectCarFollowing/build/catkin_generated/env_cached.sh
new file mode 100755
index 0000000..d6be91d
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/project/projectCarFollowing/build/catkin_generated/generate_cached_setup.py b/project/projectCarFollowing/build/catkin_generated/generate_cached_setup.py
new file mode 100644
index 0000000..04fbf91
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,30 @@
+# -*- coding: utf-8 -*-
+from __future__ import print_function
+
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in '/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';'):
+        python_path = os.path.join(workspace, 'lib/python3/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/firefly/project/projectCarFollowing/devel/env.sh')
+
+output_filename = '/home/firefly/project/projectCarFollowing/build/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    # print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/project/projectCarFollowing/build/catkin_generated/installspace/.rosinstall b/project/projectCarFollowing/build/catkin_generated/installspace/.rosinstall
new file mode 100644
index 0000000..e534b52
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/firefly/project/projectCarFollowing/install/setup.sh
diff --git a/project/projectCarFollowing/build/catkin_generated/installspace/_setup_util.py b/project/projectCarFollowing/build/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 0000000..7d7477e
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectCarFollowing/build/catkin_generated/installspace/env.sh b/project/projectCarFollowing/build/catkin_generated/installspace/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.bash b/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.sh b/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.sh
new file mode 100644
index 0000000..fa3d852
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarFollowing/install}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.zsh b/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectCarFollowing/build/catkin_generated/installspace/setup.bash b/project/projectCarFollowing/build/catkin_generated/installspace/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectCarFollowing/build/catkin_generated/installspace/setup.sh b/project/projectCarFollowing/build/catkin_generated/installspace/setup.sh
new file mode 100644
index 0000000..0cb10fd
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/installspace/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarFollowing/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectCarFollowing/build/catkin_generated/installspace/setup.zsh b/project/projectCarFollowing/build/catkin_generated/installspace/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectCarFollowing/build/catkin_generated/order_packages.cmake b/project/projectCarFollowing/build/catkin_generated/order_packages.cmake
new file mode 100644
index 0000000..776fe8c
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/order_packages.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+list(APPEND CATKIN_ORDERED_PACKAGES "ros_merge_test")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "ros_merge_test")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
+
+set(CATKIN_MESSAGE_GENERATORS )
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python3/dist-packages/catkin_pkg/templates/metapackage.cmake.in")
diff --git a/project/projectCarFollowing/build/catkin_generated/order_packages.py b/project/projectCarFollowing/build/catkin_generated/order_packages.py
new file mode 100644
index 0000000..33e9390
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/order_packages.py
@@ -0,0 +1,5 @@
+# generated from catkin/cmake/template/order_packages.context.py.in
+source_root_dir = '/home/firefly/project/projectCarFollowing/src'
+whitelisted_packages = ''.split(';') if '' != '' else []
+blacklisted_packages = ''.split(';') if '' != '' else []
+underlay_workspaces = '/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';') if '/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic' != '' else []
diff --git a/project/projectCarFollowing/build/catkin_generated/setup_cached.sh b/project/projectCarFollowing/build/catkin_generated/setup_cached.sh
new file mode 100755
index 0000000..c611084
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/setup_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export CMAKE_PREFIX_PATH="/home/firefly/project/projectCarFollowing/devel:$CMAKE_PREFIX_PATH"
+export LD_LIBRARY_PATH="/home/firefly/project/projectCarFollowing/devel/lib:$LD_LIBRARY_PATH"
+export PKG_CONFIG_PATH="/home/firefly/project/projectCarFollowing/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
+export PWD='/home/firefly/project/projectCarFollowing/build'
+export PYTHONPATH="/home/firefly/project/projectCarFollowing/devel/lib/python3/dist-packages:$PYTHONPATH"
+export ROSLISP_PACKAGE_DIRECTORIES="/home/firefly/project/projectCarFollowing/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
+export ROS_PACKAGE_PATH="/home/firefly/project/projectCarLocation/src:/home/firefly/project/projectCarFollowing/src:$ROS_PACKAGE_PATH"
\ No newline at end of file
diff --git a/project/projectCarFollowing/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/project/projectCarFollowing/build/catkin_generated/stamps/Project/_setup_util.py.stamp
new file mode 100755
index 0000000..7d7477e
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/stamps/Project/_setup_util.py.stamp
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectCarFollowing/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/project/projectCarFollowing/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 0000000..5e25fbf
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,255 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+
+import os
+import runpy
+import sys
+from argparse import ArgumentParser
+
+setup_modules = []
+
+try:
+    import distutils.core
+    setup_modules.append(distutils.core)
+except ImportError:
+    pass
+
+try:
+    import setuptools
+    setup_modules.append(setuptools)
+except ImportError:
+    pass
+
+assert setup_modules, 'Must have distutils or setuptools installed'
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs.
+
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = os.path.join(parent_location, splits[key_len])
+                else:
+                    locations[key] = os.path.join(allprefix, key)
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None):
+    """
+    Generate lines to add to a cmake file which will set variables.
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :param pkgs: [list of str] python_packages declared in catkin package
+    :param modules: [list of str] python modules
+    :param setup_module: str, setuptools or distutils
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    if setup_module:
+        result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module))
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if '.' not in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        root_name = splits[0]
+        root_location = location
+        for _ in range(len(splits) - 1):
+            root_location = os.path.dirname(root_location)
+        if root_location != locations[root_name]:
+            raise RuntimeError(
+                'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [locations[pkg]]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/')))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/')))
+
+    return result
+
+
+def _create_mock_setup_function(setup_module, package_name, outfile):
+    """
+    Create a function to call instead of distutils.core.setup or setuptools.setup.
+
+    It just captures some args and writes them into a file that can be used from cmake.
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        """Check kwargs and write a scriptfile."""
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError('version not found in setup.py')
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules,
+                                     setup_module=setup_module)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """Script main, parses arguments and invokes Dummy.setup indirectly."""
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    backup_modules = {}
+    try:
+
+        for module in setup_modules:
+            backup_modules[id(module)] = module.setup
+            module.setup = _create_mock_setup_function(
+                setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile)
+
+        runpy.run_path(args.setupfile_path)
+    finally:
+        for module in setup_modules:
+            module.setup = backup_modules[id(module)]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/project/projectCarFollowing/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/project/projectCarFollowing/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
new file mode 100644
index 0000000..7ec7539
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
@@ -0,0 +1,70 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+@{
+import os
+try:
+    from catkin_pkg.cmake import get_metapackage_cmake_template_path
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.topological_order import topological_order
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.package import InvalidPackage
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+# vars defined in order_packages.context.py.in
+try:
+    ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces)
+except InvalidPackage as e:
+    print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"'))
+    ordered_packages = []
+fatal_error = False
+}@
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+@[for path, package in ordered_packages]@
+@[if path is None]@
+message(FATAL_ERROR "Circular dependency in subset of packages:\n@package")
+@{
+fatal_error = True
+}@
+@[elif package.name != 'catkin']@
+list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))")
+@{
+package.evaluate_conditions(os.environ)
+try:
+    build_type = package.get_build_type()
+except InvalidPackage:
+    build_type = None
+}@
+@[if build_type is None]@
+message(FATAL_ERROR "Only one <build_type> element is permitted for package '@(package.name)'.")
+@{
+fatal_error = True
+}@
+@[else]@
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())")
+@[end if]@
+@{
+deprecated = [e for e in package.exports if e.tagname == 'deprecated']
+}@
+@[if deprecated]@
+message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')")
+@[end if]@
+@[end if]@
+@[end for]@
+
+@[if not fatal_error]@
+@{
+message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]]
+}@
+set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators)))
+@[end if]@
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))")
diff --git a/project/projectCarFollowing/build/catkin_generated/stamps/Project/package.xml.stamp b/project/projectCarFollowing/build/catkin_generated/stamps/Project/package.xml.stamp
new file mode 100644
index 0000000..61e815f
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_generated/stamps/Project/package.xml.stamp
@@ -0,0 +1,49 @@
+<?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>catkin</name>
+  <version>0.8.10</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
+  <maintainer email="tfoote@openrobotics.org">Tully Foote</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
+
+  <author>Troy Straszheim</author>
+  <author>Morten Kjaergaard</author>
+  <author>Brian Gerkey</author>
+  <author>Dirk Thomas</author>
+
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-argparse</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2" version_gt="0.4.3">python-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3" version_gt="0.4.3">python3-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-empy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <buildtool_export_depend>cmake</buildtool_export_depend>
+  <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
+
+  <build_export_depend>google-mock</build_export_depend>
+  <build_export_depend>gtest</build_export_depend>
+  <build_export_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</build_export_depend>
+  <build_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</build_export_depend>
+
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+    <architecture_independent/>
+  </export>
+</package>
diff --git a/project/projectCarFollowing/build/catkin_make.cache b/project/projectCarFollowing/build/catkin_make.cache
new file mode 100644
index 0000000..912d2d5
--- /dev/null
+++ b/project/projectCarFollowing/build/catkin_make.cache
@@ -0,0 +1,2 @@
+ros_merge_test
+-DCATKIN_DEVEL_PREFIX=/home/firefly/project/projectCarFollowing/devel -DCMAKE_INSTALL_PREFIX=/home/firefly/project/projectCarFollowing/install -G Unix Makefiles
\ No newline at end of file
diff --git a/project/projectCarFollowing/build/cmake_install.cmake b/project/projectCarFollowing/build/cmake_install.cmake
new file mode 100644
index 0000000..8975593
--- /dev/null
+++ b/project/projectCarFollowing/build/cmake_install.cmake
@@ -0,0 +1,147 @@
+# Install script for directory: /home/firefly/project/projectCarFollowing/src
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/firefly/project/projectCarFollowing/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+      endif()
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+      endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarFollowing/install/_setup_util.py")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarFollowing/install" TYPE PROGRAM FILES "/home/firefly/project/projectCarFollowing/build/catkin_generated/installspace/_setup_util.py")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarFollowing/install/env.sh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarFollowing/install" TYPE PROGRAM FILES "/home/firefly/project/projectCarFollowing/build/catkin_generated/installspace/env.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarFollowing/install/setup.bash;/home/firefly/project/projectCarFollowing/install/local_setup.bash")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarFollowing/install" TYPE FILE FILES
+    "/home/firefly/project/projectCarFollowing/build/catkin_generated/installspace/setup.bash"
+    "/home/firefly/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.bash"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarFollowing/install/setup.sh;/home/firefly/project/projectCarFollowing/install/local_setup.sh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarFollowing/install" TYPE FILE FILES
+    "/home/firefly/project/projectCarFollowing/build/catkin_generated/installspace/setup.sh"
+    "/home/firefly/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.sh"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarFollowing/install/setup.zsh;/home/firefly/project/projectCarFollowing/install/local_setup.zsh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarFollowing/install" TYPE FILE FILES
+    "/home/firefly/project/projectCarFollowing/build/catkin_generated/installspace/setup.zsh"
+    "/home/firefly/project/projectCarFollowing/build/catkin_generated/installspace/local_setup.zsh"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarFollowing/install/.rosinstall")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarFollowing/install" TYPE FILE FILES "/home/firefly/project/projectCarFollowing/build/catkin_generated/installspace/.rosinstall")
+endif()
+
+if(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  include("/home/firefly/project/projectCarFollowing/build/gtest/cmake_install.cmake")
+  include("/home/firefly/project/projectCarFollowing/build/ros_merge_test/cmake_install.cmake")
+
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/home/firefly/project/projectCarFollowing/build/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/project/projectCarFollowing/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/project/projectCarFollowing/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644
index 0000000..394c5f5
--- /dev/null
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@@ -0,0 +1,16 @@
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+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Relative path conversion top directories.
+set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/googletest")
+set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/firefly/project/projectCarFollowing/build")
+
+# Force unix paths in dependencies.
+set(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
diff --git a/project/projectCarFollowing/build/gtest/CMakeFiles/progress.marks b/project/projectCarFollowing/build/gtest/CMakeFiles/progress.marks
new file mode 100644
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new file mode 100644
index 0000000..ef31d18
--- /dev/null
+++ b/project/projectCarFollowing/build/gtest/CTestTestfile.cmake
@@ -0,0 +1,7 @@
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+# Source directory: /usr/src/googletest
+# Build directory: /home/firefly/project/projectCarFollowing/build/gtest
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
+subdirs("googlemock")
diff --git a/project/projectCarFollowing/build/gtest/Makefile b/project/projectCarFollowing/build/gtest/Makefile
new file mode 100644
index 0000000..aa6a7d6
--- /dev/null
+++ b/project/projectCarFollowing/build/gtest/Makefile
@@ -0,0 +1,196 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Default target executed when no arguments are given to make.
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+
+.PHONY : default_target
+
+# Allow only one "make -f Makefile2" at a time, but pass parallelism.
+.NOTPARALLEL:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
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+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/firefly/project/projectCarFollowing/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/firefly/project/projectCarFollowing/build
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target install/strip
+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip/fast
+
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+install/local: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
+
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+install/local/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
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+
+# Special rule for the target install
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
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+.PHONY : install
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+# Special rule for the target install
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
+
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+list_install_components:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\""
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+
+# Special rule for the target list_install_components
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+	/usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
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+	/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
+.PHONY : edit_cache
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+
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+
+# Special rule for the target test
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+
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+# The main all target
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+	cd /home/firefly/project/projectCarFollowing/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/firefly/project/projectCarFollowing/build/CMakeFiles 0
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+
+# The main clean target
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+.PHONY : clean
+
+# The main clean target
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+
+.PHONY : clean/fast
+
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+	cd /home/firefly/project/projectCarFollowing/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
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+	cd /home/firefly/project/projectCarFollowing/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/preinstall
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+.PHONY : depend
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+	@echo "... clean"
+	@echo "... depend"
+	@echo "... install/strip"
+	@echo "... install/local"
+	@echo "... install"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... edit_cache"
+	@echo "... test"
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+
+
+
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+
+# Special rule to run CMake to check the build system integrity.
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+# because they might be regenerated.
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new file mode 100644
index 0000000..06c6f77
--- /dev/null
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@@ -0,0 +1,45 @@
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+
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+  # Include the install script for each subdirectory.
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+
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+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... install/strip"
+	@echo "... install"
+	@echo "... list_install_components"
+	@echo "... ros_merge_test_node"
+	@echo "... ros_merge_test_genpy"
+	@echo "... ros_merge_test_gennodejs"
+	@echo "... ros_merge_test_generate_messages_nodejs"
+	@echo "... ros_merge_test_generate_messages_lisp"
+	@echo "... rosgraph_msgs_generate_messages_py"
+	@echo "... geometry_msgs_generate_messages_cpp"
+	@echo "... rosgraph_msgs_generate_messages_lisp"
+	@echo "... edit_cache"
+	@echo "... ros_merge_test_geneus"
+	@echo "... install/local"
+	@echo "... rosgraph_msgs_generate_messages_eus"
+	@echo "... std_msgs_generate_messages_cpp"
+	@echo "... test"
+	@echo "... rosgraph_msgs_generate_messages_cpp"
+	@echo "... std_msgs_generate_messages_eus"
+	@echo "... geometry_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_cpp"
+	@echo "... roscpp_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages"
+	@echo "... rosgraph_msgs_generate_messages_nodejs"
+	@echo "... rebuild_cache"
+	@echo "... ros_merge_test_genlisp"
+	@echo "... roscpp_generate_messages_eus"
+	@echo "... roscpp_generate_messages_cpp"
+	@echo "... geometry_msgs_generate_messages_py"
+	@echo "... std_msgs_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages_py"
+	@echo "... std_msgs_generate_messages_nodejs"
+	@echo "... geometry_msgs_generate_messages_eus"
+	@echo "... roscpp_generate_messages_nodejs"
+	@echo "... ros_merge_test"
+	@echo "... geometry_msgs_generate_messages_nodejs"
+	@echo "... _ros_merge_test_generate_messages_check_deps_RawImu"
+	@echo "... _ros_merge_test_generate_messages_check_deps_dis_info_array"
+	@echo "... roscpp_generate_messages_lisp"
+	@echo "... _ros_merge_test_generate_messages_check_deps_dis_info"
+	@echo "... ros_merge_test_gencpp"
+	@echo "... std_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_eus"
+	@echo "... src/Mat.o"
+	@echo "... src/Mat.i"
+	@echo "... src/Mat.s"
+	@echo "... src/align.o"
+	@echo "... src/align.i"
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+	@echo "... src/lighthouse.o"
+	@echo "... src/lighthouse.i"
+	@echo "... src/lighthouse.s"
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+	@echo "... src/main.i"
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+	@echo "... src/system.i"
+	@echo "... src/system.s"
+	@echo "... src/uwb.o"
+	@echo "... src/uwb.i"
+	@echo "... src/uwb.s"
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+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/firefly/project/projectCarFollowing/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
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diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake
new file mode 100644
index 0000000..502b1ab
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "msg/RawImu.msg;msg/dis_info_array.msg;msg/dis_info.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake
new file mode 100644
index 0000000..9b6cf00
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+
+_prepend_path("${ros_merge_test_DIR}/.." "msg" ros_merge_test_MSG_INCLUDE_DIRS UNIQUE)
+set(ros_merge_test_MSG_DEPENDENCIES std_msgs;geometry_msgs)
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc
new file mode 100644
index 0000000..59f62e0
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc
@@ -0,0 +1,8 @@
+prefix=/home/firefly/project/projectCarFollowing/install
+
+Name: ros_merge_test
+Description: Description of ros_merge_test
+Version: 0.0.0
+Cflags: -I${prefix}/include
+Libs: -L${prefix}/lib 
+Requires: message_runtime std_msgs geometry_msgs
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake
new file mode 100644
index 0000000..7fd9f99
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake
new file mode 100644
index 0000000..ed659de
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(ros_merge_test_CONFIG_INCLUDED)
+  return()
+endif()
+set(ros_merge_test_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(ros_merge_test_SOURCE_PREFIX /home/firefly/project/projectCarFollowing/src/ros_merge_test)
+  set(ros_merge_test_DEVEL_PREFIX /home/firefly/project/projectCarFollowing/devel)
+  set(ros_merge_test_INSTALL_PREFIX "")
+  set(ros_merge_test_PREFIX ${ros_merge_test_DEVEL_PREFIX})
+else()
+  set(ros_merge_test_SOURCE_PREFIX "")
+  set(ros_merge_test_DEVEL_PREFIX "")
+  set(ros_merge_test_INSTALL_PREFIX /home/firefly/project/projectCarFollowing/install)
+  set(ros_merge_test_PREFIX ${ros_merge_test_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'ros_merge_test' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(ros_merge_test_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "include " STREQUAL " ")
+  set(ros_merge_test_INCLUDE_DIRS "")
+  set(_include_dirs "include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'luoruidi <luoruidi@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${ros_merge_test_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(ros_merge_test_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT ros_merge_test_NUM_DUMMY_TARGETS)
+      set(ros_merge_test_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR ros_merge_test_NUM_DUMMY_TARGETS "${ros_merge_test_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND ros_merge_test_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/firefly/project/projectCarFollowing/install/lib;/home/firefly/pibot_ros/ros_ws/devel/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(ros_merge_test_LIBRARY_DIRS ${lib_path})
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'ros_merge_test'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(ros_merge_test_EXPORTED_TARGETS "ros_merge_test_generate_messages_cpp;ros_merge_test_generate_messages_eus;ros_merge_test_generate_messages_lisp;ros_merge_test_generate_messages_nodejs;ros_merge_test_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${ros_merge_test_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "message_runtime;std_msgs;geometry_msgs")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 ros_merge_test_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${ros_merge_test_dep}_FOUND)
+      find_package(${ros_merge_test_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${ros_merge_test_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(ros_merge_test_INCLUDE_DIRS ${${ros_merge_test_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${ros_merge_test_dep}_LIBRARIES})
+  _list_append_deduplicate(ros_merge_test_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+
+  _list_append_unique(ros_merge_test_LIBRARY_DIRS ${${ros_merge_test_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(ros_merge_test_EXPORTED_TARGETS ${${ros_merge_test_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "ros_merge_test-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${ros_merge_test_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/ordered_paths.cmake b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/ordered_paths.cmake
new file mode 100644
index 0000000..454cf03
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/noetic/lib")
\ No newline at end of file
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/package.cmake b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/package.cmake
new file mode 100644
index 0000000..a8f207e
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/package.cmake
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "ros_merge_test")
+set(ros_merge_test_VERSION "0.0.0")
+set(ros_merge_test_MAINTAINER "luoruidi <luoruidi@todo.todo>")
+set(ros_merge_test_PACKAGE_FORMAT "2")
+set(ros_merge_test_BUILD_DEPENDS "roscpp" "rospy" "std_msgs" "geometry_msgs" "message_generation")
+set(ros_merge_test_BUILD_EXPORT_DEPENDS "roscpp" "rospy" "std_msgs")
+set(ros_merge_test_BUILDTOOL_DEPENDS "catkin")
+set(ros_merge_test_BUILDTOOL_EXPORT_DEPENDS )
+set(ros_merge_test_EXEC_DEPENDS "roscpp" "rospy" "std_msgs" "message_runtime" "geometry_msgs")
+set(ros_merge_test_RUN_DEPENDS "roscpp" "rospy" "std_msgs" "message_runtime" "geometry_msgs")
+set(ros_merge_test_TEST_DEPENDS )
+set(ros_merge_test_DOC_DEPENDS )
+set(ros_merge_test_URL_WEBSITE "")
+set(ros_merge_test_URL_BUGTRACKER "")
+set(ros_merge_test_URL_REPOSITORY "")
+set(ros_merge_test_DEPRECATED "")
\ No newline at end of file
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 0000000..9326ef8
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/home/firefly/project/projectCarFollowing/devel/include".split(';') if "/home/firefly/project/projectCarFollowing/devel/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "message_runtime;std_msgs;geometry_msgs".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "ros_merge_test"
+PROJECT_SPACE_DIR = "/home/firefly/project/projectCarFollowing/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 0000000..49a2a3f
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "message_runtime;std_msgs;geometry_msgs".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "ros_merge_test"
+PROJECT_SPACE_DIR = "/home/firefly/project/projectCarFollowing/install"
+PROJECT_VERSION = "0.0.0"
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.develspace.in b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.develspace.in
new file mode 100644
index 0000000..c17f73c
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.develspace.in
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg;/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg;/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.installspace.in b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.installspace.in
new file mode 100644
index 0000000..502b1ab
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.installspace.in
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "msg/RawImu.msg;msg/dis_info_array.msg;msg/dis_info.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp
new file mode 100644
index 0000000..dee5884
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_merge_test</name>
+  <version>0.0.0</version>
+  <description>The ros_merge_test package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ros_merge_test</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg-genmsg.cmake.em.stamp b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg-genmsg.cmake.em.stamp
new file mode 100644
index 0000000..eca9adc
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg-genmsg.cmake.em.stamp
@@ -0,0 +1,167 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+@{
+import os
+import sys
+
+import genmsg
+import genmsg.base
+genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ)
+import genmsg.deps
+import genmsg.gentools
+
+# split incoming variables
+messages = messages_str.split(';') if messages_str != '' else []
+services = services_str.split(';') if services_str != '' else []
+dependencies = dependencies_str.split(';') if dependencies_str != '' else []
+dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else []
+
+dep_search_paths_dict = {}
+dep_search_paths_tuple_list = []
+is_even = True
+for val in dep_search_paths:
+    if is_even:
+        dep_search_paths_dict.setdefault(val, [])
+        val_prev = val
+        is_even = False
+    else:
+        dep_search_paths_dict[val_prev].append(val)
+        dep_search_paths_tuple_list.append((val_prev, val))
+        is_even = True
+dep_search_paths = dep_search_paths_dict
+
+if not messages and not services:
+    print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")')
+
+msg_deps = {}
+msg_dep_types = {}
+for m in messages:
+  try:
+    _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths)
+    msg_deps[m] = [d[1] for d in _deps]
+    msg_dep_types[m] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"')))
+
+srv_deps = {}
+srv_dep_types = {}
+for s in services:
+  try:
+    _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths)
+    srv_deps[s] = [d[1] for d in _deps]
+    srv_dep_types[s] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"')))
+
+}@
+message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services")
+
+set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))")
+
+# Find all generators
+@[if langs]@
+@[for l in langs.split(';')]@
+find_package(@l REQUIRED)
+@[end for]@
+@[end if]@
+
+add_custom_target(@(pkg_name)_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))}
+@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))}
+@[for f in all_deps.keys()]@
+@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')}
+get_filename_component(_filename "@(f)" NAME_WE)
+add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)"
+)
+@[end for]@# messages and services
+
+#
+#  langs = @langs
+#
+
+@[if langs]@
+@[for l in langs.split(';')]@
+### Section generating for lang: @l
+### Generating Messages
+@[for m in msg_deps.keys()]@
+_generate_msg_@(l[3:])(@pkg_name
+  "@m"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(msg_deps[m]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# messages
+
+### Generating Services
+@[for s in srv_deps.keys()]@
+_generate_srv_@(l[3:])(@pkg_name
+  "@s"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(srv_deps[s]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# services
+
+### Generating Module File
+_generate_module_@(l[3:])(@pkg_name
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+  "${ALL_GEN_OUTPUT_FILES_@(l[3:])}"
+)
+
+add_custom_target(@(pkg_name)_generate_messages_@(l[3:])
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])}
+)
+add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:]))
+
+# add dependencies to all check dependencies targets
+@[for f in all_deps.keys()]@
+get_filename_component(_filename "@(f)" NAME_WE)
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename})
+@[end for]@# messages and services
+
+# target for backward compatibility
+add_custom_target(@(pkg_name)_@(l))
+add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:]))
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:]))
+
+@[end for]@# langs
+@[end if]@
+
+@[if langs]@
+@[for l in langs.split(';')]@
+
+if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name)
+@[if l == 'genpy']@
+  install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")")
+@[end if]@
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+@[if l == 'genpy' and package_has_static_sources]@
+    # skip all init files
+    PATTERN "__init__.py" EXCLUDE
+    PATTERN "__init__.pyc" EXCLUDE
+  )
+  # install init files which are not in the root folder of the generated code
+  string(REGEX REPLACE "([][+.*()^])" "\\\\\\1" ESCAPED_PATH "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)")
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+    FILES_MATCHING
+    REGEX "${ESCAPED_PATH}/.+/__init__.pyc?$"
+@[end if]@
+  )
+endif()
+@[for d in dependencies]@
+if(TARGET @(d)_generate_messages_@(l[3:]))
+  add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:]))
+endif()
+@[end for]@# dependencies
+@[end for]@# langs
+@[end if]@
diff --git a/project/projectCarFollowing/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp
new file mode 100644
index 0000000..549fb75
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp
@@ -0,0 +1,8 @@
+prefix=@PROJECT_SPACE_DIR
+
+Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
+Description: Description of @PROJECT_NAME
+Version: @PROJECT_VERSION
+Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
+Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/project/projectCarFollowing/build/ros_merge_test/cmake/ros_merge_test-genmsg-context.py b/project/projectCarFollowing/build/ros_merge_test/cmake/ros_merge_test-genmsg-context.py
new file mode 100644
index 0000000..7ee320e
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/cmake/ros_merge_test-genmsg-context.py
@@ -0,0 +1,11 @@
+# generated from genmsg/cmake/pkg-genmsg.context.in
+
+messages_str = "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg;/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg;/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+services_str = ""
+pkg_name = "ros_merge_test"
+dependencies_str = "std_msgs;geometry_msgs"
+langs = "gencpp;geneus;genlisp;gennodejs;genpy"
+dep_include_paths_str = "ros_merge_test;/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg;std_msgs;/opt/ros/noetic/share/std_msgs/cmake/../msg;geometry_msgs;/opt/ros/noetic/share/geometry_msgs/cmake/../msg"
+PYTHON_EXECUTABLE = "/usr/bin/python3"
+package_has_static_sources = '' == 'TRUE'
+genmsg_check_deps_script = "/opt/ros/noetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py"
diff --git a/project/projectCarFollowing/build/ros_merge_test/cmake/ros_merge_test-genmsg.cmake b/project/projectCarFollowing/build/ros_merge_test/cmake/ros_merge_test-genmsg.cmake
new file mode 100644
index 0000000..f1c4f83
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/cmake/ros_merge_test-genmsg.cmake
@@ -0,0 +1,355 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+message(STATUS "ros_merge_test: 3 messages, 0 services")
+
+set(MSG_I_FLAGS "-Iros_merge_test:/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg;-Istd_msgs:/opt/ros/noetic/share/std_msgs/cmake/../msg;-Igeometry_msgs:/opt/ros/noetic/share/geometry_msgs/cmake/../msg")
+
+# Find all generators
+find_package(gencpp REQUIRED)
+find_package(geneus REQUIRED)
+find_package(genlisp REQUIRED)
+find_package(gennodejs REQUIRED)
+find_package(genpy REQUIRED)
+
+add_custom_target(ros_merge_test_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+
+
+
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_custom_target(_ros_merge_test_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "ros_merge_test" "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg" "geometry_msgs/Vector3:std_msgs/Header"
+)
+
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg" NAME_WE)
+add_custom_target(_ros_merge_test_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "ros_merge_test" "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg" "ros_merge_test/dis_info"
+)
+
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg" NAME_WE)
+add_custom_target(_ros_merge_test_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "ros_merge_test" "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg" ""
+)
+
+#
+#  langs = gencpp;geneus;genlisp;gennodejs;genpy
+#
+
+### Section generating for lang: gencpp
+### Generating Messages
+_generate_msg_cpp(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+)
+_generate_msg_cpp(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg"
+  "${MSG_I_FLAGS}"
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+)
+_generate_msg_cpp(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_cpp(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_cpp}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_cpp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_cpp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_cpp _ros_merge_test_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_cpp _ros_merge_test_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_cpp _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_gencpp)
+add_dependencies(ros_merge_test_gencpp ros_merge_test_generate_messages_cpp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_cpp)
+
+### Section generating for lang: geneus
+### Generating Messages
+_generate_msg_eus(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+)
+_generate_msg_eus(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg"
+  "${MSG_I_FLAGS}"
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+)
+_generate_msg_eus(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_eus(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_eus}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_eus
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_eus}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_eus)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_eus _ros_merge_test_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_eus _ros_merge_test_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_eus _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_geneus)
+add_dependencies(ros_merge_test_geneus ros_merge_test_generate_messages_eus)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_eus)
+
+### Section generating for lang: genlisp
+### Generating Messages
+_generate_msg_lisp(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+)
+_generate_msg_lisp(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg"
+  "${MSG_I_FLAGS}"
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+)
+_generate_msg_lisp(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_lisp(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_lisp}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_lisp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_lisp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_lisp _ros_merge_test_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_lisp _ros_merge_test_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_lisp _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_genlisp)
+add_dependencies(ros_merge_test_genlisp ros_merge_test_generate_messages_lisp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_lisp)
+
+### Section generating for lang: gennodejs
+### Generating Messages
+_generate_msg_nodejs(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+)
+_generate_msg_nodejs(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg"
+  "${MSG_I_FLAGS}"
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+)
+_generate_msg_nodejs(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_nodejs(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_nodejs}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_nodejs
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_nodejs)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_nodejs _ros_merge_test_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_nodejs _ros_merge_test_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_nodejs _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_gennodejs)
+add_dependencies(ros_merge_test_gennodejs ros_merge_test_generate_messages_nodejs)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_nodejs)
+
+### Section generating for lang: genpy
+### Generating Messages
+_generate_msg_py(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg;/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+)
+_generate_msg_py(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg"
+  "${MSG_I_FLAGS}"
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+)
+_generate_msg_py(ros_merge_test
+  "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_py(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_py}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_py
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_py}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_py)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_py _ros_merge_test_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_py _ros_merge_test_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_py _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_genpy)
+add_dependencies(ros_merge_test_genpy ros_merge_test_generate_messages_py)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_py)
+
+
+
+if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${gencpp_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_cpp)
+  add_dependencies(ros_merge_test_generate_messages_cpp std_msgs_generate_messages_cpp)
+endif()
+if(TARGET geometry_msgs_generate_messages_cpp)
+  add_dependencies(ros_merge_test_generate_messages_cpp geometry_msgs_generate_messages_cpp)
+endif()
+
+if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${geneus_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_eus)
+  add_dependencies(ros_merge_test_generate_messages_eus std_msgs_generate_messages_eus)
+endif()
+if(TARGET geometry_msgs_generate_messages_eus)
+  add_dependencies(ros_merge_test_generate_messages_eus geometry_msgs_generate_messages_eus)
+endif()
+
+if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${genlisp_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_lisp)
+  add_dependencies(ros_merge_test_generate_messages_lisp std_msgs_generate_messages_lisp)
+endif()
+if(TARGET geometry_msgs_generate_messages_lisp)
+  add_dependencies(ros_merge_test_generate_messages_lisp geometry_msgs_generate_messages_lisp)
+endif()
+
+if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${gennodejs_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_nodejs)
+  add_dependencies(ros_merge_test_generate_messages_nodejs std_msgs_generate_messages_nodejs)
+endif()
+if(TARGET geometry_msgs_generate_messages_nodejs)
+  add_dependencies(ros_merge_test_generate_messages_nodejs geometry_msgs_generate_messages_nodejs)
+endif()
+
+if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test)
+  install(CODE "execute_process(COMMAND \"/usr/bin/python3\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test\")")
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${genpy_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_py)
+  add_dependencies(ros_merge_test_generate_messages_py std_msgs_generate_messages_py)
+endif()
+if(TARGET geometry_msgs_generate_messages_py)
+  add_dependencies(ros_merge_test_generate_messages_py geometry_msgs_generate_messages_py)
+endif()
diff --git a/project/projectCarFollowing/build/ros_merge_test/cmake_install.cmake b/project/projectCarFollowing/build/ros_merge_test/cmake_install.cmake
new file mode 100644
index 0000000..68cf323
--- /dev/null
+++ b/project/projectCarFollowing/build/ros_merge_test/cmake_install.cmake
@@ -0,0 +1,94 @@
+# Install script for directory: /home/firefly/project/projectCarFollowing/src/ros_merge_test
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/firefly/project/projectCarFollowing/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/msg" TYPE FILE FILES
+    "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg"
+    "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg"
+    "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/cmake" TYPE FILE FILES "/home/firefly/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/firefly/project/projectCarFollowing/devel/include/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/roseus/ros" TYPE DIRECTORY FILES "/home/firefly/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/common-lisp/ros" TYPE DIRECTORY FILES "/home/firefly/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/gennodejs/ros" TYPE DIRECTORY FILES "/home/firefly/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  execute_process(COMMAND "/usr/bin/python3" -m compileall "/home/firefly/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python3/dist-packages" TYPE DIRECTORY FILES "/home/firefly/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/firefly/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/cmake" TYPE FILE FILES "/home/firefly/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/cmake" TYPE FILE FILES
+    "/home/firefly/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake"
+    "/home/firefly/project/projectCarFollowing/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test" TYPE FILE FILES "/home/firefly/project/projectCarFollowing/src/ros_merge_test/package.xml")
+endif()
+
diff --git a/project/projectCarFollowing/data.txt b/project/projectCarFollowing/data.txt
new file mode 100644
index 0000000..e835b4c
--- /dev/null
+++ b/project/projectCarFollowing/data.txt
@@ -0,0 +1,2 @@
+imuDataRxTime,odomDataRxTime,uwbDataRxTime,aX,aY,aZ,gX,gY,gZmX,mY,mZ,qW,qX,qY,qZ,vXY,angleV,imuPosX,imuPosY,lightHousePosX,lightHousePosY,lightHousePosZ,lightHouseQW,lightHouseQX,lightHouseQY,lightHouseQZd1,d2,d3
+0.000000000,0.000000000,1706186387.293343058,
\ No newline at end of file
diff --git a/project/projectCarFollowing/devel/.built_by b/project/projectCarFollowing/devel/.built_by
new file mode 100644
index 0000000..2e212dd
--- /dev/null
+++ b/project/projectCarFollowing/devel/.built_by
@@ -0,0 +1 @@
+catkin_make
\ No newline at end of file
diff --git a/project/projectCarFollowing/devel/.catkin b/project/projectCarFollowing/devel/.catkin
new file mode 100644
index 0000000..52b222a
--- /dev/null
+++ b/project/projectCarFollowing/devel/.catkin
@@ -0,0 +1 @@
+/home/firefly/project/projectCarLocation/src;/home/firefly/project/projectCarFollowing/src
\ No newline at end of file
diff --git a/project/projectCarFollowing/devel/.rosinstall b/project/projectCarFollowing/devel/.rosinstall
new file mode 100644
index 0000000..d8a84a1
--- /dev/null
+++ b/project/projectCarFollowing/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/firefly/project/projectCarFollowing/devel/setup.sh
diff --git a/project/projectCarFollowing/devel/_setup_util.py b/project/projectCarFollowing/devel/_setup_util.py
new file mode 100755
index 0000000..7d7477e
--- /dev/null
+++ b/project/projectCarFollowing/devel/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectCarFollowing/devel/cmake.lock b/project/projectCarFollowing/devel/cmake.lock
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectCarFollowing/devel/env.sh b/project/projectCarFollowing/devel/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectCarFollowing/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectCarFollowing/devel/include/ros_merge_test/RawImu.h b/project/projectCarFollowing/devel/include/ros_merge_test/RawImu.h
new file mode 100644
index 0000000..4e2a74e
--- /dev/null
+++ b/project/projectCarFollowing/devel/include/ros_merge_test/RawImu.h
@@ -0,0 +1,292 @@
+// Generated by gencpp from file ros_merge_test/RawImu.msg
+// DO NOT EDIT!
+
+
+#ifndef ROS_MERGE_TEST_MESSAGE_RAWIMU_H
+#define ROS_MERGE_TEST_MESSAGE_RAWIMU_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <std_msgs/Header.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Vector3.h>
+
+namespace ros_merge_test
+{
+template <class ContainerAllocator>
+struct RawImu_
+{
+  typedef RawImu_<ContainerAllocator> Type;
+
+  RawImu_()
+    : header()
+    , accelerometer(false)
+    , gyroscope(false)
+    , magnetometer(false)
+    , raw_linear_acceleration()
+    , raw_angular_velocity()
+    , raw_magnetic_field()  {
+    }
+  RawImu_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , accelerometer(false)
+    , gyroscope(false)
+    , magnetometer(false)
+    , raw_linear_acceleration(_alloc)
+    , raw_angular_velocity(_alloc)
+    , raw_magnetic_field(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+  _header_type header;
+
+   typedef uint8_t _accelerometer_type;
+  _accelerometer_type accelerometer;
+
+   typedef uint8_t _gyroscope_type;
+  _gyroscope_type gyroscope;
+
+   typedef uint8_t _magnetometer_type;
+  _magnetometer_type magnetometer;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _raw_linear_acceleration_type;
+  _raw_linear_acceleration_type raw_linear_acceleration;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _raw_angular_velocity_type;
+  _raw_angular_velocity_type raw_angular_velocity;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _raw_magnetic_field_type;
+  _raw_magnetic_field_type raw_magnetic_field;
+
+
+
+
+
+  typedef boost::shared_ptr< ::ros_merge_test::RawImu_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ros_merge_test::RawImu_<ContainerAllocator> const> ConstPtr;
+
+}; // struct RawImu_
+
+typedef ::ros_merge_test::RawImu_<std::allocator<void> > RawImu;
+
+typedef boost::shared_ptr< ::ros_merge_test::RawImu > RawImuPtr;
+typedef boost::shared_ptr< ::ros_merge_test::RawImu const> RawImuConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ros_merge_test::RawImu_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ros_merge_test::RawImu_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::ros_merge_test::RawImu_<ContainerAllocator1> & lhs, const ::ros_merge_test::RawImu_<ContainerAllocator2> & rhs)
+{
+  return lhs.header == rhs.header &&
+    lhs.accelerometer == rhs.accelerometer &&
+    lhs.gyroscope == rhs.gyroscope &&
+    lhs.magnetometer == rhs.magnetometer &&
+    lhs.raw_linear_acceleration == rhs.raw_linear_acceleration &&
+    lhs.raw_angular_velocity == rhs.raw_angular_velocity &&
+    lhs.raw_magnetic_field == rhs.raw_magnetic_field;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::ros_merge_test::RawImu_<ContainerAllocator1> & lhs, const ::ros_merge_test::RawImu_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace ros_merge_test
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsMessage< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ros_merge_test::RawImu_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ros_merge_test::RawImu_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ros_merge_test::RawImu_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "3bc0ea37781da51ad41a6868ff62faa9";
+  }
+
+  static const char* value(const ::ros_merge_test::RawImu_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x3bc0ea37781da51aULL;
+  static const uint64_t static_value2 = 0xd41a6868ff62faa9ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ros_merge_test/RawImu";
+  }
+
+  static const char* value(const ::ros_merge_test::RawImu_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "Header header\n"
+"bool accelerometer\n"
+"bool gyroscope\n"
+"bool magnetometer\n"
+"geometry_msgs/Vector3 raw_linear_acceleration\n"
+"geometry_msgs/Vector3 raw_angular_velocity\n"
+"geometry_msgs/Vector3 raw_magnetic_field\n"
+"\n"
+"================================================================================\n"
+"MSG: std_msgs/Header\n"
+"# Standard metadata for higher-level stamped data types.\n"
+"# This is generally used to communicate timestamped data \n"
+"# in a particular coordinate frame.\n"
+"# \n"
+"# sequence ID: consecutively increasing ID \n"
+"uint32 seq\n"
+"#Two-integer timestamp that is expressed as:\n"
+"# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n"
+"# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n"
+"# time-handling sugar is provided by the client library\n"
+"time stamp\n"
+"#Frame this data is associated with\n"
+"string frame_id\n"
+"\n"
+"================================================================================\n"
+"MSG: geometry_msgs/Vector3\n"
+"# This represents a vector in free space. \n"
+"# It is only meant to represent a direction. Therefore, it does not\n"
+"# make sense to apply a translation to it (e.g., when applying a \n"
+"# generic rigid transformation to a Vector3, tf2 will only apply the\n"
+"# rotation). If you want your data to be translatable too, use the\n"
+"# geometry_msgs/Point message instead.\n"
+"\n"
+"float64 x\n"
+"float64 y\n"
+"float64 z\n"
+;
+  }
+
+  static const char* value(const ::ros_merge_test::RawImu_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.header);
+      stream.next(m.accelerometer);
+      stream.next(m.gyroscope);
+      stream.next(m.magnetometer);
+      stream.next(m.raw_linear_acceleration);
+      stream.next(m.raw_angular_velocity);
+      stream.next(m.raw_magnetic_field);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct RawImu_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ros_merge_test::RawImu_<ContainerAllocator>& v)
+  {
+    s << indent << "header: ";
+    s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "accelerometer: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.accelerometer);
+    s << indent << "gyroscope: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.gyroscope);
+    s << indent << "magnetometer: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.magnetometer);
+    s << indent << "raw_linear_acceleration: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.raw_linear_acceleration);
+    s << indent << "raw_angular_velocity: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.raw_angular_velocity);
+    s << indent << "raw_magnetic_field: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.raw_magnetic_field);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // ROS_MERGE_TEST_MESSAGE_RAWIMU_H
diff --git a/project/projectCarFollowing/devel/include/ros_merge_test/dis_info.h b/project/projectCarFollowing/devel/include/ros_merge_test/dis_info.h
new file mode 100644
index 0000000..cacb736
--- /dev/null
+++ b/project/projectCarFollowing/devel/include/ros_merge_test/dis_info.h
@@ -0,0 +1,225 @@
+// Generated by gencpp from file ros_merge_test/dis_info.msg
+// DO NOT EDIT!
+
+
+#ifndef ROS_MERGE_TEST_MESSAGE_DIS_INFO_H
+#define ROS_MERGE_TEST_MESSAGE_DIS_INFO_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace ros_merge_test
+{
+template <class ContainerAllocator>
+struct dis_info_
+{
+  typedef dis_info_<ContainerAllocator> Type;
+
+  dis_info_()
+    : distance(0.0)
+    , width(0.0)
+    , height(0.0)
+    , angle(0.0)  {
+    }
+  dis_info_(const ContainerAllocator& _alloc)
+    : distance(0.0)
+    , width(0.0)
+    , height(0.0)
+    , angle(0.0)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef float _distance_type;
+  _distance_type distance;
+
+   typedef float _width_type;
+  _width_type width;
+
+   typedef float _height_type;
+  _height_type height;
+
+   typedef float _angle_type;
+  _angle_type angle;
+
+
+
+
+
+  typedef boost::shared_ptr< ::ros_merge_test::dis_info_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ros_merge_test::dis_info_<ContainerAllocator> const> ConstPtr;
+
+}; // struct dis_info_
+
+typedef ::ros_merge_test::dis_info_<std::allocator<void> > dis_info;
+
+typedef boost::shared_ptr< ::ros_merge_test::dis_info > dis_infoPtr;
+typedef boost::shared_ptr< ::ros_merge_test::dis_info const> dis_infoConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ros_merge_test::dis_info_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ros_merge_test::dis_info_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::ros_merge_test::dis_info_<ContainerAllocator1> & lhs, const ::ros_merge_test::dis_info_<ContainerAllocator2> & rhs)
+{
+  return lhs.distance == rhs.distance &&
+    lhs.width == rhs.width &&
+    lhs.height == rhs.height &&
+    lhs.angle == rhs.angle;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::ros_merge_test::dis_info_<ContainerAllocator1> & lhs, const ::ros_merge_test::dis_info_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace ros_merge_test
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsMessage< ::ros_merge_test::dis_info_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ros_merge_test::dis_info_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ros_merge_test::dis_info_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ros_merge_test::dis_info_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ros_merge_test::dis_info_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ros_merge_test::dis_info_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ros_merge_test::dis_info_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "941a1dedbc0595405760672b9f7f50ee";
+  }
+
+  static const char* value(const ::ros_merge_test::dis_info_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x941a1dedbc059540ULL;
+  static const uint64_t static_value2 = 0x5760672b9f7f50eeULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ros_merge_test::dis_info_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ros_merge_test/dis_info";
+  }
+
+  static const char* value(const ::ros_merge_test::dis_info_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ros_merge_test::dis_info_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "float32 distance\n"
+"float32 width\n"
+"float32 height\n"
+"float32 angle\n"
+;
+  }
+
+  static const char* value(const ::ros_merge_test::dis_info_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ros_merge_test::dis_info_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.distance);
+      stream.next(m.width);
+      stream.next(m.height);
+      stream.next(m.angle);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct dis_info_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ros_merge_test::dis_info_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ros_merge_test::dis_info_<ContainerAllocator>& v)
+  {
+    s << indent << "distance: ";
+    Printer<float>::stream(s, indent + "  ", v.distance);
+    s << indent << "width: ";
+    Printer<float>::stream(s, indent + "  ", v.width);
+    s << indent << "height: ";
+    Printer<float>::stream(s, indent + "  ", v.height);
+    s << indent << "angle: ";
+    Printer<float>::stream(s, indent + "  ", v.angle);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // ROS_MERGE_TEST_MESSAGE_DIS_INFO_H
diff --git a/project/projectCarFollowing/devel/include/ros_merge_test/dis_info_array.h b/project/projectCarFollowing/devel/include/ros_merge_test/dis_info_array.h
new file mode 100644
index 0000000..1f9cc87
--- /dev/null
+++ b/project/projectCarFollowing/devel/include/ros_merge_test/dis_info_array.h
@@ -0,0 +1,208 @@
+// Generated by gencpp from file ros_merge_test/dis_info_array.msg
+// DO NOT EDIT!
+
+
+#ifndef ROS_MERGE_TEST_MESSAGE_DIS_INFO_ARRAY_H
+#define ROS_MERGE_TEST_MESSAGE_DIS_INFO_ARRAY_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <ros_merge_test/dis_info.h>
+
+namespace ros_merge_test
+{
+template <class ContainerAllocator>
+struct dis_info_array_
+{
+  typedef dis_info_array_<ContainerAllocator> Type;
+
+  dis_info_array_()
+    : dis()  {
+    }
+  dis_info_array_(const ContainerAllocator& _alloc)
+    : dis(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::vector< ::ros_merge_test::dis_info_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::ros_merge_test::dis_info_<ContainerAllocator> >> _dis_type;
+  _dis_type dis;
+
+
+
+
+
+  typedef boost::shared_ptr< ::ros_merge_test::dis_info_array_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ros_merge_test::dis_info_array_<ContainerAllocator> const> ConstPtr;
+
+}; // struct dis_info_array_
+
+typedef ::ros_merge_test::dis_info_array_<std::allocator<void> > dis_info_array;
+
+typedef boost::shared_ptr< ::ros_merge_test::dis_info_array > dis_info_arrayPtr;
+typedef boost::shared_ptr< ::ros_merge_test::dis_info_array const> dis_info_arrayConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ros_merge_test::dis_info_array_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ros_merge_test::dis_info_array_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::ros_merge_test::dis_info_array_<ContainerAllocator1> & lhs, const ::ros_merge_test::dis_info_array_<ContainerAllocator2> & rhs)
+{
+  return lhs.dis == rhs.dis;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::ros_merge_test::dis_info_array_<ContainerAllocator1> & lhs, const ::ros_merge_test::dis_info_array_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace ros_merge_test
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsMessage< ::ros_merge_test::dis_info_array_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ros_merge_test::dis_info_array_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ros_merge_test::dis_info_array_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ros_merge_test::dis_info_array_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ros_merge_test::dis_info_array_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ros_merge_test::dis_info_array_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ros_merge_test::dis_info_array_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "154c19253095a5ca966c5dce84293342";
+  }
+
+  static const char* value(const ::ros_merge_test::dis_info_array_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x154c19253095a5caULL;
+  static const uint64_t static_value2 = 0x966c5dce84293342ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ros_merge_test::dis_info_array_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ros_merge_test/dis_info_array";
+  }
+
+  static const char* value(const ::ros_merge_test::dis_info_array_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ros_merge_test::dis_info_array_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ros_merge_test/dis_info[] dis\n"
+"================================================================================\n"
+"MSG: ros_merge_test/dis_info\n"
+"float32 distance\n"
+"float32 width\n"
+"float32 height\n"
+"float32 angle\n"
+;
+  }
+
+  static const char* value(const ::ros_merge_test::dis_info_array_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ros_merge_test::dis_info_array_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.dis);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct dis_info_array_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ros_merge_test::dis_info_array_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ros_merge_test::dis_info_array_<ContainerAllocator>& v)
+  {
+    s << indent << "dis[]" << std::endl;
+    for (size_t i = 0; i < v.dis.size(); ++i)
+    {
+      s << indent << "  dis[" << i << "]: ";
+      s << std::endl;
+      s << indent;
+      Printer< ::ros_merge_test::dis_info_<ContainerAllocator> >::stream(s, indent + "    ", v.dis[i]);
+    }
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // ROS_MERGE_TEST_MESSAGE_DIS_INFO_ARRAY_H
diff --git a/project/projectCarFollowing/devel/lib/libros_merge_test.so b/project/projectCarFollowing/devel/lib/libros_merge_test.so
new file mode 100755
index 0000000..00c939f
Binary files /dev/null and b/project/projectCarFollowing/devel/lib/libros_merge_test.so differ
diff --git a/project/projectCarFollowing/devel/lib/pkgconfig/ros_merge_test.pc b/project/projectCarFollowing/devel/lib/pkgconfig/ros_merge_test.pc
new file mode 100644
index 0000000..1e5e4ba
--- /dev/null
+++ b/project/projectCarFollowing/devel/lib/pkgconfig/ros_merge_test.pc
@@ -0,0 +1,8 @@
+prefix=/home/firefly/project/projectCarFollowing/devel
+
+Name: ros_merge_test
+Description: Description of ros_merge_test
+Version: 0.0.0
+Cflags: -I/home/firefly/project/projectCarFollowing/devel/include
+Libs: -L${prefix}/lib 
+Requires: message_runtime std_msgs geometry_msgs
diff --git a/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/__init__.py b/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/_RawImu.py b/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/_RawImu.py
new file mode 100644
index 0000000..e995b4b
--- /dev/null
+++ b/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/_RawImu.py
@@ -0,0 +1,239 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ros_merge_test/RawImu.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import std_msgs.msg
+
+class RawImu(genpy.Message):
+  _md5sum = "3bc0ea37781da51ad41a6868ff62faa9"
+  _type = "ros_merge_test/RawImu"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """Header header
+bool accelerometer
+bool gyroscope
+bool magnetometer
+geometry_msgs/Vector3 raw_linear_acceleration
+geometry_msgs/Vector3 raw_angular_velocity
+geometry_msgs/Vector3 raw_magnetic_field
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z"""
+  __slots__ = ['header','accelerometer','gyroscope','magnetometer','raw_linear_acceleration','raw_angular_velocity','raw_magnetic_field']
+  _slot_types = ['std_msgs/Header','bool','bool','bool','geometry_msgs/Vector3','geometry_msgs/Vector3','geometry_msgs/Vector3']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,accelerometer,gyroscope,magnetometer,raw_linear_acceleration,raw_angular_velocity,raw_magnetic_field
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(RawImu, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.accelerometer is None:
+        self.accelerometer = False
+      if self.gyroscope is None:
+        self.gyroscope = False
+      if self.magnetometer is None:
+        self.magnetometer = False
+      if self.raw_linear_acceleration is None:
+        self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.raw_angular_velocity is None:
+        self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      if self.raw_magnetic_field is None:
+        self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.accelerometer = False
+      self.gyroscope = False
+      self.magnetometer = False
+      self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self
+      buff.write(_get_struct_3B9d().pack(_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.raw_linear_acceleration is None:
+        self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.raw_angular_velocity is None:
+        self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      if self.raw_magnetic_field is None:
+        self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 75
+      (_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z,) = _get_struct_3B9d().unpack(str[start:end])
+      self.accelerometer = bool(self.accelerometer)
+      self.gyroscope = bool(self.gyroscope)
+      self.magnetometer = bool(self.magnetometer)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self
+      buff.write(_get_struct_3B9d().pack(_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.raw_linear_acceleration is None:
+        self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.raw_angular_velocity is None:
+        self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      if self.raw_magnetic_field is None:
+        self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 75
+      (_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z,) = _get_struct_3B9d().unpack(str[start:end])
+      self.accelerometer = bool(self.accelerometer)
+      self.gyroscope = bool(self.gyroscope)
+      self.magnetometer = bool(self.magnetometer)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_3B9d = None
+def _get_struct_3B9d():
+    global _struct_3B9d
+    if _struct_3B9d is None:
+        _struct_3B9d = struct.Struct("<3B9d")
+    return _struct_3B9d
+_struct_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
diff --git a/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/__init__.py b/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/__init__.py
new file mode 100644
index 0000000..2993cab
--- /dev/null
+++ b/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/__init__.py
@@ -0,0 +1,3 @@
+from ._RawImu import *
+from ._dis_info import *
+from ._dis_info_array import *
diff --git a/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/_dis_info.py b/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/_dis_info.py
new file mode 100644
index 0000000..a0097c2
--- /dev/null
+++ b/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/_dis_info.py
@@ -0,0 +1,127 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ros_merge_test/dis_info.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class dis_info(genpy.Message):
+  _md5sum = "941a1dedbc0595405760672b9f7f50ee"
+  _type = "ros_merge_test/dis_info"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """float32 distance
+float32 width
+float32 height
+float32 angle
+"""
+  __slots__ = ['distance','width','height','angle']
+  _slot_types = ['float32','float32','float32','float32']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       distance,width,height,angle
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(dis_info, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.distance is None:
+        self.distance = 0.
+      if self.width is None:
+        self.width = 0.
+      if self.height is None:
+        self.height = 0.
+      if self.angle is None:
+        self.angle = 0.
+    else:
+      self.distance = 0.
+      self.width = 0.
+      self.height = 0.
+      self.angle = 0.
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_4f().pack(_x.distance, _x.width, _x.height, _x.angle))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 16
+      (_x.distance, _x.width, _x.height, _x.angle,) = _get_struct_4f().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_4f().pack(_x.distance, _x.width, _x.height, _x.angle))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 16
+      (_x.distance, _x.width, _x.height, _x.angle,) = _get_struct_4f().unpack(str[start:end])
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_4f = None
+def _get_struct_4f():
+    global _struct_4f
+    if _struct_4f is None:
+        _struct_4f = struct.Struct("<4f")
+    return _struct_4f
diff --git a/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/_dis_info_array.py b/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/_dis_info_array.py
new file mode 100644
index 0000000..365248b
--- /dev/null
+++ b/project/projectCarFollowing/devel/lib/python3/dist-packages/ros_merge_test/msg/_dis_info_array.py
@@ -0,0 +1,146 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ros_merge_test/dis_info_array.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import ros_merge_test.msg
+
+class dis_info_array(genpy.Message):
+  _md5sum = "154c19253095a5ca966c5dce84293342"
+  _type = "ros_merge_test/dis_info_array"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """ros_merge_test/dis_info[] dis
+================================================================================
+MSG: ros_merge_test/dis_info
+float32 distance
+float32 width
+float32 height
+float32 angle
+"""
+  __slots__ = ['dis']
+  _slot_types = ['ros_merge_test/dis_info[]']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       dis
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(dis_info_array, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.dis is None:
+        self.dis = []
+    else:
+      self.dis = []
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      length = len(self.dis)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.dis:
+        _x = val1
+        buff.write(_get_struct_4f().pack(_x.distance, _x.width, _x.height, _x.angle))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.dis is None:
+        self.dis = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.dis = []
+      for i in range(0, length):
+        val1 = ros_merge_test.msg.dis_info()
+        _x = val1
+        start = end
+        end += 16
+        (_x.distance, _x.width, _x.height, _x.angle,) = _get_struct_4f().unpack(str[start:end])
+        self.dis.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      length = len(self.dis)
+      buff.write(_struct_I.pack(length))
+      for val1 in self.dis:
+        _x = val1
+        buff.write(_get_struct_4f().pack(_x.distance, _x.width, _x.height, _x.angle))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.dis is None:
+        self.dis = None
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      self.dis = []
+      for i in range(0, length):
+        val1 = ros_merge_test.msg.dis_info()
+        _x = val1
+        start = end
+        end += 16
+        (_x.distance, _x.width, _x.height, _x.angle,) = _get_struct_4f().unpack(str[start:end])
+        self.dis.append(val1)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_4f = None
+def _get_struct_4f():
+    global _struct_4f
+    if _struct_4f is None:
+        _struct_4f = struct.Struct("<4f")
+    return _struct_4f
diff --git a/project/projectCarFollowing/devel/lib/ros_merge_test/ros_merge_test_node b/project/projectCarFollowing/devel/lib/ros_merge_test/ros_merge_test_node
new file mode 100755
index 0000000..cf0ede4
Binary files /dev/null and b/project/projectCarFollowing/devel/lib/ros_merge_test/ros_merge_test_node differ
diff --git a/project/projectCarFollowing/devel/local_setup.bash b/project/projectCarFollowing/devel/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectCarFollowing/devel/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectCarFollowing/devel/local_setup.sh b/project/projectCarFollowing/devel/local_setup.sh
new file mode 100644
index 0000000..13e82a5
--- /dev/null
+++ b/project/projectCarFollowing/devel/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarFollowing/devel}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectCarFollowing/devel/local_setup.zsh b/project/projectCarFollowing/devel/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectCarFollowing/devel/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectCarFollowing/devel/setup.bash b/project/projectCarFollowing/devel/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectCarFollowing/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectCarFollowing/devel/setup.sh b/project/projectCarFollowing/devel/setup.sh
new file mode 100644
index 0000000..f7bc4c3
--- /dev/null
+++ b/project/projectCarFollowing/devel/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarFollowing/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectCarFollowing/devel/setup.zsh b/project/projectCarFollowing/devel/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectCarFollowing/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/RawImu.lisp b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/RawImu.lisp
new file mode 100644
index 0000000..6fe3d03
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/RawImu.lisp
@@ -0,0 +1,148 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ros_merge_test-msg)
+
+
+;//! \htmlinclude RawImu.msg.html
+
+(cl:defclass <RawImu> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (accelerometer
+    :reader accelerometer
+    :initarg :accelerometer
+    :type cl:boolean
+    :initform cl:nil)
+   (gyroscope
+    :reader gyroscope
+    :initarg :gyroscope
+    :type cl:boolean
+    :initform cl:nil)
+   (magnetometer
+    :reader magnetometer
+    :initarg :magnetometer
+    :type cl:boolean
+    :initform cl:nil)
+   (raw_linear_acceleration
+    :reader raw_linear_acceleration
+    :initarg :raw_linear_acceleration
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (raw_angular_velocity
+    :reader raw_angular_velocity
+    :initarg :raw_angular_velocity
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (raw_magnetic_field
+    :reader raw_magnetic_field
+    :initarg :raw_magnetic_field
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3)))
+)
+
+(cl:defclass RawImu (<RawImu>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <RawImu>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'RawImu)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ros_merge_test-msg:<RawImu> is deprecated: use ros_merge_test-msg:RawImu instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:header-val is deprecated.  Use ros_merge_test-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'accelerometer-val :lambda-list '(m))
+(cl:defmethod accelerometer-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:accelerometer-val is deprecated.  Use ros_merge_test-msg:accelerometer instead.")
+  (accelerometer m))
+
+(cl:ensure-generic-function 'gyroscope-val :lambda-list '(m))
+(cl:defmethod gyroscope-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:gyroscope-val is deprecated.  Use ros_merge_test-msg:gyroscope instead.")
+  (gyroscope m))
+
+(cl:ensure-generic-function 'magnetometer-val :lambda-list '(m))
+(cl:defmethod magnetometer-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:magnetometer-val is deprecated.  Use ros_merge_test-msg:magnetometer instead.")
+  (magnetometer m))
+
+(cl:ensure-generic-function 'raw_linear_acceleration-val :lambda-list '(m))
+(cl:defmethod raw_linear_acceleration-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:raw_linear_acceleration-val is deprecated.  Use ros_merge_test-msg:raw_linear_acceleration instead.")
+  (raw_linear_acceleration m))
+
+(cl:ensure-generic-function 'raw_angular_velocity-val :lambda-list '(m))
+(cl:defmethod raw_angular_velocity-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:raw_angular_velocity-val is deprecated.  Use ros_merge_test-msg:raw_angular_velocity instead.")
+  (raw_angular_velocity m))
+
+(cl:ensure-generic-function 'raw_magnetic_field-val :lambda-list '(m))
+(cl:defmethod raw_magnetic_field-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:raw_magnetic_field-val is deprecated.  Use ros_merge_test-msg:raw_magnetic_field instead.")
+  (raw_magnetic_field m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <RawImu>) ostream)
+  "Serializes a message object of type '<RawImu>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'accelerometer) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'gyroscope) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'magnetometer) 1 0)) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'raw_linear_acceleration) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'raw_angular_velocity) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'raw_magnetic_field) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <RawImu>) istream)
+  "Deserializes a message object of type '<RawImu>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:setf (cl:slot-value msg 'accelerometer) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'gyroscope) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'magnetometer) (cl:not (cl:zerop (cl:read-byte istream))))
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'raw_linear_acceleration) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'raw_angular_velocity) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'raw_magnetic_field) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<RawImu>)))
+  "Returns string type for a message object of type '<RawImu>"
+  "ros_merge_test/RawImu")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RawImu)))
+  "Returns string type for a message object of type 'RawImu"
+  "ros_merge_test/RawImu")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<RawImu>)))
+  "Returns md5sum for a message object of type '<RawImu>"
+  "3bc0ea37781da51ad41a6868ff62faa9")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RawImu)))
+  "Returns md5sum for a message object of type 'RawImu"
+  "3bc0ea37781da51ad41a6868ff62faa9")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<RawImu>)))
+  "Returns full string definition for message of type '<RawImu>"
+  (cl:format cl:nil "Header header~%bool accelerometer~%bool gyroscope~%bool magnetometer~%geometry_msgs/Vector3 raw_linear_acceleration~%geometry_msgs/Vector3 raw_angular_velocity~%geometry_msgs/Vector3 raw_magnetic_field~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'RawImu)))
+  "Returns full string definition for message of type 'RawImu"
+  (cl:format cl:nil "Header header~%bool accelerometer~%bool gyroscope~%bool magnetometer~%geometry_msgs/Vector3 raw_linear_acceleration~%geometry_msgs/Vector3 raw_angular_velocity~%geometry_msgs/Vector3 raw_magnetic_field~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <RawImu>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     1
+     1
+     1
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'raw_linear_acceleration))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'raw_angular_velocity))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'raw_magnetic_field))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <RawImu>))
+  "Converts a ROS message object to a list"
+  (cl:list 'RawImu
+    (cl:cons ':header (header msg))
+    (cl:cons ':accelerometer (accelerometer msg))
+    (cl:cons ':gyroscope (gyroscope msg))
+    (cl:cons ':magnetometer (magnetometer msg))
+    (cl:cons ':raw_linear_acceleration (raw_linear_acceleration msg))
+    (cl:cons ':raw_angular_velocity (raw_angular_velocity msg))
+    (cl:cons ':raw_magnetic_field (raw_magnetic_field msg))
+))
diff --git a/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package.lisp b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package.lisp
new file mode 100644
index 0000000..f72130c
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package.lisp
@@ -0,0 +1,11 @@
+(cl:defpackage ros_merge_test-msg
+  (:use )
+  (:export
+   "<RAWIMU>"
+   "RAWIMU"
+   "<DIS_INFO>"
+   "DIS_INFO"
+   "<DIS_INFO_ARRAY>"
+   "DIS_INFO_ARRAY"
+  ))
+
diff --git a/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package_RawImu.lisp b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package_RawImu.lisp
new file mode 100644
index 0000000..332e598
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package_RawImu.lisp
@@ -0,0 +1,16 @@
+(cl:in-package ros_merge_test-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          ACCELEROMETER-VAL
+          ACCELEROMETER
+          GYROSCOPE-VAL
+          GYROSCOPE
+          MAGNETOMETER-VAL
+          MAGNETOMETER
+          RAW_LINEAR_ACCELERATION-VAL
+          RAW_LINEAR_ACCELERATION
+          RAW_ANGULAR_VELOCITY-VAL
+          RAW_ANGULAR_VELOCITY
+          RAW_MAGNETIC_FIELD-VAL
+          RAW_MAGNETIC_FIELD
+))
\ No newline at end of file
diff --git a/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package_dis_info.lisp b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package_dis_info.lisp
new file mode 100644
index 0000000..311ba49
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package_dis_info.lisp
@@ -0,0 +1,10 @@
+(cl:in-package ros_merge_test-msg)
+(cl:export '(DISTANCE-VAL
+          DISTANCE
+          WIDTH-VAL
+          WIDTH
+          HEIGHT-VAL
+          HEIGHT
+          ANGLE-VAL
+          ANGLE
+))
\ No newline at end of file
diff --git a/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package_dis_info_array.lisp b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package_dis_info_array.lisp
new file mode 100644
index 0000000..e0367ad
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/_package_dis_info_array.lisp
@@ -0,0 +1,4 @@
+(cl:in-package ros_merge_test-msg)
+(cl:export '(DIS-VAL
+          DIS
+))
\ No newline at end of file
diff --git a/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/dis_info.lisp b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/dis_info.lisp
new file mode 100644
index 0000000..01de550
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/dis_info.lisp
@@ -0,0 +1,142 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ros_merge_test-msg)
+
+
+;//! \htmlinclude dis_info.msg.html
+
+(cl:defclass <dis_info> (roslisp-msg-protocol:ros-message)
+  ((distance
+    :reader distance
+    :initarg :distance
+    :type cl:float
+    :initform 0.0)
+   (width
+    :reader width
+    :initarg :width
+    :type cl:float
+    :initform 0.0)
+   (height
+    :reader height
+    :initarg :height
+    :type cl:float
+    :initform 0.0)
+   (angle
+    :reader angle
+    :initarg :angle
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass dis_info (<dis_info>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <dis_info>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'dis_info)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ros_merge_test-msg:<dis_info> is deprecated: use ros_merge_test-msg:dis_info instead.")))
+
+(cl:ensure-generic-function 'distance-val :lambda-list '(m))
+(cl:defmethod distance-val ((m <dis_info>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:distance-val is deprecated.  Use ros_merge_test-msg:distance instead.")
+  (distance m))
+
+(cl:ensure-generic-function 'width-val :lambda-list '(m))
+(cl:defmethod width-val ((m <dis_info>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:width-val is deprecated.  Use ros_merge_test-msg:width instead.")
+  (width m))
+
+(cl:ensure-generic-function 'height-val :lambda-list '(m))
+(cl:defmethod height-val ((m <dis_info>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:height-val is deprecated.  Use ros_merge_test-msg:height instead.")
+  (height m))
+
+(cl:ensure-generic-function 'angle-val :lambda-list '(m))
+(cl:defmethod angle-val ((m <dis_info>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:angle-val is deprecated.  Use ros_merge_test-msg:angle instead.")
+  (angle m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <dis_info>) ostream)
+  "Serializes a message object of type '<dis_info>"
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'distance))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'width))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'height))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'angle))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <dis_info>) istream)
+  "Deserializes a message object of type '<dis_info>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'distance) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'width) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'height) (roslisp-utils:decode-single-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'angle) (roslisp-utils:decode-single-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<dis_info>)))
+  "Returns string type for a message object of type '<dis_info>"
+  "ros_merge_test/dis_info")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'dis_info)))
+  "Returns string type for a message object of type 'dis_info"
+  "ros_merge_test/dis_info")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<dis_info>)))
+  "Returns md5sum for a message object of type '<dis_info>"
+  "941a1dedbc0595405760672b9f7f50ee")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'dis_info)))
+  "Returns md5sum for a message object of type 'dis_info"
+  "941a1dedbc0595405760672b9f7f50ee")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<dis_info>)))
+  "Returns full string definition for message of type '<dis_info>"
+  (cl:format cl:nil "float32 distance~%float32 width~%float32 height~%float32 angle~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'dis_info)))
+  "Returns full string definition for message of type 'dis_info"
+  (cl:format cl:nil "float32 distance~%float32 width~%float32 height~%float32 angle~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <dis_info>))
+  (cl:+ 0
+     4
+     4
+     4
+     4
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <dis_info>))
+  "Converts a ROS message object to a list"
+  (cl:list 'dis_info
+    (cl:cons ':distance (distance msg))
+    (cl:cons ':width (width msg))
+    (cl:cons ':height (height msg))
+    (cl:cons ':angle (angle msg))
+))
diff --git a/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/dis_info_array.lisp b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/dis_info_array.lisp
new file mode 100644
index 0000000..20e7adb
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/dis_info_array.lisp
@@ -0,0 +1,79 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ros_merge_test-msg)
+
+
+;//! \htmlinclude dis_info_array.msg.html
+
+(cl:defclass <dis_info_array> (roslisp-msg-protocol:ros-message)
+  ((dis
+    :reader dis
+    :initarg :dis
+    :type (cl:vector ros_merge_test-msg:dis_info)
+   :initform (cl:make-array 0 :element-type 'ros_merge_test-msg:dis_info :initial-element (cl:make-instance 'ros_merge_test-msg:dis_info))))
+)
+
+(cl:defclass dis_info_array (<dis_info_array>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <dis_info_array>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'dis_info_array)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ros_merge_test-msg:<dis_info_array> is deprecated: use ros_merge_test-msg:dis_info_array instead.")))
+
+(cl:ensure-generic-function 'dis-val :lambda-list '(m))
+(cl:defmethod dis-val ((m <dis_info_array>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:dis-val is deprecated.  Use ros_merge_test-msg:dis instead.")
+  (dis m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <dis_info_array>) ostream)
+  "Serializes a message object of type '<dis_info_array>"
+  (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'dis))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_arr_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_arr_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (ele) (roslisp-msg-protocol:serialize ele ostream))
+   (cl:slot-value msg 'dis))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <dis_info_array>) istream)
+  "Deserializes a message object of type '<dis_info_array>"
+  (cl:let ((__ros_arr_len 0))
+    (cl:setf (cl:ldb (cl:byte 8 0) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) __ros_arr_len) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) __ros_arr_len) (cl:read-byte istream))
+  (cl:setf (cl:slot-value msg 'dis) (cl:make-array __ros_arr_len))
+  (cl:let ((vals (cl:slot-value msg 'dis)))
+    (cl:dotimes (i __ros_arr_len)
+    (cl:setf (cl:aref vals i) (cl:make-instance 'ros_merge_test-msg:dis_info))
+  (roslisp-msg-protocol:deserialize (cl:aref vals i) istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<dis_info_array>)))
+  "Returns string type for a message object of type '<dis_info_array>"
+  "ros_merge_test/dis_info_array")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'dis_info_array)))
+  "Returns string type for a message object of type 'dis_info_array"
+  "ros_merge_test/dis_info_array")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<dis_info_array>)))
+  "Returns md5sum for a message object of type '<dis_info_array>"
+  "154c19253095a5ca966c5dce84293342")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'dis_info_array)))
+  "Returns md5sum for a message object of type 'dis_info_array"
+  "154c19253095a5ca966c5dce84293342")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<dis_info_array>)))
+  "Returns full string definition for message of type '<dis_info_array>"
+  (cl:format cl:nil "ros_merge_test/dis_info[] dis~%================================================================================~%MSG: ros_merge_test/dis_info~%float32 distance~%float32 width~%float32 height~%float32 angle~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'dis_info_array)))
+  "Returns full string definition for message of type 'dis_info_array"
+  (cl:format cl:nil "ros_merge_test/dis_info[] dis~%================================================================================~%MSG: ros_merge_test/dis_info~%float32 distance~%float32 width~%float32 height~%float32 angle~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <dis_info_array>))
+  (cl:+ 0
+     4 (cl:reduce #'cl:+ (cl:slot-value msg 'dis) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ (roslisp-msg-protocol:serialization-length ele))))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <dis_info_array>))
+  "Converts a ROS message object to a list"
+  (cl:list 'dis_info_array
+    (cl:cons ':dis (dis msg))
+))
diff --git a/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/ros_merge_test-msg.asd b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/ros_merge_test-msg.asd
new file mode 100644
index 0000000..e3debf0
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/common-lisp/ros/ros_merge_test/msg/ros_merge_test-msg.asd
@@ -0,0 +1,15 @@
+
+(cl:in-package :asdf)
+
+(defsystem "ros_merge_test-msg"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils :geometry_msgs-msg
+               :std_msgs-msg
+)
+  :components ((:file "_package")
+    (:file "RawImu" :depends-on ("_package_RawImu"))
+    (:file "_package_RawImu" :depends-on ("_package"))
+    (:file "dis_info" :depends-on ("_package_dis_info"))
+    (:file "_package_dis_info" :depends-on ("_package"))
+    (:file "dis_info_array" :depends-on ("_package_dis_info_array"))
+    (:file "_package_dis_info_array" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/_index.js b/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/_index.js
new file mode 100644
index 0000000..74b3dd0
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/_index.js
@@ -0,0 +1,6 @@
+
+"use strict";
+
+module.exports = {
+  msg: require('./msg/_index.js'),
+};
diff --git a/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/RawImu.js b/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/RawImu.js
new file mode 100644
index 0000000..dbc5e0c
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/RawImu.js
@@ -0,0 +1,234 @@
+// Auto-generated. Do not edit!
+
+// (in-package ros_merge_test.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let geometry_msgs = _finder('geometry_msgs');
+let std_msgs = _finder('std_msgs');
+
+//-----------------------------------------------------------
+
+class RawImu {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.header = null;
+      this.accelerometer = null;
+      this.gyroscope = null;
+      this.magnetometer = null;
+      this.raw_linear_acceleration = null;
+      this.raw_angular_velocity = null;
+      this.raw_magnetic_field = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('header')) {
+        this.header = initObj.header
+      }
+      else {
+        this.header = new std_msgs.msg.Header();
+      }
+      if (initObj.hasOwnProperty('accelerometer')) {
+        this.accelerometer = initObj.accelerometer
+      }
+      else {
+        this.accelerometer = false;
+      }
+      if (initObj.hasOwnProperty('gyroscope')) {
+        this.gyroscope = initObj.gyroscope
+      }
+      else {
+        this.gyroscope = false;
+      }
+      if (initObj.hasOwnProperty('magnetometer')) {
+        this.magnetometer = initObj.magnetometer
+      }
+      else {
+        this.magnetometer = false;
+      }
+      if (initObj.hasOwnProperty('raw_linear_acceleration')) {
+        this.raw_linear_acceleration = initObj.raw_linear_acceleration
+      }
+      else {
+        this.raw_linear_acceleration = new geometry_msgs.msg.Vector3();
+      }
+      if (initObj.hasOwnProperty('raw_angular_velocity')) {
+        this.raw_angular_velocity = initObj.raw_angular_velocity
+      }
+      else {
+        this.raw_angular_velocity = new geometry_msgs.msg.Vector3();
+      }
+      if (initObj.hasOwnProperty('raw_magnetic_field')) {
+        this.raw_magnetic_field = initObj.raw_magnetic_field
+      }
+      else {
+        this.raw_magnetic_field = new geometry_msgs.msg.Vector3();
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type RawImu
+    // Serialize message field [header]
+    bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
+    // Serialize message field [accelerometer]
+    bufferOffset = _serializer.bool(obj.accelerometer, buffer, bufferOffset);
+    // Serialize message field [gyroscope]
+    bufferOffset = _serializer.bool(obj.gyroscope, buffer, bufferOffset);
+    // Serialize message field [magnetometer]
+    bufferOffset = _serializer.bool(obj.magnetometer, buffer, bufferOffset);
+    // Serialize message field [raw_linear_acceleration]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.raw_linear_acceleration, buffer, bufferOffset);
+    // Serialize message field [raw_angular_velocity]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.raw_angular_velocity, buffer, bufferOffset);
+    // Serialize message field [raw_magnetic_field]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.raw_magnetic_field, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type RawImu
+    let len;
+    let data = new RawImu(null);
+    // Deserialize message field [header]
+    data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
+    // Deserialize message field [accelerometer]
+    data.accelerometer = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [gyroscope]
+    data.gyroscope = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [magnetometer]
+    data.magnetometer = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [raw_linear_acceleration]
+    data.raw_linear_acceleration = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    // Deserialize message field [raw_angular_velocity]
+    data.raw_angular_velocity = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    // Deserialize message field [raw_magnetic_field]
+    data.raw_magnetic_field = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += std_msgs.msg.Header.getMessageSize(object.header);
+    return length + 75;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ros_merge_test/RawImu';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '3bc0ea37781da51ad41a6868ff62faa9';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    Header header
+    bool accelerometer
+    bool gyroscope
+    bool magnetometer
+    geometry_msgs/Vector3 raw_linear_acceleration
+    geometry_msgs/Vector3 raw_angular_velocity
+    geometry_msgs/Vector3 raw_magnetic_field
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    string frame_id
+    
+    ================================================================================
+    MSG: geometry_msgs/Vector3
+    # This represents a vector in free space. 
+    # It is only meant to represent a direction. Therefore, it does not
+    # make sense to apply a translation to it (e.g., when applying a 
+    # generic rigid transformation to a Vector3, tf2 will only apply the
+    # rotation). If you want your data to be translatable too, use the
+    # geometry_msgs/Point message instead.
+    
+    float64 x
+    float64 y
+    float64 z
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new RawImu(null);
+    if (msg.header !== undefined) {
+      resolved.header = std_msgs.msg.Header.Resolve(msg.header)
+    }
+    else {
+      resolved.header = new std_msgs.msg.Header()
+    }
+
+    if (msg.accelerometer !== undefined) {
+      resolved.accelerometer = msg.accelerometer;
+    }
+    else {
+      resolved.accelerometer = false
+    }
+
+    if (msg.gyroscope !== undefined) {
+      resolved.gyroscope = msg.gyroscope;
+    }
+    else {
+      resolved.gyroscope = false
+    }
+
+    if (msg.magnetometer !== undefined) {
+      resolved.magnetometer = msg.magnetometer;
+    }
+    else {
+      resolved.magnetometer = false
+    }
+
+    if (msg.raw_linear_acceleration !== undefined) {
+      resolved.raw_linear_acceleration = geometry_msgs.msg.Vector3.Resolve(msg.raw_linear_acceleration)
+    }
+    else {
+      resolved.raw_linear_acceleration = new geometry_msgs.msg.Vector3()
+    }
+
+    if (msg.raw_angular_velocity !== undefined) {
+      resolved.raw_angular_velocity = geometry_msgs.msg.Vector3.Resolve(msg.raw_angular_velocity)
+    }
+    else {
+      resolved.raw_angular_velocity = new geometry_msgs.msg.Vector3()
+    }
+
+    if (msg.raw_magnetic_field !== undefined) {
+      resolved.raw_magnetic_field = geometry_msgs.msg.Vector3.Resolve(msg.raw_magnetic_field)
+    }
+    else {
+      resolved.raw_magnetic_field = new geometry_msgs.msg.Vector3()
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = RawImu;
diff --git a/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/_index.js b/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/_index.js
new file mode 100644
index 0000000..3df06a3
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/_index.js
@@ -0,0 +1,12 @@
+
+"use strict";
+
+let dis_info = require('./dis_info.js');
+let dis_info_array = require('./dis_info_array.js');
+let RawImu = require('./RawImu.js');
+
+module.exports = {
+  dis_info: dis_info,
+  dis_info_array: dis_info_array,
+  RawImu: RawImu,
+};
diff --git a/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/dis_info.js b/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/dis_info.js
new file mode 100644
index 0000000..67d7c1f
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/dis_info.js
@@ -0,0 +1,145 @@
+// Auto-generated. Do not edit!
+
+// (in-package ros_merge_test.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+class dis_info {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.distance = null;
+      this.width = null;
+      this.height = null;
+      this.angle = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('distance')) {
+        this.distance = initObj.distance
+      }
+      else {
+        this.distance = 0.0;
+      }
+      if (initObj.hasOwnProperty('width')) {
+        this.width = initObj.width
+      }
+      else {
+        this.width = 0.0;
+      }
+      if (initObj.hasOwnProperty('height')) {
+        this.height = initObj.height
+      }
+      else {
+        this.height = 0.0;
+      }
+      if (initObj.hasOwnProperty('angle')) {
+        this.angle = initObj.angle
+      }
+      else {
+        this.angle = 0.0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type dis_info
+    // Serialize message field [distance]
+    bufferOffset = _serializer.float32(obj.distance, buffer, bufferOffset);
+    // Serialize message field [width]
+    bufferOffset = _serializer.float32(obj.width, buffer, bufferOffset);
+    // Serialize message field [height]
+    bufferOffset = _serializer.float32(obj.height, buffer, bufferOffset);
+    // Serialize message field [angle]
+    bufferOffset = _serializer.float32(obj.angle, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type dis_info
+    let len;
+    let data = new dis_info(null);
+    // Deserialize message field [distance]
+    data.distance = _deserializer.float32(buffer, bufferOffset);
+    // Deserialize message field [width]
+    data.width = _deserializer.float32(buffer, bufferOffset);
+    // Deserialize message field [height]
+    data.height = _deserializer.float32(buffer, bufferOffset);
+    // Deserialize message field [angle]
+    data.angle = _deserializer.float32(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 16;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ros_merge_test/dis_info';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '941a1dedbc0595405760672b9f7f50ee';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    float32 distance
+    float32 width
+    float32 height
+    float32 angle
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new dis_info(null);
+    if (msg.distance !== undefined) {
+      resolved.distance = msg.distance;
+    }
+    else {
+      resolved.distance = 0.0
+    }
+
+    if (msg.width !== undefined) {
+      resolved.width = msg.width;
+    }
+    else {
+      resolved.width = 0.0
+    }
+
+    if (msg.height !== undefined) {
+      resolved.height = msg.height;
+    }
+    else {
+      resolved.height = 0.0
+    }
+
+    if (msg.angle !== undefined) {
+      resolved.angle = msg.angle;
+    }
+    else {
+      resolved.angle = 0.0
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = dis_info;
diff --git a/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/dis_info_array.js b/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/dis_info_array.js
new file mode 100644
index 0000000..edbcf3a
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/gennodejs/ros/ros_merge_test/msg/dis_info_array.js
@@ -0,0 +1,109 @@
+// Auto-generated. Do not edit!
+
+// (in-package ros_merge_test.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let dis_info = require('./dis_info.js');
+
+//-----------------------------------------------------------
+
+class dis_info_array {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.dis = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('dis')) {
+        this.dis = initObj.dis
+      }
+      else {
+        this.dis = [];
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type dis_info_array
+    // Serialize message field [dis]
+    // Serialize the length for message field [dis]
+    bufferOffset = _serializer.uint32(obj.dis.length, buffer, bufferOffset);
+    obj.dis.forEach((val) => {
+      bufferOffset = dis_info.serialize(val, buffer, bufferOffset);
+    });
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type dis_info_array
+    let len;
+    let data = new dis_info_array(null);
+    // Deserialize message field [dis]
+    // Deserialize array length for message field [dis]
+    len = _deserializer.uint32(buffer, bufferOffset);
+    data.dis = new Array(len);
+    for (let i = 0; i < len; ++i) {
+      data.dis[i] = dis_info.deserialize(buffer, bufferOffset)
+    }
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += 16 * object.dis.length;
+    return length + 4;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ros_merge_test/dis_info_array';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '154c19253095a5ca966c5dce84293342';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    ros_merge_test/dis_info[] dis
+    ================================================================================
+    MSG: ros_merge_test/dis_info
+    float32 distance
+    float32 width
+    float32 height
+    float32 angle
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new dis_info_array(null);
+    if (msg.dis !== undefined) {
+      resolved.dis = new Array(msg.dis.length);
+      for (let i = 0; i < resolved.dis.length; ++i) {
+        resolved.dis[i] = dis_info.Resolve(msg.dis[i]);
+      }
+    }
+    else {
+      resolved.dis = []
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = dis_info_array;
diff --git a/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_test-msg-extras.cmake b/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_test-msg-extras.cmake
new file mode 100644
index 0000000..c17f73c
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_test-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg;/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg;/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_test-msg-paths.cmake b/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_test-msg-paths.cmake
new file mode 100644
index 0000000..47ea158
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_test-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in
+
+set(ros_merge_test_MSG_INCLUDE_DIRS "/home/firefly/project/projectCarFollowing/src/ros_merge_test/msg")
+set(ros_merge_test_MSG_DEPENDENCIES std_msgs;geometry_msgs)
diff --git a/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake b/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake
new file mode 100644
index 0000000..7fd9f99
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake b/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake
new file mode 100644
index 0000000..6d24c9f
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(ros_merge_test_CONFIG_INCLUDED)
+  return()
+endif()
+set(ros_merge_test_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(ros_merge_test_SOURCE_PREFIX /home/firefly/project/projectCarFollowing/src/ros_merge_test)
+  set(ros_merge_test_DEVEL_PREFIX /home/firefly/project/projectCarFollowing/devel)
+  set(ros_merge_test_INSTALL_PREFIX "")
+  set(ros_merge_test_PREFIX ${ros_merge_test_DEVEL_PREFIX})
+else()
+  set(ros_merge_test_SOURCE_PREFIX "")
+  set(ros_merge_test_DEVEL_PREFIX "")
+  set(ros_merge_test_INSTALL_PREFIX /home/firefly/project/projectCarFollowing/install)
+  set(ros_merge_test_PREFIX ${ros_merge_test_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'ros_merge_test' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(ros_merge_test_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "/home/firefly/project/projectCarFollowing/devel/include " STREQUAL " ")
+  set(ros_merge_test_INCLUDE_DIRS "")
+  set(_include_dirs "/home/firefly/project/projectCarFollowing/devel/include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'luoruidi <luoruidi@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${ros_merge_test_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/firefly/project/projectCarFollowing/src/ros_merge_test/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(ros_merge_test_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT ros_merge_test_NUM_DUMMY_TARGETS)
+      set(ros_merge_test_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR ros_merge_test_NUM_DUMMY_TARGETS "${ros_merge_test_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND ros_merge_test_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/firefly/project/projectCarFollowing/devel/lib;/home/firefly/pibot_ros/ros_ws/devel/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(ros_merge_test_LIBRARY_DIRS ${lib_path})
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'ros_merge_test'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(ros_merge_test_EXPORTED_TARGETS "ros_merge_test_generate_messages_cpp;ros_merge_test_generate_messages_eus;ros_merge_test_generate_messages_lisp;ros_merge_test_generate_messages_nodejs;ros_merge_test_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${ros_merge_test_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "message_runtime;std_msgs;geometry_msgs")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 ros_merge_test_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${ros_merge_test_dep}_FOUND)
+      find_package(${ros_merge_test_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${ros_merge_test_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(ros_merge_test_INCLUDE_DIRS ${${ros_merge_test_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${ros_merge_test_dep}_LIBRARIES})
+  _list_append_deduplicate(ros_merge_test_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+
+  _list_append_unique(ros_merge_test_LIBRARY_DIRS ${${ros_merge_test_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(ros_merge_test_EXPORTED_TARGETS ${${ros_merge_test_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "ros_merge_test-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${ros_merge_test_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/manifest.l b/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/manifest.l
new file mode 100644
index 0000000..5bf129e
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/manifest.l
@@ -0,0 +1,12 @@
+;;
+;; DO NOT EDIT THIS FILE
+;;
+;; THIS FILE IS AUTOMATICALLY GENERATED
+;;  FROM /home/firefly/project/projectCarLocation/src/ros_merge_test/package.xml (0.0.0)
+;; USING /opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py /opt/ros/noetic/share/geneus/package.xml (3.0.0)
+;;
+(ros::load-ros-package "geometry_msgs")
+(ros::load-ros-package "roscpp")
+(ros::load-ros-package "rosgraph_msgs")
+(ros::load-ros-package "std_msgs")
+(ros::load-ros-package "ros_merge_test")
diff --git a/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/msg/RawImu.l b/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/msg/RawImu.l
new file mode 100644
index 0000000..3c1c1a5
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/msg/RawImu.l
@@ -0,0 +1,183 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ros_merge_test::RawImu)
+  (if (not (find-package "ROS_MERGE_TEST"))
+    (make-package "ROS_MERGE_TEST"))
+  (shadow 'RawImu (find-package "ROS_MERGE_TEST")))
+(unless (find-package "ROS_MERGE_TEST::RAWIMU")
+  (make-package "ROS_MERGE_TEST::RAWIMU"))
+
+(in-package "ROS")
+;;//! \htmlinclude RawImu.msg.html
+(if (not (find-package "GEOMETRY_MSGS"))
+  (ros::roseus-add-msgs "geometry_msgs"))
+(if (not (find-package "STD_MSGS"))
+  (ros::roseus-add-msgs "std_msgs"))
+
+
+(defclass ros_merge_test::RawImu
+  :super ros::object
+  :slots (_header _accelerometer _gyroscope _magnetometer _raw_linear_acceleration _raw_angular_velocity _raw_magnetic_field ))
+
+(defmethod ros_merge_test::RawImu
+  (:init
+   (&key
+    ((:header __header) (instance std_msgs::Header :init))
+    ((:accelerometer __accelerometer) nil)
+    ((:gyroscope __gyroscope) nil)
+    ((:magnetometer __magnetometer) nil)
+    ((:raw_linear_acceleration __raw_linear_acceleration) (instance geometry_msgs::Vector3 :init))
+    ((:raw_angular_velocity __raw_angular_velocity) (instance geometry_msgs::Vector3 :init))
+    ((:raw_magnetic_field __raw_magnetic_field) (instance geometry_msgs::Vector3 :init))
+    )
+   (send-super :init)
+   (setq _header __header)
+   (setq _accelerometer __accelerometer)
+   (setq _gyroscope __gyroscope)
+   (setq _magnetometer __magnetometer)
+   (setq _raw_linear_acceleration __raw_linear_acceleration)
+   (setq _raw_angular_velocity __raw_angular_velocity)
+   (setq _raw_magnetic_field __raw_magnetic_field)
+   self)
+  (:header
+   (&rest __header)
+   (if (keywordp (car __header))
+       (send* _header __header)
+     (progn
+       (if __header (setq _header (car __header)))
+       _header)))
+  (:accelerometer
+   (&optional (__accelerometer :null))
+   (if (not (eq __accelerometer :null)) (setq _accelerometer __accelerometer)) _accelerometer)
+  (:gyroscope
+   (&optional (__gyroscope :null))
+   (if (not (eq __gyroscope :null)) (setq _gyroscope __gyroscope)) _gyroscope)
+  (:magnetometer
+   (&optional (__magnetometer :null))
+   (if (not (eq __magnetometer :null)) (setq _magnetometer __magnetometer)) _magnetometer)
+  (:raw_linear_acceleration
+   (&rest __raw_linear_acceleration)
+   (if (keywordp (car __raw_linear_acceleration))
+       (send* _raw_linear_acceleration __raw_linear_acceleration)
+     (progn
+       (if __raw_linear_acceleration (setq _raw_linear_acceleration (car __raw_linear_acceleration)))
+       _raw_linear_acceleration)))
+  (:raw_angular_velocity
+   (&rest __raw_angular_velocity)
+   (if (keywordp (car __raw_angular_velocity))
+       (send* _raw_angular_velocity __raw_angular_velocity)
+     (progn
+       (if __raw_angular_velocity (setq _raw_angular_velocity (car __raw_angular_velocity)))
+       _raw_angular_velocity)))
+  (:raw_magnetic_field
+   (&rest __raw_magnetic_field)
+   (if (keywordp (car __raw_magnetic_field))
+       (send* _raw_magnetic_field __raw_magnetic_field)
+     (progn
+       (if __raw_magnetic_field (setq _raw_magnetic_field (car __raw_magnetic_field)))
+       _raw_magnetic_field)))
+  (:serialization-length
+   ()
+   (+
+    ;; std_msgs/Header _header
+    (send _header :serialization-length)
+    ;; bool _accelerometer
+    1
+    ;; bool _gyroscope
+    1
+    ;; bool _magnetometer
+    1
+    ;; geometry_msgs/Vector3 _raw_linear_acceleration
+    (send _raw_linear_acceleration :serialization-length)
+    ;; geometry_msgs/Vector3 _raw_angular_velocity
+    (send _raw_angular_velocity :serialization-length)
+    ;; geometry_msgs/Vector3 _raw_magnetic_field
+    (send _raw_magnetic_field :serialization-length)
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; std_msgs/Header _header
+       (send _header :serialize s)
+     ;; bool _accelerometer
+       (if _accelerometer (write-byte -1 s) (write-byte 0 s))
+     ;; bool _gyroscope
+       (if _gyroscope (write-byte -1 s) (write-byte 0 s))
+     ;; bool _magnetometer
+       (if _magnetometer (write-byte -1 s) (write-byte 0 s))
+     ;; geometry_msgs/Vector3 _raw_linear_acceleration
+       (send _raw_linear_acceleration :serialize s)
+     ;; geometry_msgs/Vector3 _raw_angular_velocity
+       (send _raw_angular_velocity :serialize s)
+     ;; geometry_msgs/Vector3 _raw_magnetic_field
+       (send _raw_magnetic_field :serialize s)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; std_msgs/Header _header
+     (send _header :deserialize buf ptr-) (incf ptr- (send _header :serialization-length))
+   ;; bool _accelerometer
+     (setq _accelerometer (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _gyroscope
+     (setq _gyroscope (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _magnetometer
+     (setq _magnetometer (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; geometry_msgs/Vector3 _raw_linear_acceleration
+     (send _raw_linear_acceleration :deserialize buf ptr-) (incf ptr- (send _raw_linear_acceleration :serialization-length))
+   ;; geometry_msgs/Vector3 _raw_angular_velocity
+     (send _raw_angular_velocity :deserialize buf ptr-) (incf ptr- (send _raw_angular_velocity :serialization-length))
+   ;; geometry_msgs/Vector3 _raw_magnetic_field
+     (send _raw_magnetic_field :deserialize buf ptr-) (incf ptr- (send _raw_magnetic_field :serialization-length))
+   ;;
+   self)
+  )
+
+(setf (get ros_merge_test::RawImu :md5sum-) "3bc0ea37781da51ad41a6868ff62faa9")
+(setf (get ros_merge_test::RawImu :datatype-) "ros_merge_test/RawImu")
+(setf (get ros_merge_test::RawImu :definition-)
+      "Header header
+bool accelerometer
+bool gyroscope
+bool magnetometer
+geometry_msgs/Vector3 raw_linear_acceleration
+geometry_msgs/Vector3 raw_angular_velocity
+geometry_msgs/Vector3 raw_magnetic_field
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z
+")
+
+
+
+(provide :ros_merge_test/RawImu "3bc0ea37781da51ad41a6868ff62faa9")
+
+
diff --git a/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/msg/dis_info.l b/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/msg/dis_info.l
new file mode 100644
index 0000000..5d675b4
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/msg/dis_info.l
@@ -0,0 +1,99 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ros_merge_test::dis_info)
+  (if (not (find-package "ROS_MERGE_TEST"))
+    (make-package "ROS_MERGE_TEST"))
+  (shadow 'dis_info (find-package "ROS_MERGE_TEST")))
+(unless (find-package "ROS_MERGE_TEST::DIS_INFO")
+  (make-package "ROS_MERGE_TEST::DIS_INFO"))
+
+(in-package "ROS")
+;;//! \htmlinclude dis_info.msg.html
+
+
+(defclass ros_merge_test::dis_info
+  :super ros::object
+  :slots (_distance _width _height _angle ))
+
+(defmethod ros_merge_test::dis_info
+  (:init
+   (&key
+    ((:distance __distance) 0.0)
+    ((:width __width) 0.0)
+    ((:height __height) 0.0)
+    ((:angle __angle) 0.0)
+    )
+   (send-super :init)
+   (setq _distance (float __distance))
+   (setq _width (float __width))
+   (setq _height (float __height))
+   (setq _angle (float __angle))
+   self)
+  (:distance
+   (&optional __distance)
+   (if __distance (setq _distance __distance)) _distance)
+  (:width
+   (&optional __width)
+   (if __width (setq _width __width)) _width)
+  (:height
+   (&optional __height)
+   (if __height (setq _height __height)) _height)
+  (:angle
+   (&optional __angle)
+   (if __angle (setq _angle __angle)) _angle)
+  (:serialization-length
+   ()
+   (+
+    ;; float32 _distance
+    4
+    ;; float32 _width
+    4
+    ;; float32 _height
+    4
+    ;; float32 _angle
+    4
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; float32 _distance
+       (sys::poke _distance (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;; float32 _width
+       (sys::poke _width (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;; float32 _height
+       (sys::poke _height (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;; float32 _angle
+       (sys::poke _angle (send s :buffer) (send s :count) :float) (incf (stream-count s) 4)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; float32 _distance
+     (setq _distance (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;; float32 _width
+     (setq _width (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;; float32 _height
+     (setq _height (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;; float32 _angle
+     (setq _angle (sys::peek buf ptr- :float)) (incf ptr- 4)
+   ;;
+   self)
+  )
+
+(setf (get ros_merge_test::dis_info :md5sum-) "941a1dedbc0595405760672b9f7f50ee")
+(setf (get ros_merge_test::dis_info :datatype-) "ros_merge_test/dis_info")
+(setf (get ros_merge_test::dis_info :definition-)
+      "float32 distance
+float32 width
+float32 height
+float32 angle
+
+")
+
+
+
+(provide :ros_merge_test/dis_info "941a1dedbc0595405760672b9f7f50ee")
+
+
diff --git a/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/msg/dis_info_array.l b/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/msg/dis_info_array.l
new file mode 100644
index 0000000..191c97a
--- /dev/null
+++ b/project/projectCarFollowing/devel/share/roseus/ros/ros_merge_test/msg/dis_info_array.l
@@ -0,0 +1,81 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ros_merge_test::dis_info_array)
+  (if (not (find-package "ROS_MERGE_TEST"))
+    (make-package "ROS_MERGE_TEST"))
+  (shadow 'dis_info_array (find-package "ROS_MERGE_TEST")))
+(unless (find-package "ROS_MERGE_TEST::DIS_INFO_ARRAY")
+  (make-package "ROS_MERGE_TEST::DIS_INFO_ARRAY"))
+
+(in-package "ROS")
+;;//! \htmlinclude dis_info_array.msg.html
+
+
+(defclass ros_merge_test::dis_info_array
+  :super ros::object
+  :slots (_dis ))
+
+(defmethod ros_merge_test::dis_info_array
+  (:init
+   (&key
+    ((:dis __dis) ())
+    )
+   (send-super :init)
+   (setq _dis __dis)
+   self)
+  (:dis
+   (&rest __dis)
+   (if (keywordp (car __dis))
+       (send* _dis __dis)
+     (progn
+       (if __dis (setq _dis (car __dis)))
+       _dis)))
+  (:serialization-length
+   ()
+   (+
+    ;; ros_merge_test/dis_info[] _dis
+    (apply #'+ (send-all _dis :serialization-length)) 4
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; ros_merge_test/dis_info[] _dis
+     (write-long (length _dis) s)
+     (dolist (elem _dis)
+       (send elem :serialize s)
+       )
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; ros_merge_test/dis_info[] _dis
+   (let (n)
+     (setq n (sys::peek buf ptr- :integer)) (incf ptr- 4)
+     (setq _dis (let (r) (dotimes (i n) (push (instance ros_merge_test::dis_info :init) r)) r))
+     (dolist (elem- _dis)
+     (send elem- :deserialize buf ptr-) (incf ptr- (send elem- :serialization-length))
+     ))
+   ;;
+   self)
+  )
+
+(setf (get ros_merge_test::dis_info_array :md5sum-) "154c19253095a5ca966c5dce84293342")
+(setf (get ros_merge_test::dis_info_array :datatype-) "ros_merge_test/dis_info_array")
+(setf (get ros_merge_test::dis_info_array :definition-)
+      "ros_merge_test/dis_info[] dis
+================================================================================
+MSG: ros_merge_test/dis_info
+float32 distance
+float32 width
+float32 height
+float32 angle
+
+")
+
+
+
+(provide :ros_merge_test/dis_info_array "154c19253095a5ca966c5dce84293342")
+
+
diff --git a/project/projectCarFollowing/src/.idea/.gitignore b/project/projectCarFollowing/src/.idea/.gitignore
new file mode 100644
index 0000000..13566b8
--- /dev/null
+++ b/project/projectCarFollowing/src/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/project/projectCarFollowing/src/.idea/deployment.xml b/project/projectCarFollowing/src/.idea/deployment.xml
new file mode 100644
index 0000000..538ef7e
--- /dev/null
+++ b/project/projectCarFollowing/src/.idea/deployment.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="PublishConfigData" remoteFilesAllowedToDisappearOnAutoupload="false">
+    <serverData>
+      <paths name="Remote Host (1dce3a15-503d-4545-b5bc-e482c493c313)">
+        <serverdata>
+          <mappings>
+            <mapping deploy="/tmp/src" local="$PROJECT_DIR$" />
+          </mappings>
+        </serverdata>
+      </paths>
+    </serverData>
+  </component>
+</project>
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/.idea/misc.xml b/project/projectCarFollowing/src/.idea/misc.xml
new file mode 100644
index 0000000..79b3c94
--- /dev/null
+++ b/project/projectCarFollowing/src/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+</project>
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/.idea/modules.xml b/project/projectCarFollowing/src/.idea/modules.xml
new file mode 100644
index 0000000..f669a0e
--- /dev/null
+++ b/project/projectCarFollowing/src/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/src.iml" filepath="$PROJECT_DIR$/.idea/src.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/.idea/src.iml b/project/projectCarFollowing/src/.idea/src.iml
new file mode 100644
index 0000000..f08604b
--- /dev/null
+++ b/project/projectCarFollowing/src/.idea/src.iml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CMake" type="CPP_MODULE" version="4" />
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/.idea/vcs.xml b/project/projectCarFollowing/src/.idea/vcs.xml
new file mode 100644
index 0000000..6c0b863
--- /dev/null
+++ b/project/projectCarFollowing/src/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/CMakeLists.txt b/project/projectCarFollowing/src/CMakeLists.txt
new file mode 100644
index 0000000..cd58121
--- /dev/null
+++ b/project/projectCarFollowing/src/CMakeLists.txt
@@ -0,0 +1,69 @@
+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 3.0.2)
+
+project(Project)
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      if(NOT WIN32)
+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      else()
+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      endif()
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()
diff --git a/project/projectCarFollowing/src/ros_merge_test/CMakeLists.txt b/project/projectCarFollowing/src/ros_merge_test/CMakeLists.txt
new file mode 100644
index 0000000..6bd7470
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/CMakeLists.txt
@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(ros_merge_test)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+  geometry_msgs
+)
+
+# 寻找OpenCV库
+find_package(OpenCV REQUIRED)
+# 查找 Boost 库
+find_package(Boost REQUIRED)
+
+# catkin_package(
+# #  INCLUDE_DIRS include
+# #  LIBRARIES ros_merge_test
+# #  CATKIN_DEPENDS roscpp rospy std_msgs
+# #  DEPENDS system_lib
+# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
+# )
+
+
+include_directories(
+# include
+ ${OpenCV_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+        include
+)
+
+add_library(${PROJECT_NAME} SHARED
+        src/system.cpp
+        src/uwb.cpp
+        src/mapping.cpp
+        src/align.cpp
+        src/Mat.cpp
+        src/lighthouse.cpp
+        # src/read_sensor_data.cpp
+        include/senddata.h src/senddata.cpp)
+
+
+add_message_files(
+    DIRECTORY msg
+    FILES
+        RawImu.msg
+        dis_info_array.msg
+        dis_info.msg
+     
+)
+generate_messages(DEPENDENCIES std_msgs geometry_msgs)
+
+catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs)
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+
+target_link_libraries(${PROJECT_NAME}_node  ${catkin_LIBRARIES}  ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME})
+
+
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/Mat.h b/project/projectCarFollowing/src/ros_merge_test/include/Mat.h
new file mode 100644
index 0000000..f8cc745
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/include/Mat.h
@@ -0,0 +1,83 @@
+/******************** (C) COPYRIGHT 2022 Geek************************************
+* File Name          : Mat.h
+* Current Version    : V1.0
+* Author             : logzhan
+* Date of Issued     : 2022.09.14
+* Comments           : �����ľ������
+********************************************************************************/
+/* Header File Including -----------------------------------------------------*/
+#ifndef _H_MAT_
+#define _H_MAT_
+
+#define MAT_MAX 15 //�������ܴ�����������
+
+
+#include <string.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+class Mat
+{
+public:
+	Mat();
+	Mat(int setm,int setn,int kind);//kind=1��λ��kind=0�����,��������ʼ�����ݡ�
+	void Init(int setm,int setn,int kind);//kind=1��λ��kind=0�����,��������ʼ�����ݡ�
+
+	void Zero(void);
+	//��Щ�ؼ�����Ӧ����Ϊprivate�ġ�����Ϊ�˷��㣬��Ҳ������public
+	int m;//����
+	int n;//����
+	double mat[MAT_MAX][MAT_MAX];//������������
+
+	//����ľ���
+	Mat SubMat(int a,int b,int lm,int ln);//��ȡ����һ����
+	void FillSubMat(int a,int b,Mat s);//����Ӿ���
+
+	//����ר��
+	double absvec();//����������ij��ȡ����Ǹ���Ԫ�صľ���ֵ��
+	double Sqrt();//�������ȵ�ƽ��
+	friend Mat operator ^(Mat a,Mat b);//���
+
+	//����
+	friend Mat operator *(double k,Mat a);
+	friend Mat operator *(Mat a,double k);
+	friend Mat operator /(Mat a,double k);
+	friend Mat operator *(Mat a,Mat b);
+	friend Mat operator +(Mat a,Mat b);
+	friend Mat operator -(Mat a,Mat b);
+	friend Mat operator ~(Mat a);//ת��	
+	friend Mat operator /(Mat a,Mat b);//a*inv(b)
+	friend Mat operator %(Mat a,Mat b);//inv(a)*b
+
+	//MAT inv();//�����
+
+private:
+	// Ϊ���ø�˹��Ԫ��������һЩ����
+	// ��������
+	void RowExchange(int a, int b);
+	// ijһ�г���ϵ��
+	void RowMul(int a,double k);
+	// ��ijһ�мӼ���һ�еı���
+	void RowAdd(int a,int b, double k);
+	// ��������
+	void ColExchange(int a, int b);
+	// ijһ�г���ϵ��
+	void ColMul(int a,double k);
+	// ��ijһ�мӼ���һ�еı���
+	void ColAdd(int a,int b,double k);
+	
+
+};
+
+
+
+
+
+
+#endif
+
+
+
+
+
+
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/align.h b/project/projectCarFollowing/src/ros_merge_test/include/align.h
new file mode 100644
index 0000000..15e7d9a
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/include/align.h
@@ -0,0 +1,44 @@
+#include <cmath>
+#include <ros/ros.h>
+#include <opencv2/opencv.hpp>
+#include <nav_msgs/Odometry.h>
+#include <utility>
+#include <queue>
+#include <fstream>
+#include "ros_merge_test/RawImu.h"
+#include "type.h"
+#include "uwb.h"
+#include "lighthouse.h"
+#include "Mat.h"
+
+#ifndef ALIGN_H
+#define AlIGN_H
+namespace uwb_slam{
+    class Align
+    {
+    public:
+        Align(){
+
+        };
+        void Run();
+        void wheel_odomCB(const nav_msgs::Odometry& wheel_odom);
+        void imuCB(const ros_merge_test::RawImu& imu);
+        void odomCB(const nav_msgs::Odometry& odom);
+
+    public:
+        ros::NodeHandle nh_;
+        ros::Subscriber wheel_odom_sub_;
+        ros::Subscriber imu_sub_;
+        ros::Subscriber odom_sub_;
+        Imu_odom_pose_data imu_odom_;
+        Uwb_data uwb_data_;
+        ros::Time imuDataRxTime, uwbDataRxTime, odomDataRxTime;
+        ros::Time odom_tmp_ ;
+        bool write_data_ = false;
+        cv::Mat img1;
+        std::queue<std::pair<Imu_odom_pose_data,Uwb_data>> data_queue;
+        std::shared_ptr<uwb_slam::Uwb> uwb_;
+        std::shared_ptr<uwb_slam::Lighthouse> lighthouse_;
+    };
+};
+#endif
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/avoid.h b/project/projectCarFollowing/src/ros_merge_test/include/avoid.h
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/kalman.h b/project/projectCarFollowing/src/ros_merge_test/include/kalman.h
new file mode 100644
index 0000000..b120777
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/include/kalman.h
@@ -0,0 +1,6 @@
+#ifndef KALMAN_H
+#define KALMAN_H
+
+
+
+#endif
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/lighthouse.h b/project/projectCarFollowing/src/ros_merge_test/include/lighthouse.h
new file mode 100644
index 0000000..333f9e5
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/include/lighthouse.h
@@ -0,0 +1,29 @@
+#include <ros/ros.h>
+#include <mutex>
+#include <boost/asio.hpp>
+#include <iostream>
+#include <string>
+#include <cstdint>
+#include "type.h"
+#include <queue>
+#include <chrono>
+#ifndef __LIGHTHOUSE_H__
+#define __LIGHTHOUSE_H__
+
+namespace uwb_slam{
+class Lighthouse{
+public:
+    Lighthouse();
+    ~Lighthouse();
+    void Run();
+    void UDPRead();
+    // Listen PORT
+    int PORT = 12345;
+    int UdpSocket = -1;
+
+    LightHouseData data;
+
+    std::mutex mMutexLighthouse;
+};
+};
+#endif
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/mapping.h b/project/projectCarFollowing/src/ros_merge_test/include/mapping.h
new file mode 100644
index 0000000..ac39d27
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/include/mapping.h
@@ -0,0 +1,40 @@
+#include <queue>
+#include <opencv2/opencv.hpp>
+#include <mutex>
+#include "uwb.h"
+#include "align.h"
+
+#ifndef MAPPING_H
+#define MAPPING_H
+
+
+namespace uwb_slam{
+    class Mapping
+    {
+        public:
+        const double PIXEL_SCALE = 1.0;     //xiangsudian cm
+        const int    AREA_SIZE = 1000;      //map size cm
+        Mapping() {};
+        void Run();
+        bool checkQueue();
+        void feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData);
+        void process();
+        std::mutex mMutexMap;
+        std::shared_ptr<uwb_slam::Uwb> uwb_;
+        std::shared_ptr<uwb_slam::Align> align_;
+
+        private:
+        int realWidth, realHeight;
+        std::queue<std::vector<cv::Point2d>> posDataQueue;
+        std::vector<cv::Point2d> posData = std::vector<cv::Point2d>(3, {-1, -1});
+        //cv::Point2d imuPoint = {-1,-1};
+        // std::queue<cv::Point2d> posDataQueue;
+        
+
+        bool readPos = false;
+        cv::Mat img;
+    };
+
+}
+
+#endif
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/read_sensor_data.h b/project/projectCarFollowing/src/ros_merge_test/include/read_sensor_data.h
new file mode 100644
index 0000000..61a7df3
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/include/read_sensor_data.h
@@ -0,0 +1,34 @@
+#include <ros/ros.h>
+#include "nav_msgs/Odometry.h"
+#include "geometry_msgs/Twist.h"
+#include "sensor_msgs/Imu.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "geometry_msgs/PoseWithCovarianceStamped.h"
+#include <boost/thread/mutex.hpp>
+#include "type.h"
+#include "uwb.h"
+
+
+#ifndef READ_SENSOR_DATA_H
+#define READ_SENSOR_DATA_H
+
+namespace uwb_slam{
+    typedef boost::shared_ptr<nav_msgs::Odometry const> OdomConstPtr;
+    typedef boost::shared_ptr<sensor_msgs::Imu const> ImuConstPtr;
+    class Read_sensor_data
+    {
+        public:
+        Read_sensor_data();
+
+        void Run(int argc, char* argv[]);
+        //void set_uwb(Uwb * uwb);
+        void imu_call_back(const ImuConstPtr& imu);
+        void odom_call_back(const OdomConstPtr& odom);
+
+        private:
+        ros::Subscriber imu_sub_;
+        ros::Subscriber odom_sub_;
+        
+    };
+}
+#endif
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/senddata.h b/project/projectCarFollowing/src/ros_merge_test/include/senddata.h
new file mode 100644
index 0000000..dcf5e74
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/include/senddata.h
@@ -0,0 +1,50 @@
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Quaternion.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <mutex>
+#include "uwb.h"
+#include <geometry_msgs/Twist.h>
+#include "ros_merge_test/dis_info.h"
+#include "ros_merge_test/dis_info_array.h"
+
+#ifndef SENDDATA_H
+#define SENDDATA_H
+
+
+namespace uwb_slam{
+
+    class Senddata
+    {
+        public:
+        Senddata(){};
+        void publishOdometry( std::shared_ptr<uwb_slam::Uwb>uwb);
+        void Run(std::shared_ptr<uwb_slam::Uwb>uwb);
+        void odomCB(const nav_msgs::Odometry& odom);
+        void stereoCB(const ros_merge_test::dis_info_array::ConstPtr& stereo);
+
+        std::shared_ptr<uwb_slam::Uwb> uwb_;
+
+
+        std::mutex mMutexSend;
+
+        private:
+        ros::Publisher position_pub_;
+	    ros::Publisher cmd_vel_pub_;
+        ros::Subscriber odom_sub_;
+    	ros::Subscriber obstacles_sub_;
+        ros::NodeHandle nh_;
+        
+        nav_msgs::Odometry odom_;//odom的消息类型
+        nav_msgs::Odometry sub_odom_;//odom的消息类型
+	    geometry_msgs::Twist cmd_vel_;
+
+        bool flag_ = 0; 
+
+      
+    };
+
+}
+
+#endif
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/system.h b/project/projectCarFollowing/src/ros_merge_test/include/system.h
new file mode 100644
index 0000000..848f92b
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/include/system.h
@@ -0,0 +1,32 @@
+#include <thread>
+#include <string>
+#include "mapping.h"
+#include "uwb.h"
+#include "senddata.h"
+// #include "align.h"
+#include <iostream>
+
+#ifndef SYSTEM_H
+#define SYSTEM_H
+
+namespace uwb_slam{
+    class System{
+
+    public:
+        System() {
+        }
+        void Run();
+    public:
+       
+        std::shared_ptr<uwb_slam::Mapping>Mapping_;
+        std::shared_ptr<uwb_slam::Uwb>Uwb_;
+        std::shared_ptr<uwb_slam::Senddata>Sender_;
+        std::shared_ptr<uwb_slam::Align>Align_;
+        std::shared_ptr<uwb_slam::Lighthouse>Lighthouse_;
+
+        // Uwb* Uwb_ ;
+        // Senddata* Sender_;
+        // Mapping* Mapping_;
+    };
+}
+#endif
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/type.h b/project/projectCarFollowing/src/ros_merge_test/include/type.h
new file mode 100644
index 0000000..53b77e2
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/include/type.h
@@ -0,0 +1,50 @@
+#include <ros/ros.h>
+#include <ros/time.h>
+#ifndef TYPE_H
+#define TYPE_H
+
+namespace uwb_slam{
+struct Imu_data
+{
+    ros::Time imu_t_;
+    double a_[3];
+    double g_[3];
+    double m_[3];
+    Imu_data(){};
+    Imu_data(double ax,double ay,double az, double gx, double gy, double gz, double mx, double my, double mz)
+    :a_{ax,ay,az},g_{gx,gy,gz},m_{mx,my,mz}{};
+};
+
+
+
+struct Imu_odom_pose_data
+{
+    Imu_data imu_data_;
+    double pose_[3];
+    double quat_[4];
+    double vxy_;
+    double angle_v_;
+    Imu_odom_pose_data(){};
+    Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){};
+};
+
+struct  Uwb_data
+{
+    float x_,y_;
+    ros::Time uwb_t_;
+    Uwb_data(){};
+    Uwb_data(float x,float y,float t):x_(x),y_(y),uwb_t_(t){};
+};
+
+struct LightHouseData
+{
+    float x_,y_,z_;
+    float qw_,qx_,qy_,qz_;
+    ros::Time lighthouse_t_;
+    LightHouseData(){};
+    LightHouseData(float x,float y,float z, float qw, float qx, float qy, float qz, float t):
+        x_(x),y_(y),z_(z),qw_(qw), qx_(qx), qy_(qy), qz_(qz), lighthouse_t_(t){};
+};
+
+}
+#endif
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/ros_merge_test/include/uwb.h b/project/projectCarFollowing/src/ros_merge_test/include/uwb.h
new file mode 100644
index 0000000..7d1a939
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/include/uwb.h
@@ -0,0 +1,60 @@
+#include <ros/ros.h>
+#include <mutex>
+#include <boost/asio.hpp>
+#include <iostream>
+#include <string>
+#include <cstdint>
+#include "type.h"
+#include <queue>
+#include <chrono>
+#ifndef UWB_H
+#define UWB_H
+
+#define PI acos(-1)
+namespace uwb_slam{
+
+    class Uwb
+    {
+    public:
+        Uwb();
+        void Run();
+        bool checknewdata();
+        void feed_imu_odom_pose_data();
+        void Serread();
+       
+
+ 
+    public:
+        int pre_seq = -1;
+        int cur_seq = -1;
+        int AnchorNum = 3;
+        int AnchorPos[3][3]={
+            -240, 400, 113,\
+            240, 400, 113,\
+            -400, -240, 113
+        };//基站坐标，序号+三维坐标
+        int d[3];
+        int aoa[3];
+     
+    // std::queue<Imu_odom_pose_data> v_buffer_imu_odom_pose_data_;
+   
+       
+        Uwb_data uwb_data_;
+        // ros_merge_test::RawImu sub_imu_;
+        // std::queue<Imu_odom_pose_data > imu_odom_queue_;
+        // std::queue<Uwb_data> uwb_data_queue_;
+        std::mutex mMutexUwb;
+    //boost::asio::io_service io;
+    //boost::asio::serial_port s_port;
+
+    // Imu_odom_pose_data imu_odom_pose_data_;
+    };
+
+};
+
+
+
+
+
+
+#endif
diff --git a/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg b/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg
new file mode 100644
index 0000000..3c5ad41
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/msg/RawImu.msg
@@ -0,0 +1,7 @@
+Header header
+bool accelerometer
+bool gyroscope
+bool magnetometer
+geometry_msgs/Vector3 raw_linear_acceleration
+geometry_msgs/Vector3 raw_angular_velocity
+geometry_msgs/Vector3 raw_magnetic_field
diff --git a/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg b/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg
new file mode 100644
index 0000000..fc9a9af
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/msg/dis_info.msg
@@ -0,0 +1,4 @@
+float32 distance
+float32 width
+float32 height
+float32 angle
diff --git a/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg b/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg
new file mode 100644
index 0000000..3fa5495
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/msg/dis_info_array.msg
@@ -0,0 +1 @@
+ros_merge_test/dis_info[] dis
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/ros_merge_test/package.xml b/project/projectCarFollowing/src/ros_merge_test/package.xml
new file mode 100644
index 0000000..dee5884
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/package.xml
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_merge_test</name>
+  <version>0.0.0</version>
+  <description>The ros_merge_test package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ros_merge_test</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/project/projectCarFollowing/src/ros_merge_test/src/Mat.cpp b/project/projectCarFollowing/src/ros_merge_test/src/Mat.cpp
new file mode 100644
index 0000000..4192cb5
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/src/Mat.cpp
@@ -0,0 +1,368 @@
+/******************** (C) COPYRIGHT 2022 Geek************************************
+* File Name          : Mat.cpp
+* Current Version    : V1.0
+* Author             : logzhan
+* Date of Issued     : 2022.09.14
+* Comments           : ���������
+********************************************************************************/
+/* Header File Including -----------------------------------------------------*/
+#include "Mat.h"
+
+double mind(double a,double b)
+{
+	double c = a;
+	if(b < c){
+		c = b;
+	}
+	return c;
+}
+
+int mini(int a,int b)
+{
+	int c=a;
+	if(b<c)
+	{
+		c=b;
+	}
+	return c;
+	
+}
+
+//��Ҫ�ڳ�Ա�����ڵ��ù��캯��
+Mat::Mat()
+{
+	Init(1,1,0);
+}
+
+Mat::Mat(int setm,int setn,int kind)
+{
+	Init(setm,setn,kind);
+}
+
+void Mat::Init(int setm,int setn,int kind)
+{
+	this->m = setm;
+	this->n = setn;
+	if((kind==0)||(kind==1))
+	{
+		memset(mat,0,MAT_MAX*MAT_MAX*sizeof(double));
+	}
+
+	if(kind==1)
+	{
+		int x;
+		//Cԭ�е�max min�ᵼ�����������Ա������и��������Ķ�����Ҫֱ�ӷŵ�max���档
+		int xend = mini(this->m, this->n);
+		for(x=0;x < xend;x++){
+			mat[x][x] = 1;
+		}
+	}
+}
+void Mat::Zero() {
+
+}
+
+Mat Mat::SubMat(int a,int b,int lm,int ln)
+{
+
+	int aend=a+lm-1;
+	int bend=b+ln-1;
+
+
+	Mat s(lm,ln,-1);
+	int x,y;
+	for(x=0;x<lm;x++)
+	{
+		for(y=0;y<ln;y++)
+		{
+			s.mat[x][y]=mat[a+x][b+y];
+		}
+	}
+	return s;
+}
+
+
+void Mat::FillSubMat(int a,int b,Mat s)
+{
+	int x,y;
+	for(x=0;x<s.m;x++)
+	{
+		for(y=0;y<s.n;y++)
+		{
+			mat[a+x][b+y]=s.mat[x][y];
+		}
+	}
+}
+
+
+Mat operator *(double k, Mat a)
+{
+	Mat b(a.m,a.n,-1);
+	int x,y;
+	for(x=0;x<a.m;x++)
+	{
+		for(y=0;y<a.n;y++)
+		{
+			b.mat[x][y]=k*a.mat[x][y];
+		}
+	}
+	return b;
+}
+Mat operator *(Mat a,double k)
+{
+	return k*a;
+}
+Mat operator /(Mat a,double k)
+{
+	return (1/k)*a;
+}
+Mat operator *(Mat a,Mat b)
+{
+	Mat c(a.m,b.n,-1);
+	int x,y,z;
+	double s;
+	for(x=0;x<a.m;x++)
+	{
+		for(y=0;y<b.n;y++)
+		{
+			s=0;
+			for(z=0;z<a.n;z++)
+			{
+				s=s+a.mat[x][z]*b.mat[z][y];
+			}
+			c.mat[x][y]=s;
+		}
+	}
+	return c;
+
+}
+
+Mat operator +(Mat a,Mat b)
+{
+
+	Mat c=a;
+	int x,y;
+	for(x=0;x<c.m;x++)
+	{
+		for(y=0;y<c.n;y++)
+		{
+			c.mat[x][y]+=b.mat[x][y];
+		}
+	}
+	return c;
+}
+Mat operator -(Mat a,Mat b)
+{
+
+	Mat c=a;
+	int x,y;
+	for(x=0;x<c.m;x++)
+	{
+		for(y=0;y<c.n;y++)
+		{
+			c.mat[x][y]-=b.mat[x][y];
+		}
+	}
+	return c;
+}
+Mat operator ~(Mat a)
+{
+	Mat b(a.n,a.m,-1);
+	int x,y;
+	for(x=0;x<a.m;x++)
+	{
+		for(y=0;y<a.n;y++)
+		{
+			b.mat[y][x]=a.mat[x][y];
+
+		}
+	}
+	return b;
+}
+
+
+
+Mat operator /(Mat a,Mat b)
+{
+	//��˹��Ԫ��
+
+	int x,xb;
+	for(x=0;x<b.n;x++)
+	{
+		//�����ҵ���ѵ��С�����ʼԪ�����
+		double s=0;
+		int p=x;
+		double sxb;
+		for(xb=x;xb<b.n;xb++)
+		{
+			sxb=fabs(b.mat[x][xb]);
+			if(sxb>s)
+			{
+				p=xb;
+				s=sxb;
+			}
+		}
+		//ͬʱ�任�������
+		if(x!=p)
+		{
+			a.ColExchange(x,p);
+			b.ColExchange(x,p);
+		}
+
+		//��һ�й�һ
+		double k=1/b.mat[x][x];//��һ�䲻ҪǶ�׵����������У��������Ϊ���²�ͬ�����¼������
+		a.ColMul(x,k);
+		b.ColMul(x,k);
+
+		//���������
+		for(xb=0;xb<b.n;xb++)
+		{
+			if(xb!=x)
+			{
+				k=(-b.mat[x][xb]);
+				a.ColAdd(xb,x,k);
+				b.ColAdd(xb,x,k);
+			}
+		}
+	}
+	
+	return a;
+}
+
+
+Mat operator %(Mat a,Mat b)
+{
+	//��˹��Ԫ��
+	int x,xb;
+	for(x=0;x<a.m;x++)
+	{
+		//�����ҵ���ѵ��С�����ʼԪ�����
+		double s=0;
+		int p=x;
+		double sxb;
+		for(xb=x;xb<a.m;xb++)
+		{
+			sxb=fabs(a.mat[xb][x]);
+			if(sxb>s)
+			{
+				p=xb;
+				s=sxb;
+			}
+		}
+		//ͬʱ�任�������
+		if(x!=p)
+		{
+			a.RowExchange(x,p);
+			b.RowExchange(x,p);
+		}
+
+		//��һ�й�һ
+		double k=1/a.mat[x][x];//��һ�䲻ҪǶ�׵����������У��������Ϊ���²�ͬ�����¼������
+		a.RowMul(x,k);
+		b.RowMul(x,k);
+
+		//���������
+		for(xb=0;xb<a.m;xb++)
+		{
+			if(xb!=x)
+			{
+				k=(-a.mat[xb][x]);
+				a.RowAdd(xb,x,k);
+				b.RowAdd(xb,x,k);
+			}
+		}
+	}
+	
+	return b;
+}
+
+
+void Mat::RowExchange(int a, int b)
+{
+	double s[MAT_MAX];
+	int ncpy=n*sizeof(double);
+	memcpy(s,mat[a],ncpy);
+	memcpy(mat[a],mat[b],ncpy);
+	memcpy(mat[b],s,ncpy);
+}
+void Mat::RowMul(int a,double k)
+{
+	int y;
+	for(y=0;y<n;y++)
+	{
+		mat[a][y]= mat[a][y]*k;
+	}
+}
+void Mat::RowAdd(int a,int b,double k)
+{
+	int y;
+	for(y=0;y<n;y++)
+	{
+		mat[a][y]= mat[a][y]+ mat[b][y]*k;
+	}
+}
+
+void Mat::ColExchange(int a, int b)
+{
+	double s;
+	int x;
+	for(x=0;x<m;x++)
+	{
+		s=mat[x][a];
+		mat[x][a]=mat[x][b];
+		mat[x][b]=s;
+	}
+}
+void Mat::ColMul(int a,double k)
+{
+	int x;
+	for(x=0;x<m;x++)
+	{
+		mat[x][a]=mat[x][a]*k;
+	}
+}
+void Mat::ColAdd(int a,int b,double k)
+{
+	int x;
+	for(x=0;x<m;x++)
+	{
+		mat[x][a]=mat[x][a]+mat[x][b]*k;
+	}
+}
+
+
+
+double Mat::Sqrt()
+{
+	int x;
+	double numx;
+	double s=0;
+	for(x=0;x<m;x++)
+	{
+		numx=mat[x][0];
+		s+=(numx*numx);
+	}
+	return s;
+}
+double Mat::absvec()
+{
+	return sqrt(Sqrt());
+}
+
+Mat operator ^(Mat a, Mat b)
+{
+	double ax=a.mat[0][0];
+	double ay=a.mat[1][0];
+	double az=a.mat[2][0];
+	double bx=b.mat[0][0];
+	double by=b.mat[1][0];
+	double bz=b.mat[2][0];
+
+	Mat c(3,1,-1);
+	c.mat[0][0]=ay*bz-az*by;
+	c.mat[1][0]=(-(ax*bz-az*bx));
+	c.mat[2][0]=ax*by-ay*bx;
+
+	return c;
+}
+
diff --git a/project/projectCarFollowing/src/ros_merge_test/src/align.cpp b/project/projectCarFollowing/src/ros_merge_test/src/align.cpp
new file mode 100644
index 0000000..2ed8eb3
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/src/align.cpp
@@ -0,0 +1,101 @@
+#include "align.h"
+
+namespace uwb_slam{
+    void Align::Run()
+    {
+        imuDataRxTime = ros::Time::now();
+        uwbDataRxTime = ros::Time::now();
+
+        wheel_odom_sub_= nh_.subscribe("wheel_odom",10,&Align::wheel_odomCB,this);
+        imu_sub_= nh_.subscribe("raw_imu",10,&Align::imuCB,this);
+        odom_sub_= nh_.subscribe("odom",10,&Align::odomCB,this);
+
+        std::ofstream outfile("data.txt",std::ofstream::out);
+        if(outfile.is_open()) {
+            std::cout << "start saving data" << std::endl;
+            outfile << "imuDataRxTime,odomDataRxTime,uwbDataRxTime,"\
+                    << "aX,aY,aZ,"\
+                    << "gX,gY,gZ"\
+                    << "mX,mY,mZ,"\
+                    << "qW,qX,qY,qZ,"\
+                    << "vXY,angleV,"\
+                    << "imuPosX,imuPosY,"\
+                    << "lightHousePosX,lightHousePosY,lightHousePosZ,"\
+                    << "lightHouseQW,lightHouseQX,lightHouseQY,lightHouseQZ"\
+                    << "d1,d2,d3\n";
+        } else {
+            std::cout<<"file can not open"<<std::endl;
+        }
+
+        while(1){
+            if(imuDataRxTime!=imu_odom_.imu_data_.imu_t_){
+                //std::cout << "imu received" << std::endl;
+                imuDataRxTime = imu_odom_.imu_data_.imu_t_;
+                odomDataRxTime = odom_tmp_;
+                uwbDataRxTime = uwb_->uwb_data_.uwb_t_;
+    
+                outfile << imuDataRxTime << "," << odomDataRxTime << "," << uwbDataRxTime <<","\
+                        << imu_odom_.imu_data_.a_[0] << "," << imu_odom_.imu_data_.a_[1] << "," << imu_odom_.imu_data_.a_[2] << ","\
+                        << imu_odom_.imu_data_.g_[0] << "," << imu_odom_.imu_data_.g_[1] << "," << imu_odom_.imu_data_.g_[2] << ","\
+                        << imu_odom_.imu_data_.m_[0] << "," << imu_odom_.imu_data_.m_[1] << "," << imu_odom_.imu_data_.m_[2] << ","\
+                        << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << ","\
+                        << imu_odom_.vxy_ << "," << imu_odom_.angle_v_ << ","\
+                        << imu_odom_.pose_[0] << "," << imu_odom_.pose_[1] << ","\
+                        << lighthouse_->data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << ","\
+                        << lighthouse_->data.qw_ << "," << lighthouse_->data.qx_ << "," << lighthouse_->data.qy_ << "," << lighthouse_->data.qz_ << ","\
+                        << uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << "\n";
+            }
+        }
+        // outfile.close();
+        // std::cout<< "Data written to file." << std::endl;   
+    }
+    
+    
+    
+    void Align::wheel_odomCB(const nav_msgs::Odometry& wheel_odom)
+    {
+        imu_odom_.vxy_= wheel_odom.twist.twist.linear.x;
+        imu_odom_.angle_v_ = wheel_odom.twist.twist.angular.z;
+        // imu_odom_.pose_[0] = wheel_odom.pose.pose.position.x;
+        // imu_odom_.pose_[1] = wheel_odom.pose.pose.position.y;
+        // imu_odom_.pose_[2] = wheel_odom.pose.pose.position.z;
+        // imu_odom_.quat_[0] = wheel_odom.pose.pose.orientation.x;
+        // imu_odom_.quat_[1] = wheel_odom.pose.pose.orientation.y;
+        // imu_odom_.quat_[2] = wheel_odom.pose.pose.orientation.z;
+        // imu_odom_.quat_[3] = wheel_odom.pose.pose.orientation.w;
+        return;
+    }
+    void Align::imuCB(const ros_merge_test::RawImu& imu)
+    {
+        imu_odom_.imu_data_.imu_t_ = imu.header.stamp;
+        imu_odom_.imu_data_.a_[0] = imu.raw_linear_acceleration.x;
+        imu_odom_.imu_data_.a_[1] = imu.raw_linear_acceleration.y;
+        imu_odom_.imu_data_.a_[2] = imu.raw_linear_acceleration.z;
+
+        imu_odom_.imu_data_.g_[0] = imu.raw_angular_velocity.x;
+        imu_odom_.imu_data_.g_[1] = imu.raw_angular_velocity.y;
+        imu_odom_.imu_data_.g_[2] = imu.raw_angular_velocity.z;
+
+        imu_odom_.imu_data_.m_[0] = imu.raw_magnetic_field.x;
+        imu_odom_.imu_data_.m_[1] = imu.raw_magnetic_field.y;
+        imu_odom_.imu_data_.m_[2] = imu.raw_magnetic_field.z;
+
+        return;
+    }
+
+    void Align::odomCB(const nav_msgs::Odometry& odom)
+    {
+        odom_tmp_ = odom.header.stamp;
+        imu_odom_.pose_[0] = odom.pose.pose.position.x;
+        imu_odom_.pose_[1] = odom.pose.pose.position.y;
+        imu_odom_.pose_[2] = odom.pose.pose.position.z;
+        imu_odom_.quat_[0] = odom.pose.pose.orientation.w;
+        imu_odom_.quat_[1] = odom.pose.pose.orientation.x;
+        imu_odom_.quat_[2] = odom.pose.pose.orientation.y;
+        imu_odom_.quat_[3] = odom.pose.pose.orientation.z;
+    }
+
+};
+
+
+
diff --git a/project/projectCarFollowing/src/ros_merge_test/src/kf.cpp b/project/projectCarFollowing/src/ros_merge_test/src/kf.cpp
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectCarFollowing/src/ros_merge_test/src/lighthouse.cpp b/project/projectCarFollowing/src/ros_merge_test/src/lighthouse.cpp
new file mode 100644
index 0000000..562b494
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/src/lighthouse.cpp
@@ -0,0 +1,79 @@
+#include "lighthouse.h"
+#include <cmath>
+#include <string>
+
+namespace uwb_slam{
+    Lighthouse::Lighthouse(){
+        std::cout << "Start Run. "  << std::endl;
+
+        // 创建UDP套接字
+        UdpSocket = socket(AF_INET, SOCK_DGRAM, 0);
+        if (UdpSocket == -1) {
+            std::cerr << "Error creating UDP socket." << std::endl;
+            return;
+        }
+
+        std::cout << "Creating UDP socket sucess. "  << std::endl;
+
+        // 设置套接字地址结构
+        sockaddr_in udpAddress;
+        std::memset(&udpAddress, 0, sizeof(udpAddress));
+        udpAddress.sin_family = AF_INET;
+        udpAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+        udpAddress.sin_port = htons(PORT);
+
+        // 将套接字绑定到地址
+        if (bind(UdpSocket, (struct sockaddr*)&udpAddress, sizeof(udpAddress)) == -1) {
+            std::cerr << "Error binding UDP socket." << std::endl;
+            close(UdpSocket);
+        }
+    }
+
+    Lighthouse::~Lighthouse(){
+        close(UdpSocket);
+    }
+
+    void Lighthouse::Run() {
+        while(1){
+            // 这是一个阻塞线程
+            this->UDPRead();
+        }
+    }
+
+    void Lighthouse::UDPRead(){
+        char buffer[1024];
+        ssize_t bytesRead = recvfrom(UdpSocket, buffer, sizeof(buffer), 0, nullptr, nullptr);
+        if (bytesRead == -1) {
+            std::cerr << "Error receiving data." << std::endl;
+            return;
+        }
+
+        std::string data(buffer);
+
+        float x,y,z,qw,qx,qy,qz;
+
+        qw = 1.0;
+
+        sscanf(data.c_str(),"%f %f %f %f %f %f",&x,&y,&z,&qx,&qy,&qz);
+
+        mMutexLighthouse.lock();
+
+        this->data.x_ = x;
+        this->data.y_ = y;
+        this->data.z_ = z;
+
+        this->data.qw_ = qw;
+        this->data.qx_ = qx;
+        this->data.qy_ = qy;
+        this->data.qz_ = qz;
+
+        
+
+        mMutexLighthouse.unlock();
+
+        // 打印接收到的消息
+        buffer[bytesRead] = '\0';
+        //std::cout << "Received: " << buffer << std::endl;
+
+    }
+};
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/ros_merge_test/src/main.cpp b/project/projectCarFollowing/src/ros_merge_test/src/main.cpp
new file mode 100644
index 0000000..bed1c0f
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/src/main.cpp
@@ -0,0 +1,65 @@
+#include "../include/system.h"
+#include "../include/uwb.h"
+#include "../include/lighthouse.h"
+#include "Mat.h"
+
+
+#include <iostream>
+#include <ros/ros.h>
+#include <thread>
+#include "senddata.h"
+
+
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node
+
+    std::shared_ptr<uwb_slam::System> system = std::make_shared<uwb_slam::System>();
+    std::shared_ptr<uwb_slam::Mapping> mp = std::make_shared<uwb_slam::Mapping>();
+    std::shared_ptr<uwb_slam::Uwb> uwb = std::make_shared<uwb_slam::Uwb>();
+    std::shared_ptr<uwb_slam::Senddata> sender = std::make_shared<uwb_slam::Senddata>();
+    std::shared_ptr<uwb_slam::Align> align = std::make_shared<uwb_slam::Align>();
+    std::shared_ptr<uwb_slam::Lighthouse> lighthouse = std::make_shared<uwb_slam::Lighthouse>();
+
+    
+    system->Mapping_ = mp;
+    system->Uwb_ = uwb;
+    system->Sender_ = sender;
+    system->Align_ = align;
+    system->Lighthouse_ = lighthouse;
+
+    mp->uwb_ = system->Uwb_;
+    mp->align_ = system->Align_;
+    align->uwb_ = system->Uwb_;
+    align->lighthouse_ = system->Lighthouse_;
+    sender->uwb_ = system->Uwb_;
+    // //  control data fllow in system
+    // std::thread rose_trd ([&system]() {
+    //     system->Run();
+    // });
+
+    // uwb serried read
+    std::thread uwb_trd([&uwb]() {
+        uwb->Run();
+    });
+
+    // build map
+    // std::thread map_trd ([&mp]() {
+    //     mp->Run();
+    // });
+
+    std::thread sender_trd ([&sender, uwb]() {
+        sender->Run(uwb);
+    });
+
+    // std::thread align_trd ([&align]() {
+    //     align->Run();
+    // });
+
+    // std::thread lighthouse_trd ([&lighthouse]() {
+    //     lighthouse->Run();
+    // });
+
+    ros::spin(); 
+}
diff --git a/project/projectCarFollowing/src/ros_merge_test/src/mapping.cpp b/project/projectCarFollowing/src/ros_merge_test/src/mapping.cpp
new file mode 100644
index 0000000..9cd9c4f
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/src/mapping.cpp
@@ -0,0 +1,149 @@
+#include "mapping.h"
+#include <mutex>
+#include <unistd.h>// 包含 usleep() 函数所在的头文件
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+
+namespace uwb_slam
+{
+    bool Mapping::checkQueue()
+    {
+        //std::unique_lock<std::mutex> lock(mMutexMap);
+        return !posDataQueue.empty();
+    }
+
+    void Mapping::feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData)
+    {
+        //std::unique_lock<std::mutex> lock(mMutexMap);
+        posDataQueue.push({imuPosData, uwbPosData, syncPosData});
+
+    }
+    
+
+    void Mapping::process()
+    {
+        {   
+            
+            //std::unique_lock<std::mutex> lock(mMutexMap);
+            //std::cout << "SIZE:  " <<posDataQueue.size() << std::endl;
+            posData = posDataQueue.front();
+            //std::cout << "x: " <<cur_point.x << " y:" << cur_point.y << std::endl;
+            posDataQueue.pop();
+        }
+        /*生成图*/
+
+        int imuPosPointX = posData[0].x / PIXEL_SCALE + ( fmod(posData[0].x ,PIXEL_SCALE) != 0) + realWidth / 2;
+        int imuPosPointY = posData[0].y / PIXEL_SCALE + ( fmod(posData[0].y ,PIXEL_SCALE) != 0) + realHeight / 2;
+        int uwbPosPointX = posData[1].x / PIXEL_SCALE + ( fmod(posData[1].x ,PIXEL_SCALE) != 0) + realWidth / 2;
+        int uwbPosPointY = posData[1].y / PIXEL_SCALE + ( fmod(posData[1].y ,PIXEL_SCALE) != 0) + realHeight / 2;
+        int syncPosPointX = posData[2].x / PIXEL_SCALE + ( fmod(posData[2].x ,PIXEL_SCALE) != 0) + realWidth / 2;
+        int syncPosPointY = posData[2].y / PIXEL_SCALE + ( fmod(posData[2].y ,PIXEL_SCALE) != 0) + realHeight / 2;
+        // std::cout << "syncPos:" <<posData[2].x << " " << posData[2].y;
+        // std::cout << " uwbPos:" <<posData[1].x << " " << posData[1].x;
+        // std::cout << " imuPos:" <<posData[0].x << " " << posData[0].y << std::endl;
+
+        // std::cout << "syncPos:" <<syncPosPointX << " " << syncPosPointY;
+        // std::cout << " uwbPos:" <<uwbPosPointX << " " << uwbPosPointY;
+        // std::cout << " imuPos:" <<imuPosPointX << " " << imuPosPointY << std::endl;
+        // img.at<unsigned char>(imuPosPointY, imuPosPointX) = 0;   
+        img.at<cv::Vec3b>(imuPosPointY, imuPosPointX) = cv::Vec3b(0,0,255);     //imu trace is red
+        img.at<cv::Vec3b>(uwbPosPointY, uwbPosPointX) = cv::Vec3b(0,255,0);     //uwb trace is green
+        img.at<cv::Vec3b>(syncPosPointY, syncPosPointX) = cv::Vec3b(255,0,0);   //sync trace is blue
+    }
+
+
+    void Mapping::Run()
+    {
+        
+        //int key = cv::waitKey(0);//等待用户按下按键
+        //std::cout << key << std::endl;
+        realWidth = AREA_SIZE / PIXEL_SCALE;
+        realHeight = AREA_SIZE / PIXEL_SCALE;
+
+        img = cv::Mat(realHeight, realWidth, CV_8UC3, cv::Scalar(255,255,255));
+        //cankao
+        for (int j=0;j<AREA_SIZE / PIXEL_SCALE;j+=10)
+            for (int i=0;i<AREA_SIZE / PIXEL_SCALE;i+=10)
+                img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
+        
+        for (int j=realHeight/2-1; j<=realHeight/2+1; j+=1)
+            for (int i=realWidth/2-1; i<=realWidth/2+1; i+=1)
+                img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
+        int i = 0, j = 0;
+        img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
+
+
+
+        cv::imshow("Image",img);
+
+        // bool printFlag = 0;
+        // std::ofstream outfile("data.txt",std::ofstream::out);
+        // if(outfile.is_open()) {
+        //     std::cout << "start saving data" << key << std::endl;
+        //     printFlag = 1;
+        // } else {
+        //     std::cout<<"file can not open"<<std::endl;
+        // }
+
+        /*
+        std::cout << "waiting" <<std::endl;
+        int key = cv::waitKey(0);
+        if (key == 'q' || key == 27) {
+            this->feed_uwb_data(cv::Point2d(uwb_->x,uwb_->y));
+            readPos = true;
+            std::cout << "non" << key << std::endl;
+            cv::destroyAllWindows();
+         }
+        */
+        while(1){
+            int key = cv::waitKey(0);
+            if (key == 'q' ) {
+                readPos = true;
+                std::cout << "start mapping" << key << std::endl;
+        
+                //cv::destroyAllWindows();
+            }
+            while( readPos )//按下空格键
+            {
+                int key2 = cv::waitKey(1);
+                if (key2 == 'q') {
+                    //TODO: save
+
+                    std::string pngimage="/home/firefly/Project_Ros11/Project_Ros1/src/ros_merge_test/Map/output_image.png";//保存的图片文件路径
+                    cv::imwrite(pngimage,img);
+                    readPos = false;
+                    
+                    // outfile.close();
+                    // printFlag = 0;
+                    // std::cout<< "Data written to file." << std::endl;
+                    
+                    break;
+                }
+        
+                //this->feedPos(cv::Point2d(align_->imuPos.mat[0][0], align_->imuPos.mat[1][0]), cv::Point2d(align_->uwbPos.mat[0][0], align_->uwbPos.mat[1][0]), cv::Point2d(align_->syncPos.mat[0][0], align_->syncPos.mat[1][0]));
+                //this->feedPos(cv::Point2d(uwb_->x, uwb_->y));
+
+                //uwb xieru
+                //std::cout << "cur_SEQ: " <<uwb_->cur_seq  << std::endl;
+
+                if(checkQueue())
+                {
+                    //std::cout << " start process" << std::endl;
+                    process();
+                    //std::cout << " end process" << std::endl;
+                     
+                }
+            }
+            // std::cout << "out" << key << std::endl;
+
+        }
+
+
+
+        //std::string pngimage="../Map/pngimage.png";//保存的图片文件路径
+        //cv::imwrite(pngimage,img);
+      
+        /*ros 发送图片给导航 */
+    }
+} // namespace uwb_slam
+
diff --git a/project/projectCarFollowing/src/ros_merge_test/src/read_sensor_data.cpp b/project/projectCarFollowing/src/ros_merge_test/src/read_sensor_data.cpp
new file mode 100644
index 0000000..e74d0cd
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/src/read_sensor_data.cpp
@@ -0,0 +1,30 @@
+#include <read_sensor_data.h>
+
+namespace uwb_slam {
+
+
+    //void Read_sensor_data::set_uwb(){}
+
+
+    void Read_sensor_data::imu_call_back(const ImuConstPtr& imu){
+        Imu_data d1= Imu_data(imu->linear_acceleration.x,imu->linear_acceleration.y,imu->linear_acceleration.z,
+                              imu->angular_velocity.x,imu->angular_velocity.y,imu->angular_velocity.z);
+
+    }
+    void Read_sensor_data::odom_call_back(const OdomConstPtr& odom){
+        Odom_data d1 = Odom_data(odom->pose.pose.position.x, odom->pose.pose.position.y, odom->pose.pose.position.z,
+                                 odom->pose.pose.orientation.w,odom->pose.pose.orientation.x, odom->pose.pose.orientation.y, odom->pose.pose.orientation.z,
+                                 odom->header.stamp,odom->twist.twist.linear.x,odom->twist.twist.linear.y,odom->twist.twist.angular.z);
+
+    }
+    void Read_sensor_data::Run(int argc, char* argv[]){
+
+        ros::init(argc, argv, "imu_odom");
+        // 创建一个节点句柄
+        ros::NodeHandle nh;
+        //imu_sub_ = nh.subscribe<std_msgs::String>("imu/data_raw", 1000, this->imu_call_back);
+        //odom_sub_ =nh.subscribe("odom", 1000,odom_call_back);
+        ros::spin();
+    }
+
+}
diff --git a/project/projectCarFollowing/src/ros_merge_test/src/senddata.cpp b/project/projectCarFollowing/src/ros_merge_test/src/senddata.cpp
new file mode 100644
index 0000000..102fca2
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/src/senddata.cpp
@@ -0,0 +1,147 @@
+#include "senddata.h"
+
+#define angleLimit 20
+#define disLimit 200
+
+namespace uwb_slam
+{
+    void Senddata::Run(std::shared_ptr<uwb_slam::Uwb>uwb){
+
+        ros::Rate loop_rate(10);
+        // position_pub_=nh_.advertise<nav_msgs::Odometry>("uwb_odom",50);
+        cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel",50);
+    	obstacles_sub_ = nh_.subscribe<ros_merge_test::dis_info_array>("ceju_info",1,boost::bind(&Senddata::stereoCB,this,_1));
+        // odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this);
+        while(ros::ok()){
+            // publishOdometry(uwb);
+            if (flag_)
+            {
+                cmd_vel_.linear.x = 0; 
+	            cmd_vel_.angular.z = -1;
+                for (int i = 0; i < 17; ++i) {  
+                    cmd_vel_pub_.publish(cmd_vel_);
+                    loop_rate.sleep();
+                }
+
+                cmd_vel_.linear.x = 0.2; 
+	            cmd_vel_.angular.z = 0;
+                for (int i = 0; i < 20; ++i) {  
+                    cmd_vel_pub_.publish(cmd_vel_);
+                    loop_rate.sleep();
+                }
+
+                cmd_vel_.linear.x = 0; 
+	            cmd_vel_.angular.z = 1;
+                for (int i = 0; i < 16; ++i) {  
+                    cmd_vel_pub_.publish(cmd_vel_);
+                    loop_rate.sleep();
+                }
+
+                cmd_vel_.linear.x = 0; 
+	            cmd_vel_.angular.z = 0;
+                flag_ = 0;
+            }
+            else if(abs(uwb->aoa[0]) > 180 || abs(uwb->d[0]) > 2000)
+            {
+                cmd_vel_.angular.z = 0;
+                cmd_vel_.linear.x = 0;
+            }
+            else if(uwb->aoa[0] > angleLimit && uwb->aoa[0] <= 180)
+            {
+                float angularSpeed = (float)uwb->aoa[0] / 100 + 1;
+                cmd_vel_.angular.z = angularSpeed;
+                cmd_vel_.linear.x = 0;
+            }
+            else if(uwb->aoa[0] < -angleLimit)
+            {
+                float angularSpeed = (float)uwb->aoa[0] / 100 - 1;
+                cmd_vel_.angular.z = angularSpeed;
+                cmd_vel_.linear.x = 0;
+            }
+            else if(uwb->d[0] > disLimit)
+            {
+                float lineSpeed = (float)uwb->d[0] / 1000 + 0.1;
+                cmd_vel_.angular.z = 0;
+                cmd_vel_.linear.x = lineSpeed;
+            }
+            else if(uwb->d[0] < disLimit - 30)
+            {
+                cmd_vel_.angular.z = 0;
+                cmd_vel_.linear.x = -0.2;
+            }
+            else 
+            {
+                cmd_vel_.angular.z = 0;
+                cmd_vel_.linear.x = 0; 
+            }
+            cmd_vel_pub_.publish(cmd_vel_);
+            ros::spinOnce();
+            loop_rate.sleep();
+        }
+
+
+    }
+    // void Senddata::odomCB(const nav_msgs::Odometry& odom){
+    //     sub_odom_ = odom;
+    //     return;
+    // }
+    void Senddata::stereoCB(const ros_merge_test::dis_info_array::ConstPtr& stereo)
+    {
+        for (const auto& obstacle_info :stereo->dis)
+        {
+            float distance = obstacle_info.distance;
+            // float width = obstacle_info.width;
+            // float height = obstacle_info.height;
+            // float angle = obstacle_info.angle;
+
+            // if(distance>5&&distance<45&&cmd_vel_.linear.x!=0)
+            if(distance>5&&distance<45)
+            {
+                flag_ = 1;
+            }
+        }
+	
+	    return;
+    }
+
+    // void Senddata::publishOdometry(std::shared_ptr<uwb_slam::Uwb>uwb)
+    // {
+
+    //     std::mutex mMutexSend;
+    //     ros::Time current_time = ros::Time::now();
+
+    //     // 设置 Odometry 消息的头部信息
+    //     odom_.header.stamp = current_time;
+    //     odom_.header.frame_id = "odom";  // 设置坐标系为 "map"
+    //     odom_.child_frame_id = "base_link";  // 设置坐标系为 "base_link"
+        
+    //     // 填充 Odometry 消息的位置信息
+    //     odom_.pose.pose.position.x = uwb->uwb_data_.x_;
+    //     odom_.pose.pose.position.y = uwb->uwb_data_.y_;
+    //     odom_.pose.pose.position.z = 0.0;
+        
+
+    //     // 填充 Odometry 消息的姿态信息（使用四元数来表示姿态）
+    //     // tf2::Quaternion quat;
+    //     // quat.setRPY(0, 0, uwb->theta);  // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0
+    //     // odom.pose.pose.orientation.x = quat.x();
+    //     // odom.pose.pose.orientation.y = quat.y();
+    //     // odom.pose.pose.orientation.z = quat.z();
+    //     // odom.pose.pose.orientation.w = quat.w();
+
+    //     odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x;
+    //     odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y;
+    //     odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z;
+    //     odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w;
+
+    //     // 发布 Odometry 消息
+    //     position_pub_.publish(odom_);
+
+
+    // }
+
+
+    
+
+
+} // namespace uwb_slam
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/ros_merge_test/src/system.cpp b/project/projectCarFollowing/src/ros_merge_test/src/system.cpp
new file mode 100644
index 0000000..44f5878
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/src/system.cpp
@@ -0,0 +1,15 @@
+#include "../include/system.h"
+//#include ""
+
+
+namespace uwb_slam{
+
+    void System::Run()
+    {
+        while(1){
+
+        }
+
+    }
+    
+}
\ No newline at end of file
diff --git a/project/projectCarFollowing/src/ros_merge_test/src/uwb.cpp b/project/projectCarFollowing/src/ros_merge_test/src/uwb.cpp
new file mode 100644
index 0000000..2db72c5
--- /dev/null
+++ b/project/projectCarFollowing/src/ros_merge_test/src/uwb.cpp
@@ -0,0 +1,121 @@
+#include "uwb.h"
+#include <cmath>
+#include "Mat.h"
+
+
+#define CARHEIGHT 20
+#define DISINDEX 3
+#define AOAINDEX 15
+#define DATALENGTH 27
+
+namespace uwb_slam{
+    Uwb::Uwb(){
+    
+    }
+
+    void Uwb::Run() {
+        
+        while(1){
+        this->Serread();
+
+        }
+
+
+    }
+
+
+    void Uwb::Serread(){
+        try {
+        boost::asio::io_service io;
+        boost::asio::serial_port serial(io, "/dev/ttyUSB1"); // 替换成你的串口设备路径
+
+        serial.set_option(boost::asio::serial_port_base::baud_rate(115200)); // 设置波特率
+        serial.set_option(boost::asio::serial_port_base::character_size(8)); // 设置数据位
+        serial.set_option(boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none)); // 设置校验位
+        serial.set_option(boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one)); // 设置停止位
+
+        uint8_t tmpdata[DATALENGTH];
+        // std::cerr << "befor read" << std::endl;
+        size_t bytesRead = boost::asio::read(serial, boost::asio::buffer(tmpdata, sizeof(tmpdata))); // 读取串口数据
+        // std::cerr << "after read" << std::endl;
+        this->uwb_data_.uwb_t_ = ros::Time::now();
+        
+        for (int i=0;i< bytesRead;i++)
+        {
+            std::cout << std::hex<<static_cast<int>(tmpdata[i]) << " ";
+        }
+        std::cout << std::endl;
+
+        memcpy(&this->d[0], &tmpdata[DISINDEX], sizeof(d[0]));
+        memcpy(&this->d[1], &tmpdata[DISINDEX + sizeof(d[0])], sizeof(d[0]));
+        memcpy(&this->d[2], &tmpdata[DISINDEX + sizeof(d[0]) * 2], sizeof(d[0]));
+        memcpy(&this->aoa[0], &tmpdata[AOAINDEX], sizeof(aoa[0]));
+        memcpy(&this->aoa[1], &tmpdata[AOAINDEX + sizeof(aoa[0])], sizeof(aoa[0]));
+        memcpy(&this->aoa[2], &tmpdata[AOAINDEX + sizeof(aoa[0]) * 2], sizeof(aoa[0]));
+
+        //std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl;
+
+        // if(abs(d[0]) > 2000 || abs(d[1]) > 2000 || abs(d[2]) > 2000) {
+        //     return;
+        // }
+        // for(int i=0; i<3; i++)
+        // {
+        //     this->d[i] = sqrt(this->d[i] * this->d[i] - (AnchorPos[i][2] - CARHEIGHT) * (AnchorPos[i][2] - CARHEIGHT));
+        // }
+        
+        std::cout<<"d: "<<this->d[0]<<" aoa: "<<this->aoa[0]<<std::endl;
+        d[0] = ((((-1.4229e-07 * d[0]) + 1.8784e-04) * d[0]) + 0.9112) * d[0] + 2.4464;
+        // d[1] = ((((-2.3004e-07 * d[1]) + 3.2942e-04) * d[1]) + 0.8385) * d[1] + 6.2770;
+        // d[2] = ((((-2.0616e-07 * d[2]) + 3.3886e-04) * d[2]) + 0.8231) * d[2] + 8.1566;   
+    } catch (const std::exception& ex) {
+        std::cerr << "Exception: " << ex.what() << std::endl;
+    }
+
+
+
+    }
+    
+ 
+    void fusion()
+    {
+
+    }
+
+
+
+    
+
+
+};
+
+// bool Uwb::checknewdata()
+// {
+//     std::unique_lock<std::mutex> lock(mMutexUwb);
+//     return !v_buffer_imu_odom_pose_data_.empty();
+// }
+
+// void Uwb::Run() {
+//     while(1)
+//     {
+//         if(checknewdata())
+//         {
+//             {
+//                 std::unique_lock<std::mutex> lock(mMutexUwb);
+//                 Imu_odom_pose_data imu_odom_pose_data = v_buffer_imu_odom_pose_data_.front();
+//                 v_buffer_imu_odom_pose_data_.pop();
+//             }
+
+
+
+//         }
+//     }
+
+
+
+// }
+
+// void Uwb::feed_imu_odom_pose_data(const Imu_odom_pose_data& imu_odom_pose_data){
+//     std::unique_lock<std::mutex> lock(mMutexUwb);
+//     v_buffer_imu_odom_pose_data_.push(imu_odom_pose_data);
+// }
+
diff --git a/project/projectCarLocation/.catkin_workspace b/project/projectCarLocation/.catkin_workspace
new file mode 100644
index 0000000..52fd97e
--- /dev/null
+++ b/project/projectCarLocation/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/project/projectCarLocation/.vscode/settings.json b/project/projectCarLocation/.vscode/settings.json
new file mode 100644
index 0000000..89bf389
--- /dev/null
+++ b/project/projectCarLocation/.vscode/settings.json
@@ -0,0 +1,71 @@
+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "codecvt": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "set": "cpp",
+        "source_location": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp",
+        "bit": "cpp",
+        "*.ipp": "cpp"
+    },
+    "cmake.sourceDirectory": "/home/firefly/project/projectCarLocation/src"
+}
\ No newline at end of file
diff --git a/project/projectCarLocation/1.26.1.txt b/project/projectCarLocation/1.26.1.txt
new file mode 100644
index 0000000..84c7400
--- /dev/null
+++ b/project/projectCarLocation/1.26.1.txt
@@ -0,0 +1,1712 @@
+imuDataRxTime,odomDataRxTime,uwbDataRxTime,aX,aY,aZ,gX,gY,gZ,mX,mY,mZ,qW,qX,qY,qZ,vXY,angleV,imuPosX,imuPosY,lightHousePosX,lightHousePosY,lightHousePosZ,lightHouseQW,lightHouseQX,lightHouseQY,lightHouseQZ,d1,d2,d3,aoa1,aoa2,aoa3
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\ No newline at end of file
diff --git a/project/projectCarLocation/1.26.2.txt b/project/projectCarLocation/1.26.2.txt
new file mode 100644
index 0000000..6f854d1
--- /dev/null
+++ b/project/projectCarLocation/1.26.2.txt
@@ -0,0 +1,13610 @@
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\ No newline at end of file
diff --git a/project/projectCarLocation/1.26.3.txt b/project/projectCarLocation/1.26.3.txt
new file mode 100644
index 0000000..910b6ec
--- /dev/null
+++ b/project/projectCarLocation/1.26.3.txt
@@ -0,0 +1,7751 @@
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\ No newline at end of file
diff --git a/project/projectCarLocation/1.26.4.txt b/project/projectCarLocation/1.26.4.txt
new file mode 100644
index 0000000..77d205d
--- /dev/null
+++ b/project/projectCarLocation/1.26.4.txt
@@ -0,0 +1,7769 @@
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\ No newline at end of file
diff --git a/project/projectCarLocation/1.26.5.txt b/project/projectCarLocation/1.26.5.txt
new file mode 100644
index 0000000..ea5f6d8
--- /dev/null
+++ b/project/projectCarLocation/1.26.5.txt
@@ -0,0 +1,7855 @@
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\ No newline at end of file
diff --git a/project/projectCarLocation/1.26.6.txt b/project/projectCarLocation/1.26.6.txt
new file mode 100644
index 0000000..b0e22fd
--- /dev/null
+++ b/project/projectCarLocation/1.26.6.txt
@@ -0,0 +1,8695 @@
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\ No newline at end of file
diff --git a/project/projectCarLocation/1.26.7.txt b/project/projectCarLocation/1.26.7.txt
new file mode 100644
index 0000000..da39935
--- /dev/null
+++ b/project/projectCarLocation/1.26.7.txt
@@ -0,0 +1,7910 @@
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\ No newline at end of file
diff --git a/project/projectCarLocation/1.26.8.txt b/project/projectCarLocation/1.26.8.txt
new file mode 100644
index 0000000..9e3ace1
--- /dev/null
+++ b/project/projectCarLocation/1.26.8.txt
@@ -0,0 +1,8145 @@
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\ No newline at end of file
diff --git a/project/projectCarLocation/1.26.9.txt b/project/projectCarLocation/1.26.9.txt
new file mode 100644
index 0000000..97b4392
--- /dev/null
+++ b/project/projectCarLocation/1.26.9.txt
@@ -0,0 +1,7673 @@
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\ No newline at end of file
diff --git a/project/projectCarLocation/build/.built_by b/project/projectCarLocation/build/.built_by
new file mode 100644
index 0000000..2e212dd
--- /dev/null
+++ b/project/projectCarLocation/build/.built_by
@@ -0,0 +1 @@
+catkin_make
\ No newline at end of file
diff --git a/project/projectCarLocation/build/CATKIN_IGNORE b/project/projectCarLocation/build/CATKIN_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectCarLocation/build/CMakeCache.txt b/project/projectCarLocation/build/CMakeCache.txt
new file mode 100644
index 0000000..46e48f3
--- /dev/null
+++ b/project/projectCarLocation/build/CMakeCache.txt
@@ -0,0 +1,777 @@
+# This is the CMakeCache file.
+# For build in directory: /home/firefly/project/projectCarLocation/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Builds the googlemock subproject
+BUILD_GMOCK:BOOL=ON
+
+//Build dynamically-linked binaries
+BUILD_SHARED_LIBS:BOOL=ON
+
+//The directory containing a CMake configuration file for Boost.
+Boost_DIR:PATH=/usr/local/lib/cmake/Boost-1.75.0
+
+//Path to a file.
+Boost_INCLUDE_DIR:PATH=/usr/local/include
+
+//List of ';' separated packages to exclude
+CATKIN_BLACKLIST_PACKAGES:STRING=
+
+//catkin devel space
+CATKIN_DEVEL_PREFIX:PATH=/home/firefly/project/projectCarLocation/devel
+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
+//Catkin skip testing
+CATKIN_SKIP_TESTING:BOOL=OFF
+
+//Replace the CMake install command with a custom implementation
+// using symlinks instead of copying resources
+CATKIN_SYMLINK_INSTALL:BOOL=OFF
+
+//List of ';' separated packages to build
+CATKIN_WHITELIST_PACKAGES:STRING=
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
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+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
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+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
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+
+//Flags used by the C compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the C compiler during DEBUG builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the C compiler during MINSIZEREL builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the C compiler during RELEASE builds.
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
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+
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+
+//Flags used by the linker during MINSIZEREL builds.
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+
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+
+//Flags used by the linker during RELWITHDEBINFO builds.
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+
+//Enable/Disable output of compile commands during generation.
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+
+//User executables (bin)
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+
+//Read-only architecture-independent data (DATAROOTDIR)
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+
+//Read-only architecture-independent data root (share)
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+
+//Documentation root (DATAROOTDIR/doc/PROJECT_NAME)
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+
+//C header files (include)
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+
+//Info documentation (DATAROOTDIR/info)
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+
+//Object code libraries (lib)
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+
+//Program executables (libexec)
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+
+//Locale-dependent data (DATAROOTDIR/locale)
+CMAKE_INSTALL_LOCALEDIR:PATH=
+
+//Modifiable single-machine data (var)
+CMAKE_INSTALL_LOCALSTATEDIR:PATH=var
+
+//Man documentation (DATAROOTDIR/man)
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+
+//C header files for non-gcc (/usr/include)
+CMAKE_INSTALL_OLDINCLUDEDIR:PATH=/usr/include
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/firefly/project/projectCarLocation/install
+
+//Run-time variable data (LOCALSTATEDIR/run)
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+
+//System admin executables (sbin)
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+
+//Modifiable architecture-independent data (com)
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+
+//Read-only single-machine data (etc)
+CMAKE_INSTALL_SYSCONFDIR:PATH=etc
+
+//Path to a program.
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+
+//Path to a program.
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+
+//Flags used by the linker during the creation of modules during
+// all build types.
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+
+//Flags used by the linker during the creation of modules during
+// DEBUG builds.
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+
+//Flags used by the linker during the creation of modules during
+// MINSIZEREL builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELEASE builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELWITHDEBINFO builds.
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+
+//Path to a program.
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+
+//Path to a program.
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+
+//Path to a program.
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+
+//Value Computed by CMake
+CMAKE_PROJECT_DESCRIPTION:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=Project
+
+//Value Computed by CMake
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+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+  || (defined(__ibmxl__) || defined(__IBMC__))
+#  define C_DIALECT "90"
+# else
+#  define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+  "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/project/projectCarLocation/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/project/projectCarLocation/build/CMakeFiles/3.16.3/CompilerIdC/a.out
new file mode 100755
index 0000000..1926469
Binary files /dev/null and b/project/projectCarLocation/build/CMakeFiles/3.16.3/CompilerIdC/a.out differ
diff --git a/project/projectCarLocation/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/project/projectCarLocation/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..69cfdba
--- /dev/null
+++ b/project/projectCarLocation/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
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+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
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+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
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+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
+#elif CXX_STD >= 201402L
+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
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+# Target rules for targets named ros_merge_test_generate_messages_py
+
+# Build rule for target.
+ros_merge_test_generate_messages_py: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_generate_messages_py
+.PHONY : ros_merge_test_generate_messages_py
+
+# fast build rule for target.
+ros_merge_test_generate_messages_py/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_py.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_py.dir/build
+.PHONY : ros_merge_test_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named std_msgs_generate_messages_nodejs
+
+# Build rule for target.
+std_msgs_generate_messages_nodejs: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_nodejs
+.PHONY : std_msgs_generate_messages_nodejs
+
+# fast build rule for target.
+std_msgs_generate_messages_nodejs/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/std_msgs_generate_messages_nodejs.dir/build.make ros_merge_test/CMakeFiles/std_msgs_generate_messages_nodejs.dir/build
+.PHONY : std_msgs_generate_messages_nodejs/fast
+
+#=============================================================================
+# Target rules for targets named geometry_msgs_generate_messages_eus
+
+# Build rule for target.
+geometry_msgs_generate_messages_eus: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 geometry_msgs_generate_messages_eus
+.PHONY : geometry_msgs_generate_messages_eus
+
+# fast build rule for target.
+geometry_msgs_generate_messages_eus/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/geometry_msgs_generate_messages_eus.dir/build.make ros_merge_test/CMakeFiles/geometry_msgs_generate_messages_eus.dir/build
+.PHONY : geometry_msgs_generate_messages_eus/fast
+
+#=============================================================================
+# Target rules for targets named roscpp_generate_messages_nodejs
+
+# Build rule for target.
+roscpp_generate_messages_nodejs: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 roscpp_generate_messages_nodejs
+.PHONY : roscpp_generate_messages_nodejs
+
+# fast build rule for target.
+roscpp_generate_messages_nodejs/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/roscpp_generate_messages_nodejs.dir/build.make ros_merge_test/CMakeFiles/roscpp_generate_messages_nodejs.dir/build
+.PHONY : roscpp_generate_messages_nodejs/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test
+
+# Build rule for target.
+ros_merge_test: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test
+.PHONY : ros_merge_test
+
+# fast build rule for target.
+ros_merge_test/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test.dir/build
+.PHONY : ros_merge_test/fast
+
+#=============================================================================
+# Target rules for targets named geometry_msgs_generate_messages_nodejs
+
+# Build rule for target.
+geometry_msgs_generate_messages_nodejs: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 geometry_msgs_generate_messages_nodejs
+.PHONY : geometry_msgs_generate_messages_nodejs
+
+# fast build rule for target.
+geometry_msgs_generate_messages_nodejs/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/geometry_msgs_generate_messages_nodejs.dir/build.make ros_merge_test/CMakeFiles/geometry_msgs_generate_messages_nodejs.dir/build
+.PHONY : geometry_msgs_generate_messages_nodejs/fast
+
+#=============================================================================
+# Target rules for targets named _ros_merge_test_generate_messages_check_deps_RawImu
+
+# Build rule for target.
+_ros_merge_test_generate_messages_check_deps_RawImu: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 _ros_merge_test_generate_messages_check_deps_RawImu
+.PHONY : _ros_merge_test_generate_messages_check_deps_RawImu
+
+# fast build rule for target.
+_ros_merge_test_generate_messages_check_deps_RawImu/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/_ros_merge_test_generate_messages_check_deps_RawImu.dir/build.make ros_merge_test/CMakeFiles/_ros_merge_test_generate_messages_check_deps_RawImu.dir/build
+.PHONY : _ros_merge_test_generate_messages_check_deps_RawImu/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test_gencpp
+
+# Build rule for target.
+ros_merge_test_gencpp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_gencpp
+.PHONY : ros_merge_test_gencpp
+
+# fast build rule for target.
+ros_merge_test_gencpp/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_gencpp.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_gencpp.dir/build
+.PHONY : ros_merge_test_gencpp/fast
+
+#=============================================================================
+# Target rules for targets named std_msgs_generate_messages_lisp
+
+# Build rule for target.
+std_msgs_generate_messages_lisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_lisp
+.PHONY : std_msgs_generate_messages_lisp
+
+# fast build rule for target.
+std_msgs_generate_messages_lisp/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/std_msgs_generate_messages_lisp.dir/build.make ros_merge_test/CMakeFiles/std_msgs_generate_messages_lisp.dir/build
+.PHONY : std_msgs_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test_generate_messages_eus
+
+# Build rule for target.
+ros_merge_test_generate_messages_eus: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_generate_messages_eus
+.PHONY : ros_merge_test_generate_messages_eus
+
+# fast build rule for target.
+ros_merge_test_generate_messages_eus/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_eus.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_eus.dir/build
+.PHONY : ros_merge_test_generate_messages_eus/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test_generate_messages_nodejs
+
+# Build rule for target.
+ros_merge_test_generate_messages_nodejs: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_generate_messages_nodejs
+.PHONY : ros_merge_test_generate_messages_nodejs
+
+# fast build rule for target.
+ros_merge_test_generate_messages_nodejs/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_nodejs.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_nodejs.dir/build
+.PHONY : ros_merge_test_generate_messages_nodejs/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test_generate_messages_lisp
+
+# Build rule for target.
+ros_merge_test_generate_messages_lisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_generate_messages_lisp
+.PHONY : ros_merge_test_generate_messages_lisp
+
+# fast build rule for target.
+ros_merge_test_generate_messages_lisp/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_lisp.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_lisp.dir/build
+.PHONY : ros_merge_test_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named roscpp_generate_messages_eus
+
+# Build rule for target.
+roscpp_generate_messages_eus: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 roscpp_generate_messages_eus
+.PHONY : roscpp_generate_messages_eus
+
+# fast build rule for target.
+roscpp_generate_messages_eus/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/roscpp_generate_messages_eus.dir/build.make ros_merge_test/CMakeFiles/roscpp_generate_messages_eus.dir/build
+.PHONY : roscpp_generate_messages_eus/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test_genlisp
+
+# Build rule for target.
+ros_merge_test_genlisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_genlisp
+.PHONY : ros_merge_test_genlisp
+
+# fast build rule for target.
+ros_merge_test_genlisp/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_genlisp.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_genlisp.dir/build
+.PHONY : ros_merge_test_genlisp/fast
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... install/strip"
+	@echo "... install/local"
+	@echo "... install"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... edit_cache"
+	@echo "... test"
+	@echo "... doxygen"
+	@echo "... run_tests"
+	@echo "... clean_test_results"
+	@echo "... tests"
+	@echo "... download_extra_data"
+	@echo "... gmock_main"
+	@echo "... gmock"
+	@echo "... gtest_main"
+	@echo "... gtest"
+	@echo "... ros_merge_test_node"
+	@echo "... ros_merge_test_genpy"
+	@echo "... ros_merge_test_gennodejs"
+	@echo "... rosgraph_msgs_generate_messages_py"
+	@echo "... roscpp_generate_messages_lisp"
+	@echo "... geometry_msgs_generate_messages_cpp"
+	@echo "... rosgraph_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_geneus"
+	@echo "... rosgraph_msgs_generate_messages_eus"
+	@echo "... std_msgs_generate_messages_cpp"
+	@echo "... rosgraph_msgs_generate_messages_cpp"
+	@echo "... std_msgs_generate_messages_eus"
+	@echo "... geometry_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_cpp"
+	@echo "... roscpp_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages"
+	@echo "... rosgraph_msgs_generate_messages_nodejs"
+	@echo "... roscpp_generate_messages_cpp"
+	@echo "... geometry_msgs_generate_messages_py"
+	@echo "... std_msgs_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages_py"
+	@echo "... std_msgs_generate_messages_nodejs"
+	@echo "... geometry_msgs_generate_messages_eus"
+	@echo "... roscpp_generate_messages_nodejs"
+	@echo "... ros_merge_test"
+	@echo "... geometry_msgs_generate_messages_nodejs"
+	@echo "... _ros_merge_test_generate_messages_check_deps_RawImu"
+	@echo "... ros_merge_test_gencpp"
+	@echo "... std_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_eus"
+	@echo "... ros_merge_test_generate_messages_nodejs"
+	@echo "... ros_merge_test_generate_messages_lisp"
+	@echo "... roscpp_generate_messages_eus"
+	@echo "... ros_merge_test_genlisp"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/project/projectCarLocation/build/atomic_configure/.rosinstall b/project/projectCarLocation/build/atomic_configure/.rosinstall
new file mode 100644
index 0000000..121715d
--- /dev/null
+++ b/project/projectCarLocation/build/atomic_configure/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/firefly/project/projectCarLocation/devel/setup.sh
diff --git a/project/projectCarLocation/build/atomic_configure/_setup_util.py b/project/projectCarLocation/build/atomic_configure/_setup_util.py
new file mode 100755
index 0000000..8c8000f
--- /dev/null
+++ b/project/projectCarLocation/build/atomic_configure/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/firefly/project/projectCarFollowing/devel;/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectCarLocation/build/atomic_configure/env.sh b/project/projectCarLocation/build/atomic_configure/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectCarLocation/build/atomic_configure/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectCarLocation/build/atomic_configure/local_setup.bash b/project/projectCarLocation/build/atomic_configure/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectCarLocation/build/atomic_configure/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectCarLocation/build/atomic_configure/local_setup.sh b/project/projectCarLocation/build/atomic_configure/local_setup.sh
new file mode 100644
index 0000000..0babd66
--- /dev/null
+++ b/project/projectCarLocation/build/atomic_configure/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarLocation/devel}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectCarLocation/build/atomic_configure/local_setup.zsh b/project/projectCarLocation/build/atomic_configure/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectCarLocation/build/atomic_configure/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectCarLocation/build/atomic_configure/setup.bash b/project/projectCarLocation/build/atomic_configure/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectCarLocation/build/atomic_configure/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectCarLocation/build/atomic_configure/setup.sh b/project/projectCarLocation/build/atomic_configure/setup.sh
new file mode 100644
index 0000000..7db6d27
--- /dev/null
+++ b/project/projectCarLocation/build/atomic_configure/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarLocation/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectCarLocation/build/atomic_configure/setup.zsh b/project/projectCarLocation/build/atomic_configure/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectCarLocation/build/atomic_configure/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectCarLocation/build/catkin/catkin_generated/version/package.cmake b/project/projectCarLocation/build/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 0000000..c37e287
--- /dev/null
+++ b/project/projectCarLocation/build/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,24 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.8.10")
+set(catkin_MAINTAINER "Michael Carroll <michael@openrobotics.org>, Tully Foote <tfoote@openrobotics.org>")
+set(catkin_PACKAGE_FORMAT "3")
+set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools")
+set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools")
+set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose")
+set(catkin_DOC_DEPENDS )
+set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin")
+set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues")
+set(catkin_URL_REPOSITORY "https://github.com/ros/catkin")
+set(catkin_DEPRECATED "")
\ No newline at end of file
diff --git a/project/projectCarLocation/build/catkin_generated/env_cached.sh b/project/projectCarLocation/build/catkin_generated/env_cached.sh
new file mode 100755
index 0000000..d6be91d
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/project/projectCarLocation/build/catkin_generated/generate_cached_setup.py b/project/projectCarLocation/build/catkin_generated/generate_cached_setup.py
new file mode 100644
index 0000000..e2716dc
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,30 @@
+# -*- coding: utf-8 -*-
+from __future__ import print_function
+
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in '/home/firefly/project/projectCarFollowing/devel;/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';'):
+        python_path = os.path.join(workspace, 'lib/python3/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/firefly/project/projectCarLocation/devel/env.sh')
+
+output_filename = '/home/firefly/project/projectCarLocation/build/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    # print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/project/projectCarLocation/build/catkin_generated/installspace/.rosinstall b/project/projectCarLocation/build/catkin_generated/installspace/.rosinstall
new file mode 100644
index 0000000..bafbdab
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/firefly/project/projectCarLocation/install/setup.sh
diff --git a/project/projectCarLocation/build/catkin_generated/installspace/_setup_util.py b/project/projectCarLocation/build/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 0000000..8c8000f
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/firefly/project/projectCarFollowing/devel;/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectCarLocation/build/catkin_generated/installspace/env.sh b/project/projectCarLocation/build/catkin_generated/installspace/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectCarLocation/build/catkin_generated/installspace/local_setup.bash b/project/projectCarLocation/build/catkin_generated/installspace/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/installspace/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectCarLocation/build/catkin_generated/installspace/local_setup.sh b/project/projectCarLocation/build/catkin_generated/installspace/local_setup.sh
new file mode 100644
index 0000000..b6261f0
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/installspace/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarLocation/install}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectCarLocation/build/catkin_generated/installspace/local_setup.zsh b/project/projectCarLocation/build/catkin_generated/installspace/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/installspace/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectCarLocation/build/catkin_generated/installspace/setup.bash b/project/projectCarLocation/build/catkin_generated/installspace/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectCarLocation/build/catkin_generated/installspace/setup.sh b/project/projectCarLocation/build/catkin_generated/installspace/setup.sh
new file mode 100644
index 0000000..761dddd
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/installspace/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarLocation/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectCarLocation/build/catkin_generated/installspace/setup.zsh b/project/projectCarLocation/build/catkin_generated/installspace/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectCarLocation/build/catkin_generated/order_packages.cmake b/project/projectCarLocation/build/catkin_generated/order_packages.cmake
new file mode 100644
index 0000000..776fe8c
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/order_packages.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+list(APPEND CATKIN_ORDERED_PACKAGES "ros_merge_test")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "ros_merge_test")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
+
+set(CATKIN_MESSAGE_GENERATORS )
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python3/dist-packages/catkin_pkg/templates/metapackage.cmake.in")
diff --git a/project/projectCarLocation/build/catkin_generated/order_packages.py b/project/projectCarLocation/build/catkin_generated/order_packages.py
new file mode 100644
index 0000000..3af78b1
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/order_packages.py
@@ -0,0 +1,5 @@
+# generated from catkin/cmake/template/order_packages.context.py.in
+source_root_dir = '/home/firefly/project/projectCarLocation/src'
+whitelisted_packages = ''.split(';') if '' != '' else []
+blacklisted_packages = ''.split(';') if '' != '' else []
+underlay_workspaces = '/home/firefly/project/projectCarFollowing/devel;/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';') if '/home/firefly/project/projectCarFollowing/devel;/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic' != '' else []
diff --git a/project/projectCarLocation/build/catkin_generated/setup_cached.sh b/project/projectCarLocation/build/catkin_generated/setup_cached.sh
new file mode 100755
index 0000000..83306d9
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/setup_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export CMAKE_PREFIX_PATH="/home/firefly/project/projectCarLocation/devel:$CMAKE_PREFIX_PATH"
+export LD_LIBRARY_PATH="/home/firefly/project/projectCarLocation/devel/lib:$LD_LIBRARY_PATH"
+export PKG_CONFIG_PATH="/home/firefly/project/projectCarLocation/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
+export PWD='/home/firefly/project/projectCarFollowing/build'
+export PYTHONPATH="/home/firefly/project/projectCarLocation/devel/lib/python3/dist-packages:$PYTHONPATH"
+export ROSLISP_PACKAGE_DIRECTORIES="/home/firefly/project/projectCarLocation/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
+export ROS_PACKAGE_PATH="/home/firefly/project/projectCarLocation/src:$ROS_PACKAGE_PATH"
\ No newline at end of file
diff --git a/project/projectCarLocation/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/project/projectCarLocation/build/catkin_generated/stamps/Project/_setup_util.py.stamp
new file mode 100755
index 0000000..8c8000f
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/stamps/Project/_setup_util.py.stamp
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/firefly/project/projectCarFollowing/devel;/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectCarLocation/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/project/projectCarLocation/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 0000000..5e25fbf
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,255 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+
+import os
+import runpy
+import sys
+from argparse import ArgumentParser
+
+setup_modules = []
+
+try:
+    import distutils.core
+    setup_modules.append(distutils.core)
+except ImportError:
+    pass
+
+try:
+    import setuptools
+    setup_modules.append(setuptools)
+except ImportError:
+    pass
+
+assert setup_modules, 'Must have distutils or setuptools installed'
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs.
+
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = os.path.join(parent_location, splits[key_len])
+                else:
+                    locations[key] = os.path.join(allprefix, key)
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None):
+    """
+    Generate lines to add to a cmake file which will set variables.
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :param pkgs: [list of str] python_packages declared in catkin package
+    :param modules: [list of str] python modules
+    :param setup_module: str, setuptools or distutils
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    if setup_module:
+        result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module))
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if '.' not in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        root_name = splits[0]
+        root_location = location
+        for _ in range(len(splits) - 1):
+            root_location = os.path.dirname(root_location)
+        if root_location != locations[root_name]:
+            raise RuntimeError(
+                'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [locations[pkg]]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/')))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/')))
+
+    return result
+
+
+def _create_mock_setup_function(setup_module, package_name, outfile):
+    """
+    Create a function to call instead of distutils.core.setup or setuptools.setup.
+
+    It just captures some args and writes them into a file that can be used from cmake.
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        """Check kwargs and write a scriptfile."""
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError('version not found in setup.py')
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules,
+                                     setup_module=setup_module)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """Script main, parses arguments and invokes Dummy.setup indirectly."""
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    backup_modules = {}
+    try:
+
+        for module in setup_modules:
+            backup_modules[id(module)] = module.setup
+            module.setup = _create_mock_setup_function(
+                setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile)
+
+        runpy.run_path(args.setupfile_path)
+    finally:
+        for module in setup_modules:
+            module.setup = backup_modules[id(module)]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/project/projectCarLocation/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/project/projectCarLocation/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
new file mode 100644
index 0000000..7ec7539
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
@@ -0,0 +1,70 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+@{
+import os
+try:
+    from catkin_pkg.cmake import get_metapackage_cmake_template_path
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.topological_order import topological_order
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.package import InvalidPackage
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+# vars defined in order_packages.context.py.in
+try:
+    ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces)
+except InvalidPackage as e:
+    print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"'))
+    ordered_packages = []
+fatal_error = False
+}@
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+@[for path, package in ordered_packages]@
+@[if path is None]@
+message(FATAL_ERROR "Circular dependency in subset of packages:\n@package")
+@{
+fatal_error = True
+}@
+@[elif package.name != 'catkin']@
+list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))")
+@{
+package.evaluate_conditions(os.environ)
+try:
+    build_type = package.get_build_type()
+except InvalidPackage:
+    build_type = None
+}@
+@[if build_type is None]@
+message(FATAL_ERROR "Only one <build_type> element is permitted for package '@(package.name)'.")
+@{
+fatal_error = True
+}@
+@[else]@
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())")
+@[end if]@
+@{
+deprecated = [e for e in package.exports if e.tagname == 'deprecated']
+}@
+@[if deprecated]@
+message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')")
+@[end if]@
+@[end if]@
+@[end for]@
+
+@[if not fatal_error]@
+@{
+message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]]
+}@
+set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators)))
+@[end if]@
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))")
diff --git a/project/projectCarLocation/build/catkin_generated/stamps/Project/package.xml.stamp b/project/projectCarLocation/build/catkin_generated/stamps/Project/package.xml.stamp
new file mode 100644
index 0000000..61e815f
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_generated/stamps/Project/package.xml.stamp
@@ -0,0 +1,49 @@
+<?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>catkin</name>
+  <version>0.8.10</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
+  <maintainer email="tfoote@openrobotics.org">Tully Foote</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
+
+  <author>Troy Straszheim</author>
+  <author>Morten Kjaergaard</author>
+  <author>Brian Gerkey</author>
+  <author>Dirk Thomas</author>
+
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-argparse</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2" version_gt="0.4.3">python-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3" version_gt="0.4.3">python3-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-empy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <buildtool_export_depend>cmake</buildtool_export_depend>
+  <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
+
+  <build_export_depend>google-mock</build_export_depend>
+  <build_export_depend>gtest</build_export_depend>
+  <build_export_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</build_export_depend>
+  <build_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</build_export_depend>
+
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+    <architecture_independent/>
+  </export>
+</package>
diff --git a/project/projectCarLocation/build/catkin_make.cache b/project/projectCarLocation/build/catkin_make.cache
new file mode 100644
index 0000000..70993da
--- /dev/null
+++ b/project/projectCarLocation/build/catkin_make.cache
@@ -0,0 +1,2 @@
+ros_merge_test
+-DCATKIN_DEVEL_PREFIX=/home/firefly/project/projectCarLocation/devel -DCMAKE_INSTALL_PREFIX=/home/firefly/project/projectCarLocation/install -G Unix Makefiles
\ No newline at end of file
diff --git a/project/projectCarLocation/build/cmake_install.cmake b/project/projectCarLocation/build/cmake_install.cmake
new file mode 100644
index 0000000..9699a2c
--- /dev/null
+++ b/project/projectCarLocation/build/cmake_install.cmake
@@ -0,0 +1,147 @@
+# Install script for directory: /home/firefly/project/projectCarLocation/src
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/firefly/project/projectCarLocation/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+      endif()
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+      endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarLocation/install/_setup_util.py")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarLocation/install" TYPE PROGRAM FILES "/home/firefly/project/projectCarLocation/build/catkin_generated/installspace/_setup_util.py")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarLocation/install/env.sh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarLocation/install" TYPE PROGRAM FILES "/home/firefly/project/projectCarLocation/build/catkin_generated/installspace/env.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarLocation/install/setup.bash;/home/firefly/project/projectCarLocation/install/local_setup.bash")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarLocation/install" TYPE FILE FILES
+    "/home/firefly/project/projectCarLocation/build/catkin_generated/installspace/setup.bash"
+    "/home/firefly/project/projectCarLocation/build/catkin_generated/installspace/local_setup.bash"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarLocation/install/setup.sh;/home/firefly/project/projectCarLocation/install/local_setup.sh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarLocation/install" TYPE FILE FILES
+    "/home/firefly/project/projectCarLocation/build/catkin_generated/installspace/setup.sh"
+    "/home/firefly/project/projectCarLocation/build/catkin_generated/installspace/local_setup.sh"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarLocation/install/setup.zsh;/home/firefly/project/projectCarLocation/install/local_setup.zsh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarLocation/install" TYPE FILE FILES
+    "/home/firefly/project/projectCarLocation/build/catkin_generated/installspace/setup.zsh"
+    "/home/firefly/project/projectCarLocation/build/catkin_generated/installspace/local_setup.zsh"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/project/projectCarLocation/install/.rosinstall")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/project/projectCarLocation/install" TYPE FILE FILES "/home/firefly/project/projectCarLocation/build/catkin_generated/installspace/.rosinstall")
+endif()
+
+if(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  include("/home/firefly/project/projectCarLocation/build/gtest/cmake_install.cmake")
+  include("/home/firefly/project/projectCarLocation/build/ros_merge_test/cmake_install.cmake")
+
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/home/firefly/project/projectCarLocation/build/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/project/projectCarLocation/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/project/projectCarLocation/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644
index 0000000..c71855a
--- /dev/null
+++ b/project/projectCarLocation/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -0,0 +1,16 @@
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+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Relative path conversion top directories.
+set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/googletest")
+set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/firefly/project/projectCarLocation/build")
+
+# Force unix paths in dependencies.
+set(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
diff --git a/project/projectCarLocation/build/gtest/CMakeFiles/progress.marks b/project/projectCarLocation/build/gtest/CMakeFiles/progress.marks
new file mode 100644
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new file mode 100644
index 0000000..abd6d05
--- /dev/null
+++ b/project/projectCarLocation/build/gtest/CTestTestfile.cmake
@@ -0,0 +1,7 @@
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+# Source directory: /usr/src/googletest
+# Build directory: /home/firefly/project/projectCarLocation/build/gtest
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
+subdirs("googlemock")
diff --git a/project/projectCarLocation/build/gtest/Makefile b/project/projectCarLocation/build/gtest/Makefile
new file mode 100644
index 0000000..7465207
--- /dev/null
+++ b/project/projectCarLocation/build/gtest/Makefile
@@ -0,0 +1,196 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Default target executed when no arguments are given to make.
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+
+.PHONY : default_target
+
+# Allow only one "make -f Makefile2" at a time, but pass parallelism.
+.NOTPARALLEL:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
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+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
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+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/firefly/project/projectCarLocation/src
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/firefly/project/projectCarLocation/build
+
+#=============================================================================
+# Targets provided globally by CMake.
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+# Special rule for the target install/strip
+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
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+install/local: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
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+install/local/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
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+# Special rule for the target install
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
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+.PHONY : install/fast
+
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+list_install_components:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\""
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+# Special rule for the target list_install_components
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+	/usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
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+.PHONY : edit_cache
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+
+# Special rule for the target test
+test/fast: test
+
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+
+# The main all target
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+	cd /home/firefly/project/projectCarLocation/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/firefly/project/projectCarLocation/build/CMakeFiles /home/firefly/project/projectCarLocation/build/gtest/CMakeFiles/progress.marks
+	cd /home/firefly/project/projectCarLocation/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/firefly/project/projectCarLocation/build/CMakeFiles 0
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+
+# The main clean target
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+	cd /home/firefly/project/projectCarLocation/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/clean
+.PHONY : clean
+
+# The main clean target
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+
+.PHONY : clean/fast
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+	cd /home/firefly/project/projectCarLocation/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
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+	cd /home/firefly/project/projectCarLocation/build && $(MAKE) -f CMakeFiles/Makefile2 gtest/preinstall
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+
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+.PHONY : depend
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+# Help Target
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+	@echo "... clean"
+	@echo "... depend"
+	@echo "... install/strip"
+	@echo "... install/local"
+	@echo "... install"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... edit_cache"
+	@echo "... test"
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+
+
+
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+
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+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
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new file mode 100644
index 0000000..27e4029
--- /dev/null
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@@ -0,0 +1,45 @@
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+  # Include the install script for each subdirectory.
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@@ -0,0 +1,16 @@
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+  "gmock_EXPORTS"
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+  "/usr/src/googletest/googlemock/include"
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+	@echo "... roscpp_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages"
+	@echo "... rosgraph_msgs_generate_messages_nodejs"
+	@echo "... roscpp_generate_messages_cpp"
+	@echo "... geometry_msgs_generate_messages_py"
+	@echo "... std_msgs_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages_py"
+	@echo "... std_msgs_generate_messages_nodejs"
+	@echo "... geometry_msgs_generate_messages_eus"
+	@echo "... roscpp_generate_messages_nodejs"
+	@echo "... ros_merge_test"
+	@echo "... geometry_msgs_generate_messages_nodejs"
+	@echo "... _ros_merge_test_generate_messages_check_deps_RawImu"
+	@echo "... ros_merge_test_gencpp"
+	@echo "... std_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_eus"
+	@echo "... ros_merge_test_generate_messages_nodejs"
+	@echo "... ros_merge_test_generate_messages_lisp"
+	@echo "... rebuild_cache"
+	@echo "... roscpp_generate_messages_eus"
+	@echo "... ros_merge_test_genlisp"
+	@echo "... src/Mat.o"
+	@echo "... src/Mat.i"
+	@echo "... src/Mat.s"
+	@echo "... src/align.o"
+	@echo "... src/align.i"
+	@echo "... src/align.s"
+	@echo "... src/lighthouse.o"
+	@echo "... src/lighthouse.i"
+	@echo "... src/lighthouse.s"
+	@echo "... src/main.o"
+	@echo "... src/main.i"
+	@echo "... src/main.s"
+	@echo "... src/mapping.o"
+	@echo "... src/mapping.i"
+	@echo "... src/mapping.s"
+	@echo "... src/senddata.o"
+	@echo "... src/senddata.i"
+	@echo "... src/senddata.s"
+	@echo "... src/system.o"
+	@echo "... src/system.i"
+	@echo "... src/system.s"
+	@echo "... src/uwb.o"
+	@echo "... src/uwb.i"
+	@echo "... src/uwb.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/firefly/project/projectCarLocation/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake b/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake
new file mode 100644
index 0000000..4d4311a
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "msg/RawImu.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake b/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake
new file mode 100644
index 0000000..9b6cf00
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+
+_prepend_path("${ros_merge_test_DIR}/.." "msg" ros_merge_test_MSG_INCLUDE_DIRS UNIQUE)
+set(ros_merge_test_MSG_DEPENDENCIES std_msgs;geometry_msgs)
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc b/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc
new file mode 100644
index 0000000..bcb7f92
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc
@@ -0,0 +1,8 @@
+prefix=/home/firefly/project/projectCarLocation/install
+
+Name: ros_merge_test
+Description: Description of ros_merge_test
+Version: 0.0.0
+Cflags: -I${prefix}/include
+Libs: -L${prefix}/lib 
+Requires: message_runtime std_msgs geometry_msgs
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake b/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake
new file mode 100644
index 0000000..7fd9f99
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake b/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake
new file mode 100644
index 0000000..03c4e79
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(ros_merge_test_CONFIG_INCLUDED)
+  return()
+endif()
+set(ros_merge_test_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(ros_merge_test_SOURCE_PREFIX /home/firefly/project/projectCarLocation/src/ros_merge_test)
+  set(ros_merge_test_DEVEL_PREFIX /home/firefly/project/projectCarLocation/devel)
+  set(ros_merge_test_INSTALL_PREFIX "")
+  set(ros_merge_test_PREFIX ${ros_merge_test_DEVEL_PREFIX})
+else()
+  set(ros_merge_test_SOURCE_PREFIX "")
+  set(ros_merge_test_DEVEL_PREFIX "")
+  set(ros_merge_test_INSTALL_PREFIX /home/firefly/project/projectCarLocation/install)
+  set(ros_merge_test_PREFIX ${ros_merge_test_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'ros_merge_test' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(ros_merge_test_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "include " STREQUAL " ")
+  set(ros_merge_test_INCLUDE_DIRS "")
+  set(_include_dirs "include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'luoruidi <luoruidi@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${ros_merge_test_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(ros_merge_test_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT ros_merge_test_NUM_DUMMY_TARGETS)
+      set(ros_merge_test_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR ros_merge_test_NUM_DUMMY_TARGETS "${ros_merge_test_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND ros_merge_test_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/firefly/project/projectCarLocation/install/lib;/home/firefly/project/projectCarFollowing/devel/lib;/home/firefly/pibot_ros/ros_ws/devel/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(ros_merge_test_LIBRARY_DIRS ${lib_path})
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'ros_merge_test'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(ros_merge_test_EXPORTED_TARGETS "ros_merge_test_generate_messages_cpp;ros_merge_test_generate_messages_eus;ros_merge_test_generate_messages_lisp;ros_merge_test_generate_messages_nodejs;ros_merge_test_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${ros_merge_test_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "message_runtime;std_msgs;geometry_msgs")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 ros_merge_test_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${ros_merge_test_dep}_FOUND)
+      find_package(${ros_merge_test_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${ros_merge_test_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(ros_merge_test_INCLUDE_DIRS ${${ros_merge_test_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${ros_merge_test_dep}_LIBRARIES})
+  _list_append_deduplicate(ros_merge_test_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+
+  _list_append_unique(ros_merge_test_LIBRARY_DIRS ${${ros_merge_test_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(ros_merge_test_EXPORTED_TARGETS ${${ros_merge_test_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "ros_merge_test-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${ros_merge_test_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/ordered_paths.cmake b/project/projectCarLocation/build/ros_merge_test/catkin_generated/ordered_paths.cmake
new file mode 100644
index 0000000..454cf03
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/noetic/lib")
\ No newline at end of file
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/package.cmake b/project/projectCarLocation/build/ros_merge_test/catkin_generated/package.cmake
new file mode 100644
index 0000000..a8f207e
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/package.cmake
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "ros_merge_test")
+set(ros_merge_test_VERSION "0.0.0")
+set(ros_merge_test_MAINTAINER "luoruidi <luoruidi@todo.todo>")
+set(ros_merge_test_PACKAGE_FORMAT "2")
+set(ros_merge_test_BUILD_DEPENDS "roscpp" "rospy" "std_msgs" "geometry_msgs" "message_generation")
+set(ros_merge_test_BUILD_EXPORT_DEPENDS "roscpp" "rospy" "std_msgs")
+set(ros_merge_test_BUILDTOOL_DEPENDS "catkin")
+set(ros_merge_test_BUILDTOOL_EXPORT_DEPENDS )
+set(ros_merge_test_EXEC_DEPENDS "roscpp" "rospy" "std_msgs" "message_runtime" "geometry_msgs")
+set(ros_merge_test_RUN_DEPENDS "roscpp" "rospy" "std_msgs" "message_runtime" "geometry_msgs")
+set(ros_merge_test_TEST_DEPENDS )
+set(ros_merge_test_DOC_DEPENDS )
+set(ros_merge_test_URL_WEBSITE "")
+set(ros_merge_test_URL_BUGTRACKER "")
+set(ros_merge_test_URL_REPOSITORY "")
+set(ros_merge_test_DEPRECATED "")
\ No newline at end of file
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py b/project/projectCarLocation/build/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 0000000..eaf9250
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/home/firefly/project/projectCarLocation/devel/include".split(';') if "/home/firefly/project/projectCarLocation/devel/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "message_runtime;std_msgs;geometry_msgs".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "ros_merge_test"
+PROJECT_SPACE_DIR = "/home/firefly/project/projectCarLocation/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py b/project/projectCarLocation/build/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 0000000..37d9af2
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "message_runtime;std_msgs;geometry_msgs".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "ros_merge_test"
+PROJECT_SPACE_DIR = "/home/firefly/project/projectCarLocation/install"
+PROJECT_VERSION = "0.0.0"
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.develspace.in b/project/projectCarLocation/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.develspace.in
new file mode 100644
index 0000000..7f9146d
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.develspace.in
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.installspace.in b/project/projectCarLocation/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.installspace.in
new file mode 100644
index 0000000..4d4311a
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.installspace.in
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "msg/RawImu.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp b/project/projectCarLocation/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp
new file mode 100644
index 0000000..dee5884
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_merge_test</name>
+  <version>0.0.0</version>
+  <description>The ros_merge_test package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ros_merge_test</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg-genmsg.cmake.em.stamp b/project/projectCarLocation/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg-genmsg.cmake.em.stamp
new file mode 100644
index 0000000..eca9adc
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg-genmsg.cmake.em.stamp
@@ -0,0 +1,167 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+@{
+import os
+import sys
+
+import genmsg
+import genmsg.base
+genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ)
+import genmsg.deps
+import genmsg.gentools
+
+# split incoming variables
+messages = messages_str.split(';') if messages_str != '' else []
+services = services_str.split(';') if services_str != '' else []
+dependencies = dependencies_str.split(';') if dependencies_str != '' else []
+dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else []
+
+dep_search_paths_dict = {}
+dep_search_paths_tuple_list = []
+is_even = True
+for val in dep_search_paths:
+    if is_even:
+        dep_search_paths_dict.setdefault(val, [])
+        val_prev = val
+        is_even = False
+    else:
+        dep_search_paths_dict[val_prev].append(val)
+        dep_search_paths_tuple_list.append((val_prev, val))
+        is_even = True
+dep_search_paths = dep_search_paths_dict
+
+if not messages and not services:
+    print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")')
+
+msg_deps = {}
+msg_dep_types = {}
+for m in messages:
+  try:
+    _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths)
+    msg_deps[m] = [d[1] for d in _deps]
+    msg_dep_types[m] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"')))
+
+srv_deps = {}
+srv_dep_types = {}
+for s in services:
+  try:
+    _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths)
+    srv_deps[s] = [d[1] for d in _deps]
+    srv_dep_types[s] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"')))
+
+}@
+message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services")
+
+set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))")
+
+# Find all generators
+@[if langs]@
+@[for l in langs.split(';')]@
+find_package(@l REQUIRED)
+@[end for]@
+@[end if]@
+
+add_custom_target(@(pkg_name)_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))}
+@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))}
+@[for f in all_deps.keys()]@
+@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')}
+get_filename_component(_filename "@(f)" NAME_WE)
+add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)"
+)
+@[end for]@# messages and services
+
+#
+#  langs = @langs
+#
+
+@[if langs]@
+@[for l in langs.split(';')]@
+### Section generating for lang: @l
+### Generating Messages
+@[for m in msg_deps.keys()]@
+_generate_msg_@(l[3:])(@pkg_name
+  "@m"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(msg_deps[m]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# messages
+
+### Generating Services
+@[for s in srv_deps.keys()]@
+_generate_srv_@(l[3:])(@pkg_name
+  "@s"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(srv_deps[s]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# services
+
+### Generating Module File
+_generate_module_@(l[3:])(@pkg_name
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+  "${ALL_GEN_OUTPUT_FILES_@(l[3:])}"
+)
+
+add_custom_target(@(pkg_name)_generate_messages_@(l[3:])
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])}
+)
+add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:]))
+
+# add dependencies to all check dependencies targets
+@[for f in all_deps.keys()]@
+get_filename_component(_filename "@(f)" NAME_WE)
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename})
+@[end for]@# messages and services
+
+# target for backward compatibility
+add_custom_target(@(pkg_name)_@(l))
+add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:]))
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:]))
+
+@[end for]@# langs
+@[end if]@
+
+@[if langs]@
+@[for l in langs.split(';')]@
+
+if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name)
+@[if l == 'genpy']@
+  install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")")
+@[end if]@
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+@[if l == 'genpy' and package_has_static_sources]@
+    # skip all init files
+    PATTERN "__init__.py" EXCLUDE
+    PATTERN "__init__.pyc" EXCLUDE
+  )
+  # install init files which are not in the root folder of the generated code
+  string(REGEX REPLACE "([][+.*()^])" "\\\\\\1" ESCAPED_PATH "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)")
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+    FILES_MATCHING
+    REGEX "${ESCAPED_PATH}/.+/__init__.pyc?$"
+@[end if]@
+  )
+endif()
+@[for d in dependencies]@
+if(TARGET @(d)_generate_messages_@(l[3:]))
+  add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:]))
+endif()
+@[end for]@# dependencies
+@[end for]@# langs
+@[end if]@
diff --git a/project/projectCarLocation/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp b/project/projectCarLocation/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp
new file mode 100644
index 0000000..549fb75
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp
@@ -0,0 +1,8 @@
+prefix=@PROJECT_SPACE_DIR
+
+Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
+Description: Description of @PROJECT_NAME
+Version: @PROJECT_VERSION
+Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
+Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/project/projectCarLocation/build/ros_merge_test/cmake/ros_merge_test-genmsg-context.py b/project/projectCarLocation/build/ros_merge_test/cmake/ros_merge_test-genmsg-context.py
new file mode 100644
index 0000000..b10f5e7
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/cmake/ros_merge_test-genmsg-context.py
@@ -0,0 +1,11 @@
+# generated from genmsg/cmake/pkg-genmsg.context.in
+
+messages_str = "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg"
+services_str = ""
+pkg_name = "ros_merge_test"
+dependencies_str = "std_msgs;geometry_msgs"
+langs = "gencpp;geneus;genlisp;gennodejs;genpy"
+dep_include_paths_str = "ros_merge_test;/home/firefly/project/projectCarLocation/src/ros_merge_test/msg;std_msgs;/opt/ros/noetic/share/std_msgs/cmake/../msg;geometry_msgs;/opt/ros/noetic/share/geometry_msgs/cmake/../msg"
+PYTHON_EXECUTABLE = "/usr/bin/python3"
+package_has_static_sources = '' == 'TRUE'
+genmsg_check_deps_script = "/opt/ros/noetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py"
diff --git a/project/projectCarLocation/build/ros_merge_test/cmake/ros_merge_test-genmsg.cmake b/project/projectCarLocation/build/ros_merge_test/cmake/ros_merge_test-genmsg.cmake
new file mode 100644
index 0000000..7dcb2ad
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/cmake/ros_merge_test-genmsg.cmake
@@ -0,0 +1,265 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+message(STATUS "ros_merge_test: 1 messages, 0 services")
+
+set(MSG_I_FLAGS "-Iros_merge_test:/home/firefly/project/projectCarLocation/src/ros_merge_test/msg;-Istd_msgs:/opt/ros/noetic/share/std_msgs/cmake/../msg;-Igeometry_msgs:/opt/ros/noetic/share/geometry_msgs/cmake/../msg")
+
+# Find all generators
+find_package(gencpp REQUIRED)
+find_package(geneus REQUIRED)
+find_package(genlisp REQUIRED)
+find_package(gennodejs REQUIRED)
+find_package(genpy REQUIRED)
+
+add_custom_target(ros_merge_test_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+
+
+
+get_filename_component(_filename "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_custom_target(_ros_merge_test_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "ros_merge_test" "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg" "std_msgs/Header:geometry_msgs/Vector3"
+)
+
+#
+#  langs = gencpp;geneus;genlisp;gennodejs;genpy
+#
+
+### Section generating for lang: gencpp
+### Generating Messages
+_generate_msg_cpp(ros_merge_test
+  "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg;/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_cpp(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_cpp}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_cpp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_cpp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_cpp _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_gencpp)
+add_dependencies(ros_merge_test_gencpp ros_merge_test_generate_messages_cpp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_cpp)
+
+### Section generating for lang: geneus
+### Generating Messages
+_generate_msg_eus(ros_merge_test
+  "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg;/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg"
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_eus(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_eus}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_eus
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_eus}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_eus)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_eus _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_geneus)
+add_dependencies(ros_merge_test_geneus ros_merge_test_generate_messages_eus)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_eus)
+
+### Section generating for lang: genlisp
+### Generating Messages
+_generate_msg_lisp(ros_merge_test
+  "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg;/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_lisp(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_lisp}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_lisp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_lisp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_lisp _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_genlisp)
+add_dependencies(ros_merge_test_genlisp ros_merge_test_generate_messages_lisp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_lisp)
+
+### Section generating for lang: gennodejs
+### Generating Messages
+_generate_msg_nodejs(ros_merge_test
+  "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg;/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_nodejs(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_nodejs}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_nodejs
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_nodejs)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_nodejs _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_gennodejs)
+add_dependencies(ros_merge_test_gennodejs ros_merge_test_generate_messages_nodejs)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_nodejs)
+
+### Section generating for lang: genpy
+### Generating Messages
+_generate_msg_py(ros_merge_test
+  "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg;/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_py(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_py}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_py
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_py}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_py)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_py _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_genpy)
+add_dependencies(ros_merge_test_genpy ros_merge_test_generate_messages_py)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_py)
+
+
+
+if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${gencpp_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_cpp)
+  add_dependencies(ros_merge_test_generate_messages_cpp std_msgs_generate_messages_cpp)
+endif()
+if(TARGET geometry_msgs_generate_messages_cpp)
+  add_dependencies(ros_merge_test_generate_messages_cpp geometry_msgs_generate_messages_cpp)
+endif()
+
+if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${geneus_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_eus)
+  add_dependencies(ros_merge_test_generate_messages_eus std_msgs_generate_messages_eus)
+endif()
+if(TARGET geometry_msgs_generate_messages_eus)
+  add_dependencies(ros_merge_test_generate_messages_eus geometry_msgs_generate_messages_eus)
+endif()
+
+if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${genlisp_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_lisp)
+  add_dependencies(ros_merge_test_generate_messages_lisp std_msgs_generate_messages_lisp)
+endif()
+if(TARGET geometry_msgs_generate_messages_lisp)
+  add_dependencies(ros_merge_test_generate_messages_lisp geometry_msgs_generate_messages_lisp)
+endif()
+
+if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${gennodejs_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_nodejs)
+  add_dependencies(ros_merge_test_generate_messages_nodejs std_msgs_generate_messages_nodejs)
+endif()
+if(TARGET geometry_msgs_generate_messages_nodejs)
+  add_dependencies(ros_merge_test_generate_messages_nodejs geometry_msgs_generate_messages_nodejs)
+endif()
+
+if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test)
+  install(CODE "execute_process(COMMAND \"/usr/bin/python3\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test\")")
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${genpy_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_py)
+  add_dependencies(ros_merge_test_generate_messages_py std_msgs_generate_messages_py)
+endif()
+if(TARGET geometry_msgs_generate_messages_py)
+  add_dependencies(ros_merge_test_generate_messages_py geometry_msgs_generate_messages_py)
+endif()
diff --git a/project/projectCarLocation/build/ros_merge_test/cmake_install.cmake b/project/projectCarLocation/build/ros_merge_test/cmake_install.cmake
new file mode 100644
index 0000000..3582bad
--- /dev/null
+++ b/project/projectCarLocation/build/ros_merge_test/cmake_install.cmake
@@ -0,0 +1,90 @@
+# Install script for directory: /home/firefly/project/projectCarLocation/src/ros_merge_test
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/firefly/project/projectCarLocation/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/msg" TYPE FILE FILES "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/cmake" TYPE FILE FILES "/home/firefly/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/firefly/project/projectCarLocation/devel/include/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/roseus/ros" TYPE DIRECTORY FILES "/home/firefly/project/projectCarLocation/devel/share/roseus/ros/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/common-lisp/ros" TYPE DIRECTORY FILES "/home/firefly/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/gennodejs/ros" TYPE DIRECTORY FILES "/home/firefly/project/projectCarLocation/devel/share/gennodejs/ros/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  execute_process(COMMAND "/usr/bin/python3" -m compileall "/home/firefly/project/projectCarLocation/devel/lib/python3/dist-packages/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python3/dist-packages" TYPE DIRECTORY FILES "/home/firefly/project/projectCarLocation/devel/lib/python3/dist-packages/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/firefly/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/cmake" TYPE FILE FILES "/home/firefly/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/cmake" TYPE FILE FILES
+    "/home/firefly/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake"
+    "/home/firefly/project/projectCarLocation/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test" TYPE FILE FILES "/home/firefly/project/projectCarLocation/src/ros_merge_test/package.xml")
+endif()
+
diff --git a/project/projectCarLocation/data.txt b/project/projectCarLocation/data.txt
new file mode 100644
index 0000000..24f8f21
--- /dev/null
+++ b/project/projectCarLocation/data.txt
@@ -0,0 +1,2 @@
+imuDataRxTime,odomDataRxTime,uwbDataRxTime,aX,aY,aZ,gX,gY,gZ,mX,mY,mZ,qW,qX,qY,qZ,vXY,angleV,imuPosX,imuPosY,lightHousePosX,lightHousePosY,lightHousePosZ,lightHouseQW,lightHouseQX,lightHouseQY,lightHouseQZ,d1,d2,d3,aoa1,aoa2,aoa3
+0.000000000,0.000000000,0.000000000,
\ No newline at end of file
diff --git a/project/projectCarLocation/devel/.built_by b/project/projectCarLocation/devel/.built_by
new file mode 100644
index 0000000..2e212dd
--- /dev/null
+++ b/project/projectCarLocation/devel/.built_by
@@ -0,0 +1 @@
+catkin_make
\ No newline at end of file
diff --git a/project/projectCarLocation/devel/.catkin b/project/projectCarLocation/devel/.catkin
new file mode 100644
index 0000000..81a6d7c
--- /dev/null
+++ b/project/projectCarLocation/devel/.catkin
@@ -0,0 +1 @@
+/home/firefly/project/projectCarLocation/src
\ No newline at end of file
diff --git a/project/projectCarLocation/devel/.rosinstall b/project/projectCarLocation/devel/.rosinstall
new file mode 100644
index 0000000..121715d
--- /dev/null
+++ b/project/projectCarLocation/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/firefly/project/projectCarLocation/devel/setup.sh
diff --git a/project/projectCarLocation/devel/_setup_util.py b/project/projectCarLocation/devel/_setup_util.py
new file mode 100755
index 0000000..8c8000f
--- /dev/null
+++ b/project/projectCarLocation/devel/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/firefly/project/projectCarFollowing/devel;/home/firefly/pibot_ros/ros_ws/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectCarLocation/devel/cmake.lock b/project/projectCarLocation/devel/cmake.lock
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectCarLocation/devel/env.sh b/project/projectCarLocation/devel/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectCarLocation/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectCarLocation/devel/include/ros_merge_test/RawImu.h b/project/projectCarLocation/devel/include/ros_merge_test/RawImu.h
new file mode 100644
index 0000000..4e2a74e
--- /dev/null
+++ b/project/projectCarLocation/devel/include/ros_merge_test/RawImu.h
@@ -0,0 +1,292 @@
+// Generated by gencpp from file ros_merge_test/RawImu.msg
+// DO NOT EDIT!
+
+
+#ifndef ROS_MERGE_TEST_MESSAGE_RAWIMU_H
+#define ROS_MERGE_TEST_MESSAGE_RAWIMU_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <std_msgs/Header.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Vector3.h>
+
+namespace ros_merge_test
+{
+template <class ContainerAllocator>
+struct RawImu_
+{
+  typedef RawImu_<ContainerAllocator> Type;
+
+  RawImu_()
+    : header()
+    , accelerometer(false)
+    , gyroscope(false)
+    , magnetometer(false)
+    , raw_linear_acceleration()
+    , raw_angular_velocity()
+    , raw_magnetic_field()  {
+    }
+  RawImu_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , accelerometer(false)
+    , gyroscope(false)
+    , magnetometer(false)
+    , raw_linear_acceleration(_alloc)
+    , raw_angular_velocity(_alloc)
+    , raw_magnetic_field(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+  _header_type header;
+
+   typedef uint8_t _accelerometer_type;
+  _accelerometer_type accelerometer;
+
+   typedef uint8_t _gyroscope_type;
+  _gyroscope_type gyroscope;
+
+   typedef uint8_t _magnetometer_type;
+  _magnetometer_type magnetometer;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _raw_linear_acceleration_type;
+  _raw_linear_acceleration_type raw_linear_acceleration;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _raw_angular_velocity_type;
+  _raw_angular_velocity_type raw_angular_velocity;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _raw_magnetic_field_type;
+  _raw_magnetic_field_type raw_magnetic_field;
+
+
+
+
+
+  typedef boost::shared_ptr< ::ros_merge_test::RawImu_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ros_merge_test::RawImu_<ContainerAllocator> const> ConstPtr;
+
+}; // struct RawImu_
+
+typedef ::ros_merge_test::RawImu_<std::allocator<void> > RawImu;
+
+typedef boost::shared_ptr< ::ros_merge_test::RawImu > RawImuPtr;
+typedef boost::shared_ptr< ::ros_merge_test::RawImu const> RawImuConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ros_merge_test::RawImu_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ros_merge_test::RawImu_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::ros_merge_test::RawImu_<ContainerAllocator1> & lhs, const ::ros_merge_test::RawImu_<ContainerAllocator2> & rhs)
+{
+  return lhs.header == rhs.header &&
+    lhs.accelerometer == rhs.accelerometer &&
+    lhs.gyroscope == rhs.gyroscope &&
+    lhs.magnetometer == rhs.magnetometer &&
+    lhs.raw_linear_acceleration == rhs.raw_linear_acceleration &&
+    lhs.raw_angular_velocity == rhs.raw_angular_velocity &&
+    lhs.raw_magnetic_field == rhs.raw_magnetic_field;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::ros_merge_test::RawImu_<ContainerAllocator1> & lhs, const ::ros_merge_test::RawImu_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace ros_merge_test
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsMessage< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ros_merge_test::RawImu_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ros_merge_test::RawImu_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ros_merge_test::RawImu_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "3bc0ea37781da51ad41a6868ff62faa9";
+  }
+
+  static const char* value(const ::ros_merge_test::RawImu_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x3bc0ea37781da51aULL;
+  static const uint64_t static_value2 = 0xd41a6868ff62faa9ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ros_merge_test/RawImu";
+  }
+
+  static const char* value(const ::ros_merge_test::RawImu_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "Header header\n"
+"bool accelerometer\n"
+"bool gyroscope\n"
+"bool magnetometer\n"
+"geometry_msgs/Vector3 raw_linear_acceleration\n"
+"geometry_msgs/Vector3 raw_angular_velocity\n"
+"geometry_msgs/Vector3 raw_magnetic_field\n"
+"\n"
+"================================================================================\n"
+"MSG: std_msgs/Header\n"
+"# Standard metadata for higher-level stamped data types.\n"
+"# This is generally used to communicate timestamped data \n"
+"# in a particular coordinate frame.\n"
+"# \n"
+"# sequence ID: consecutively increasing ID \n"
+"uint32 seq\n"
+"#Two-integer timestamp that is expressed as:\n"
+"# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n"
+"# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n"
+"# time-handling sugar is provided by the client library\n"
+"time stamp\n"
+"#Frame this data is associated with\n"
+"string frame_id\n"
+"\n"
+"================================================================================\n"
+"MSG: geometry_msgs/Vector3\n"
+"# This represents a vector in free space. \n"
+"# It is only meant to represent a direction. Therefore, it does not\n"
+"# make sense to apply a translation to it (e.g., when applying a \n"
+"# generic rigid transformation to a Vector3, tf2 will only apply the\n"
+"# rotation). If you want your data to be translatable too, use the\n"
+"# geometry_msgs/Point message instead.\n"
+"\n"
+"float64 x\n"
+"float64 y\n"
+"float64 z\n"
+;
+  }
+
+  static const char* value(const ::ros_merge_test::RawImu_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.header);
+      stream.next(m.accelerometer);
+      stream.next(m.gyroscope);
+      stream.next(m.magnetometer);
+      stream.next(m.raw_linear_acceleration);
+      stream.next(m.raw_angular_velocity);
+      stream.next(m.raw_magnetic_field);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct RawImu_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ros_merge_test::RawImu_<ContainerAllocator>& v)
+  {
+    s << indent << "header: ";
+    s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "accelerometer: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.accelerometer);
+    s << indent << "gyroscope: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.gyroscope);
+    s << indent << "magnetometer: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.magnetometer);
+    s << indent << "raw_linear_acceleration: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.raw_linear_acceleration);
+    s << indent << "raw_angular_velocity: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.raw_angular_velocity);
+    s << indent << "raw_magnetic_field: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.raw_magnetic_field);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // ROS_MERGE_TEST_MESSAGE_RAWIMU_H
diff --git a/project/projectCarLocation/devel/lib/libros_merge_test.so b/project/projectCarLocation/devel/lib/libros_merge_test.so
new file mode 100755
index 0000000..7d84909
Binary files /dev/null and b/project/projectCarLocation/devel/lib/libros_merge_test.so differ
diff --git a/project/projectCarLocation/devel/lib/pkgconfig/ros_merge_test.pc b/project/projectCarLocation/devel/lib/pkgconfig/ros_merge_test.pc
new file mode 100644
index 0000000..31b669d
--- /dev/null
+++ b/project/projectCarLocation/devel/lib/pkgconfig/ros_merge_test.pc
@@ -0,0 +1,8 @@
+prefix=/home/firefly/project/projectCarLocation/devel
+
+Name: ros_merge_test
+Description: Description of ros_merge_test
+Version: 0.0.0
+Cflags: -I/home/firefly/project/projectCarLocation/devel/include
+Libs: -L${prefix}/lib 
+Requires: message_runtime std_msgs geometry_msgs
diff --git a/project/projectCarLocation/devel/lib/python3/dist-packages/ros_merge_test/__init__.py b/project/projectCarLocation/devel/lib/python3/dist-packages/ros_merge_test/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectCarLocation/devel/lib/python3/dist-packages/ros_merge_test/msg/_RawImu.py b/project/projectCarLocation/devel/lib/python3/dist-packages/ros_merge_test/msg/_RawImu.py
new file mode 100644
index 0000000..e995b4b
--- /dev/null
+++ b/project/projectCarLocation/devel/lib/python3/dist-packages/ros_merge_test/msg/_RawImu.py
@@ -0,0 +1,239 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ros_merge_test/RawImu.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import std_msgs.msg
+
+class RawImu(genpy.Message):
+  _md5sum = "3bc0ea37781da51ad41a6868ff62faa9"
+  _type = "ros_merge_test/RawImu"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """Header header
+bool accelerometer
+bool gyroscope
+bool magnetometer
+geometry_msgs/Vector3 raw_linear_acceleration
+geometry_msgs/Vector3 raw_angular_velocity
+geometry_msgs/Vector3 raw_magnetic_field
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z"""
+  __slots__ = ['header','accelerometer','gyroscope','magnetometer','raw_linear_acceleration','raw_angular_velocity','raw_magnetic_field']
+  _slot_types = ['std_msgs/Header','bool','bool','bool','geometry_msgs/Vector3','geometry_msgs/Vector3','geometry_msgs/Vector3']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,accelerometer,gyroscope,magnetometer,raw_linear_acceleration,raw_angular_velocity,raw_magnetic_field
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(RawImu, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.accelerometer is None:
+        self.accelerometer = False
+      if self.gyroscope is None:
+        self.gyroscope = False
+      if self.magnetometer is None:
+        self.magnetometer = False
+      if self.raw_linear_acceleration is None:
+        self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.raw_angular_velocity is None:
+        self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      if self.raw_magnetic_field is None:
+        self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.accelerometer = False
+      self.gyroscope = False
+      self.magnetometer = False
+      self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self
+      buff.write(_get_struct_3B9d().pack(_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.raw_linear_acceleration is None:
+        self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.raw_angular_velocity is None:
+        self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      if self.raw_magnetic_field is None:
+        self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 75
+      (_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z,) = _get_struct_3B9d().unpack(str[start:end])
+      self.accelerometer = bool(self.accelerometer)
+      self.gyroscope = bool(self.gyroscope)
+      self.magnetometer = bool(self.magnetometer)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self
+      buff.write(_get_struct_3B9d().pack(_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.raw_linear_acceleration is None:
+        self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.raw_angular_velocity is None:
+        self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      if self.raw_magnetic_field is None:
+        self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 75
+      (_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z,) = _get_struct_3B9d().unpack(str[start:end])
+      self.accelerometer = bool(self.accelerometer)
+      self.gyroscope = bool(self.gyroscope)
+      self.magnetometer = bool(self.magnetometer)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_3B9d = None
+def _get_struct_3B9d():
+    global _struct_3B9d
+    if _struct_3B9d is None:
+        _struct_3B9d = struct.Struct("<3B9d")
+    return _struct_3B9d
+_struct_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
diff --git a/project/projectCarLocation/devel/lib/python3/dist-packages/ros_merge_test/msg/__init__.py b/project/projectCarLocation/devel/lib/python3/dist-packages/ros_merge_test/msg/__init__.py
new file mode 100644
index 0000000..7ac9d65
--- /dev/null
+++ b/project/projectCarLocation/devel/lib/python3/dist-packages/ros_merge_test/msg/__init__.py
@@ -0,0 +1 @@
+from ._RawImu import *
diff --git a/project/projectCarLocation/devel/lib/ros_merge_test/ros_merge_test_node b/project/projectCarLocation/devel/lib/ros_merge_test/ros_merge_test_node
new file mode 100755
index 0000000..b411da9
Binary files /dev/null and b/project/projectCarLocation/devel/lib/ros_merge_test/ros_merge_test_node differ
diff --git a/project/projectCarLocation/devel/local_setup.bash b/project/projectCarLocation/devel/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectCarLocation/devel/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectCarLocation/devel/local_setup.sh b/project/projectCarLocation/devel/local_setup.sh
new file mode 100644
index 0000000..0babd66
--- /dev/null
+++ b/project/projectCarLocation/devel/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarLocation/devel}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectCarLocation/devel/local_setup.zsh b/project/projectCarLocation/devel/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectCarLocation/devel/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectCarLocation/devel/setup.bash b/project/projectCarLocation/devel/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectCarLocation/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectCarLocation/devel/setup.sh b/project/projectCarLocation/devel/setup.sh
new file mode 100644
index 0000000..7db6d27
--- /dev/null
+++ b/project/projectCarLocation/devel/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/project/projectCarLocation/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectCarLocation/devel/setup.zsh b/project/projectCarLocation/devel/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectCarLocation/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/RawImu.lisp b/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/RawImu.lisp
new file mode 100644
index 0000000..6fe3d03
--- /dev/null
+++ b/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/RawImu.lisp
@@ -0,0 +1,148 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ros_merge_test-msg)
+
+
+;//! \htmlinclude RawImu.msg.html
+
+(cl:defclass <RawImu> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (accelerometer
+    :reader accelerometer
+    :initarg :accelerometer
+    :type cl:boolean
+    :initform cl:nil)
+   (gyroscope
+    :reader gyroscope
+    :initarg :gyroscope
+    :type cl:boolean
+    :initform cl:nil)
+   (magnetometer
+    :reader magnetometer
+    :initarg :magnetometer
+    :type cl:boolean
+    :initform cl:nil)
+   (raw_linear_acceleration
+    :reader raw_linear_acceleration
+    :initarg :raw_linear_acceleration
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (raw_angular_velocity
+    :reader raw_angular_velocity
+    :initarg :raw_angular_velocity
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (raw_magnetic_field
+    :reader raw_magnetic_field
+    :initarg :raw_magnetic_field
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3)))
+)
+
+(cl:defclass RawImu (<RawImu>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <RawImu>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'RawImu)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ros_merge_test-msg:<RawImu> is deprecated: use ros_merge_test-msg:RawImu instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:header-val is deprecated.  Use ros_merge_test-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'accelerometer-val :lambda-list '(m))
+(cl:defmethod accelerometer-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:accelerometer-val is deprecated.  Use ros_merge_test-msg:accelerometer instead.")
+  (accelerometer m))
+
+(cl:ensure-generic-function 'gyroscope-val :lambda-list '(m))
+(cl:defmethod gyroscope-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:gyroscope-val is deprecated.  Use ros_merge_test-msg:gyroscope instead.")
+  (gyroscope m))
+
+(cl:ensure-generic-function 'magnetometer-val :lambda-list '(m))
+(cl:defmethod magnetometer-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:magnetometer-val is deprecated.  Use ros_merge_test-msg:magnetometer instead.")
+  (magnetometer m))
+
+(cl:ensure-generic-function 'raw_linear_acceleration-val :lambda-list '(m))
+(cl:defmethod raw_linear_acceleration-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:raw_linear_acceleration-val is deprecated.  Use ros_merge_test-msg:raw_linear_acceleration instead.")
+  (raw_linear_acceleration m))
+
+(cl:ensure-generic-function 'raw_angular_velocity-val :lambda-list '(m))
+(cl:defmethod raw_angular_velocity-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:raw_angular_velocity-val is deprecated.  Use ros_merge_test-msg:raw_angular_velocity instead.")
+  (raw_angular_velocity m))
+
+(cl:ensure-generic-function 'raw_magnetic_field-val :lambda-list '(m))
+(cl:defmethod raw_magnetic_field-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:raw_magnetic_field-val is deprecated.  Use ros_merge_test-msg:raw_magnetic_field instead.")
+  (raw_magnetic_field m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <RawImu>) ostream)
+  "Serializes a message object of type '<RawImu>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'accelerometer) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'gyroscope) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'magnetometer) 1 0)) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'raw_linear_acceleration) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'raw_angular_velocity) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'raw_magnetic_field) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <RawImu>) istream)
+  "Deserializes a message object of type '<RawImu>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:setf (cl:slot-value msg 'accelerometer) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'gyroscope) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'magnetometer) (cl:not (cl:zerop (cl:read-byte istream))))
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'raw_linear_acceleration) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'raw_angular_velocity) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'raw_magnetic_field) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<RawImu>)))
+  "Returns string type for a message object of type '<RawImu>"
+  "ros_merge_test/RawImu")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RawImu)))
+  "Returns string type for a message object of type 'RawImu"
+  "ros_merge_test/RawImu")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<RawImu>)))
+  "Returns md5sum for a message object of type '<RawImu>"
+  "3bc0ea37781da51ad41a6868ff62faa9")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RawImu)))
+  "Returns md5sum for a message object of type 'RawImu"
+  "3bc0ea37781da51ad41a6868ff62faa9")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<RawImu>)))
+  "Returns full string definition for message of type '<RawImu>"
+  (cl:format cl:nil "Header header~%bool accelerometer~%bool gyroscope~%bool magnetometer~%geometry_msgs/Vector3 raw_linear_acceleration~%geometry_msgs/Vector3 raw_angular_velocity~%geometry_msgs/Vector3 raw_magnetic_field~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'RawImu)))
+  "Returns full string definition for message of type 'RawImu"
+  (cl:format cl:nil "Header header~%bool accelerometer~%bool gyroscope~%bool magnetometer~%geometry_msgs/Vector3 raw_linear_acceleration~%geometry_msgs/Vector3 raw_angular_velocity~%geometry_msgs/Vector3 raw_magnetic_field~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <RawImu>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     1
+     1
+     1
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'raw_linear_acceleration))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'raw_angular_velocity))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'raw_magnetic_field))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <RawImu>))
+  "Converts a ROS message object to a list"
+  (cl:list 'RawImu
+    (cl:cons ':header (header msg))
+    (cl:cons ':accelerometer (accelerometer msg))
+    (cl:cons ':gyroscope (gyroscope msg))
+    (cl:cons ':magnetometer (magnetometer msg))
+    (cl:cons ':raw_linear_acceleration (raw_linear_acceleration msg))
+    (cl:cons ':raw_angular_velocity (raw_angular_velocity msg))
+    (cl:cons ':raw_magnetic_field (raw_magnetic_field msg))
+))
diff --git a/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/_package.lisp b/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/_package.lisp
new file mode 100644
index 0000000..15617b7
--- /dev/null
+++ b/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/_package.lisp
@@ -0,0 +1,7 @@
+(cl:defpackage ros_merge_test-msg
+  (:use )
+  (:export
+   "<RAWIMU>"
+   "RAWIMU"
+  ))
+
diff --git a/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/_package_RawImu.lisp b/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/_package_RawImu.lisp
new file mode 100644
index 0000000..332e598
--- /dev/null
+++ b/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/_package_RawImu.lisp
@@ -0,0 +1,16 @@
+(cl:in-package ros_merge_test-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          ACCELEROMETER-VAL
+          ACCELEROMETER
+          GYROSCOPE-VAL
+          GYROSCOPE
+          MAGNETOMETER-VAL
+          MAGNETOMETER
+          RAW_LINEAR_ACCELERATION-VAL
+          RAW_LINEAR_ACCELERATION
+          RAW_ANGULAR_VELOCITY-VAL
+          RAW_ANGULAR_VELOCITY
+          RAW_MAGNETIC_FIELD-VAL
+          RAW_MAGNETIC_FIELD
+))
\ No newline at end of file
diff --git a/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/ros_merge_test-msg.asd b/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/ros_merge_test-msg.asd
new file mode 100644
index 0000000..20e8b07
--- /dev/null
+++ b/project/projectCarLocation/devel/share/common-lisp/ros/ros_merge_test/msg/ros_merge_test-msg.asd
@@ -0,0 +1,11 @@
+
+(cl:in-package :asdf)
+
+(defsystem "ros_merge_test-msg"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils :geometry_msgs-msg
+               :std_msgs-msg
+)
+  :components ((:file "_package")
+    (:file "RawImu" :depends-on ("_package_RawImu"))
+    (:file "_package_RawImu" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/project/projectCarLocation/devel/share/gennodejs/ros/ros_merge_test/_index.js b/project/projectCarLocation/devel/share/gennodejs/ros/ros_merge_test/_index.js
new file mode 100644
index 0000000..74b3dd0
--- /dev/null
+++ b/project/projectCarLocation/devel/share/gennodejs/ros/ros_merge_test/_index.js
@@ -0,0 +1,6 @@
+
+"use strict";
+
+module.exports = {
+  msg: require('./msg/_index.js'),
+};
diff --git a/project/projectCarLocation/devel/share/gennodejs/ros/ros_merge_test/msg/RawImu.js b/project/projectCarLocation/devel/share/gennodejs/ros/ros_merge_test/msg/RawImu.js
new file mode 100644
index 0000000..3d17dbc
--- /dev/null
+++ b/project/projectCarLocation/devel/share/gennodejs/ros/ros_merge_test/msg/RawImu.js
@@ -0,0 +1,234 @@
+// Auto-generated. Do not edit!
+
+// (in-package ros_merge_test.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let std_msgs = _finder('std_msgs');
+let geometry_msgs = _finder('geometry_msgs');
+
+//-----------------------------------------------------------
+
+class RawImu {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.header = null;
+      this.accelerometer = null;
+      this.gyroscope = null;
+      this.magnetometer = null;
+      this.raw_linear_acceleration = null;
+      this.raw_angular_velocity = null;
+      this.raw_magnetic_field = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('header')) {
+        this.header = initObj.header
+      }
+      else {
+        this.header = new std_msgs.msg.Header();
+      }
+      if (initObj.hasOwnProperty('accelerometer')) {
+        this.accelerometer = initObj.accelerometer
+      }
+      else {
+        this.accelerometer = false;
+      }
+      if (initObj.hasOwnProperty('gyroscope')) {
+        this.gyroscope = initObj.gyroscope
+      }
+      else {
+        this.gyroscope = false;
+      }
+      if (initObj.hasOwnProperty('magnetometer')) {
+        this.magnetometer = initObj.magnetometer
+      }
+      else {
+        this.magnetometer = false;
+      }
+      if (initObj.hasOwnProperty('raw_linear_acceleration')) {
+        this.raw_linear_acceleration = initObj.raw_linear_acceleration
+      }
+      else {
+        this.raw_linear_acceleration = new geometry_msgs.msg.Vector3();
+      }
+      if (initObj.hasOwnProperty('raw_angular_velocity')) {
+        this.raw_angular_velocity = initObj.raw_angular_velocity
+      }
+      else {
+        this.raw_angular_velocity = new geometry_msgs.msg.Vector3();
+      }
+      if (initObj.hasOwnProperty('raw_magnetic_field')) {
+        this.raw_magnetic_field = initObj.raw_magnetic_field
+      }
+      else {
+        this.raw_magnetic_field = new geometry_msgs.msg.Vector3();
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type RawImu
+    // Serialize message field [header]
+    bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
+    // Serialize message field [accelerometer]
+    bufferOffset = _serializer.bool(obj.accelerometer, buffer, bufferOffset);
+    // Serialize message field [gyroscope]
+    bufferOffset = _serializer.bool(obj.gyroscope, buffer, bufferOffset);
+    // Serialize message field [magnetometer]
+    bufferOffset = _serializer.bool(obj.magnetometer, buffer, bufferOffset);
+    // Serialize message field [raw_linear_acceleration]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.raw_linear_acceleration, buffer, bufferOffset);
+    // Serialize message field [raw_angular_velocity]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.raw_angular_velocity, buffer, bufferOffset);
+    // Serialize message field [raw_magnetic_field]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.raw_magnetic_field, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type RawImu
+    let len;
+    let data = new RawImu(null);
+    // Deserialize message field [header]
+    data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
+    // Deserialize message field [accelerometer]
+    data.accelerometer = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [gyroscope]
+    data.gyroscope = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [magnetometer]
+    data.magnetometer = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [raw_linear_acceleration]
+    data.raw_linear_acceleration = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    // Deserialize message field [raw_angular_velocity]
+    data.raw_angular_velocity = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    // Deserialize message field [raw_magnetic_field]
+    data.raw_magnetic_field = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += std_msgs.msg.Header.getMessageSize(object.header);
+    return length + 75;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ros_merge_test/RawImu';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '3bc0ea37781da51ad41a6868ff62faa9';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    Header header
+    bool accelerometer
+    bool gyroscope
+    bool magnetometer
+    geometry_msgs/Vector3 raw_linear_acceleration
+    geometry_msgs/Vector3 raw_angular_velocity
+    geometry_msgs/Vector3 raw_magnetic_field
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    string frame_id
+    
+    ================================================================================
+    MSG: geometry_msgs/Vector3
+    # This represents a vector in free space. 
+    # It is only meant to represent a direction. Therefore, it does not
+    # make sense to apply a translation to it (e.g., when applying a 
+    # generic rigid transformation to a Vector3, tf2 will only apply the
+    # rotation). If you want your data to be translatable too, use the
+    # geometry_msgs/Point message instead.
+    
+    float64 x
+    float64 y
+    float64 z
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new RawImu(null);
+    if (msg.header !== undefined) {
+      resolved.header = std_msgs.msg.Header.Resolve(msg.header)
+    }
+    else {
+      resolved.header = new std_msgs.msg.Header()
+    }
+
+    if (msg.accelerometer !== undefined) {
+      resolved.accelerometer = msg.accelerometer;
+    }
+    else {
+      resolved.accelerometer = false
+    }
+
+    if (msg.gyroscope !== undefined) {
+      resolved.gyroscope = msg.gyroscope;
+    }
+    else {
+      resolved.gyroscope = false
+    }
+
+    if (msg.magnetometer !== undefined) {
+      resolved.magnetometer = msg.magnetometer;
+    }
+    else {
+      resolved.magnetometer = false
+    }
+
+    if (msg.raw_linear_acceleration !== undefined) {
+      resolved.raw_linear_acceleration = geometry_msgs.msg.Vector3.Resolve(msg.raw_linear_acceleration)
+    }
+    else {
+      resolved.raw_linear_acceleration = new geometry_msgs.msg.Vector3()
+    }
+
+    if (msg.raw_angular_velocity !== undefined) {
+      resolved.raw_angular_velocity = geometry_msgs.msg.Vector3.Resolve(msg.raw_angular_velocity)
+    }
+    else {
+      resolved.raw_angular_velocity = new geometry_msgs.msg.Vector3()
+    }
+
+    if (msg.raw_magnetic_field !== undefined) {
+      resolved.raw_magnetic_field = geometry_msgs.msg.Vector3.Resolve(msg.raw_magnetic_field)
+    }
+    else {
+      resolved.raw_magnetic_field = new geometry_msgs.msg.Vector3()
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = RawImu;
diff --git a/project/projectCarLocation/devel/share/gennodejs/ros/ros_merge_test/msg/_index.js b/project/projectCarLocation/devel/share/gennodejs/ros/ros_merge_test/msg/_index.js
new file mode 100644
index 0000000..0ec6f28
--- /dev/null
+++ b/project/projectCarLocation/devel/share/gennodejs/ros/ros_merge_test/msg/_index.js
@@ -0,0 +1,8 @@
+
+"use strict";
+
+let RawImu = require('./RawImu.js');
+
+module.exports = {
+  RawImu: RawImu,
+};
diff --git a/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_test-msg-extras.cmake b/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_test-msg-extras.cmake
new file mode 100644
index 0000000..7f9146d
--- /dev/null
+++ b/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_test-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_test-msg-paths.cmake b/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_test-msg-paths.cmake
new file mode 100644
index 0000000..1df5fe6
--- /dev/null
+++ b/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_test-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in
+
+set(ros_merge_test_MSG_INCLUDE_DIRS "/home/firefly/project/projectCarLocation/src/ros_merge_test/msg")
+set(ros_merge_test_MSG_DEPENDENCIES std_msgs;geometry_msgs)
diff --git a/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake b/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake
new file mode 100644
index 0000000..7fd9f99
--- /dev/null
+++ b/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake b/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake
new file mode 100644
index 0000000..ac05dd1
--- /dev/null
+++ b/project/projectCarLocation/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(ros_merge_test_CONFIG_INCLUDED)
+  return()
+endif()
+set(ros_merge_test_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(ros_merge_test_SOURCE_PREFIX /home/firefly/project/projectCarLocation/src/ros_merge_test)
+  set(ros_merge_test_DEVEL_PREFIX /home/firefly/project/projectCarLocation/devel)
+  set(ros_merge_test_INSTALL_PREFIX "")
+  set(ros_merge_test_PREFIX ${ros_merge_test_DEVEL_PREFIX})
+else()
+  set(ros_merge_test_SOURCE_PREFIX "")
+  set(ros_merge_test_DEVEL_PREFIX "")
+  set(ros_merge_test_INSTALL_PREFIX /home/firefly/project/projectCarLocation/install)
+  set(ros_merge_test_PREFIX ${ros_merge_test_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'ros_merge_test' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(ros_merge_test_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "/home/firefly/project/projectCarLocation/devel/include " STREQUAL " ")
+  set(ros_merge_test_INCLUDE_DIRS "")
+  set(_include_dirs "/home/firefly/project/projectCarLocation/devel/include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'luoruidi <luoruidi@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${ros_merge_test_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/firefly/project/projectCarLocation/src/ros_merge_test/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(ros_merge_test_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT ros_merge_test_NUM_DUMMY_TARGETS)
+      set(ros_merge_test_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR ros_merge_test_NUM_DUMMY_TARGETS "${ros_merge_test_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND ros_merge_test_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/firefly/project/projectCarLocation/devel/lib;/home/firefly/project/projectCarFollowing/devel/lib;/home/firefly/pibot_ros/ros_ws/devel/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(ros_merge_test_LIBRARY_DIRS ${lib_path})
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'ros_merge_test'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(ros_merge_test_EXPORTED_TARGETS "ros_merge_test_generate_messages_cpp;ros_merge_test_generate_messages_eus;ros_merge_test_generate_messages_lisp;ros_merge_test_generate_messages_nodejs;ros_merge_test_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${ros_merge_test_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "message_runtime;std_msgs;geometry_msgs")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 ros_merge_test_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${ros_merge_test_dep}_FOUND)
+      find_package(${ros_merge_test_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${ros_merge_test_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(ros_merge_test_INCLUDE_DIRS ${${ros_merge_test_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${ros_merge_test_dep}_LIBRARIES})
+  _list_append_deduplicate(ros_merge_test_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+
+  _list_append_unique(ros_merge_test_LIBRARY_DIRS ${${ros_merge_test_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(ros_merge_test_EXPORTED_TARGETS ${${ros_merge_test_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "ros_merge_test-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${ros_merge_test_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/project/projectCarLocation/devel/share/roseus/ros/ros_merge_test/manifest.l b/project/projectCarLocation/devel/share/roseus/ros/ros_merge_test/manifest.l
new file mode 100644
index 0000000..5bf129e
--- /dev/null
+++ b/project/projectCarLocation/devel/share/roseus/ros/ros_merge_test/manifest.l
@@ -0,0 +1,12 @@
+;;
+;; DO NOT EDIT THIS FILE
+;;
+;; THIS FILE IS AUTOMATICALLY GENERATED
+;;  FROM /home/firefly/project/projectCarLocation/src/ros_merge_test/package.xml (0.0.0)
+;; USING /opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py /opt/ros/noetic/share/geneus/package.xml (3.0.0)
+;;
+(ros::load-ros-package "geometry_msgs")
+(ros::load-ros-package "roscpp")
+(ros::load-ros-package "rosgraph_msgs")
+(ros::load-ros-package "std_msgs")
+(ros::load-ros-package "ros_merge_test")
diff --git a/project/projectCarLocation/devel/share/roseus/ros/ros_merge_test/msg/RawImu.l b/project/projectCarLocation/devel/share/roseus/ros/ros_merge_test/msg/RawImu.l
new file mode 100644
index 0000000..3c1c1a5
--- /dev/null
+++ b/project/projectCarLocation/devel/share/roseus/ros/ros_merge_test/msg/RawImu.l
@@ -0,0 +1,183 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ros_merge_test::RawImu)
+  (if (not (find-package "ROS_MERGE_TEST"))
+    (make-package "ROS_MERGE_TEST"))
+  (shadow 'RawImu (find-package "ROS_MERGE_TEST")))
+(unless (find-package "ROS_MERGE_TEST::RAWIMU")
+  (make-package "ROS_MERGE_TEST::RAWIMU"))
+
+(in-package "ROS")
+;;//! \htmlinclude RawImu.msg.html
+(if (not (find-package "GEOMETRY_MSGS"))
+  (ros::roseus-add-msgs "geometry_msgs"))
+(if (not (find-package "STD_MSGS"))
+  (ros::roseus-add-msgs "std_msgs"))
+
+
+(defclass ros_merge_test::RawImu
+  :super ros::object
+  :slots (_header _accelerometer _gyroscope _magnetometer _raw_linear_acceleration _raw_angular_velocity _raw_magnetic_field ))
+
+(defmethod ros_merge_test::RawImu
+  (:init
+   (&key
+    ((:header __header) (instance std_msgs::Header :init))
+    ((:accelerometer __accelerometer) nil)
+    ((:gyroscope __gyroscope) nil)
+    ((:magnetometer __magnetometer) nil)
+    ((:raw_linear_acceleration __raw_linear_acceleration) (instance geometry_msgs::Vector3 :init))
+    ((:raw_angular_velocity __raw_angular_velocity) (instance geometry_msgs::Vector3 :init))
+    ((:raw_magnetic_field __raw_magnetic_field) (instance geometry_msgs::Vector3 :init))
+    )
+   (send-super :init)
+   (setq _header __header)
+   (setq _accelerometer __accelerometer)
+   (setq _gyroscope __gyroscope)
+   (setq _magnetometer __magnetometer)
+   (setq _raw_linear_acceleration __raw_linear_acceleration)
+   (setq _raw_angular_velocity __raw_angular_velocity)
+   (setq _raw_magnetic_field __raw_magnetic_field)
+   self)
+  (:header
+   (&rest __header)
+   (if (keywordp (car __header))
+       (send* _header __header)
+     (progn
+       (if __header (setq _header (car __header)))
+       _header)))
+  (:accelerometer
+   (&optional (__accelerometer :null))
+   (if (not (eq __accelerometer :null)) (setq _accelerometer __accelerometer)) _accelerometer)
+  (:gyroscope
+   (&optional (__gyroscope :null))
+   (if (not (eq __gyroscope :null)) (setq _gyroscope __gyroscope)) _gyroscope)
+  (:magnetometer
+   (&optional (__magnetometer :null))
+   (if (not (eq __magnetometer :null)) (setq _magnetometer __magnetometer)) _magnetometer)
+  (:raw_linear_acceleration
+   (&rest __raw_linear_acceleration)
+   (if (keywordp (car __raw_linear_acceleration))
+       (send* _raw_linear_acceleration __raw_linear_acceleration)
+     (progn
+       (if __raw_linear_acceleration (setq _raw_linear_acceleration (car __raw_linear_acceleration)))
+       _raw_linear_acceleration)))
+  (:raw_angular_velocity
+   (&rest __raw_angular_velocity)
+   (if (keywordp (car __raw_angular_velocity))
+       (send* _raw_angular_velocity __raw_angular_velocity)
+     (progn
+       (if __raw_angular_velocity (setq _raw_angular_velocity (car __raw_angular_velocity)))
+       _raw_angular_velocity)))
+  (:raw_magnetic_field
+   (&rest __raw_magnetic_field)
+   (if (keywordp (car __raw_magnetic_field))
+       (send* _raw_magnetic_field __raw_magnetic_field)
+     (progn
+       (if __raw_magnetic_field (setq _raw_magnetic_field (car __raw_magnetic_field)))
+       _raw_magnetic_field)))
+  (:serialization-length
+   ()
+   (+
+    ;; std_msgs/Header _header
+    (send _header :serialization-length)
+    ;; bool _accelerometer
+    1
+    ;; bool _gyroscope
+    1
+    ;; bool _magnetometer
+    1
+    ;; geometry_msgs/Vector3 _raw_linear_acceleration
+    (send _raw_linear_acceleration :serialization-length)
+    ;; geometry_msgs/Vector3 _raw_angular_velocity
+    (send _raw_angular_velocity :serialization-length)
+    ;; geometry_msgs/Vector3 _raw_magnetic_field
+    (send _raw_magnetic_field :serialization-length)
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; std_msgs/Header _header
+       (send _header :serialize s)
+     ;; bool _accelerometer
+       (if _accelerometer (write-byte -1 s) (write-byte 0 s))
+     ;; bool _gyroscope
+       (if _gyroscope (write-byte -1 s) (write-byte 0 s))
+     ;; bool _magnetometer
+       (if _magnetometer (write-byte -1 s) (write-byte 0 s))
+     ;; geometry_msgs/Vector3 _raw_linear_acceleration
+       (send _raw_linear_acceleration :serialize s)
+     ;; geometry_msgs/Vector3 _raw_angular_velocity
+       (send _raw_angular_velocity :serialize s)
+     ;; geometry_msgs/Vector3 _raw_magnetic_field
+       (send _raw_magnetic_field :serialize s)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; std_msgs/Header _header
+     (send _header :deserialize buf ptr-) (incf ptr- (send _header :serialization-length))
+   ;; bool _accelerometer
+     (setq _accelerometer (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _gyroscope
+     (setq _gyroscope (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _magnetometer
+     (setq _magnetometer (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; geometry_msgs/Vector3 _raw_linear_acceleration
+     (send _raw_linear_acceleration :deserialize buf ptr-) (incf ptr- (send _raw_linear_acceleration :serialization-length))
+   ;; geometry_msgs/Vector3 _raw_angular_velocity
+     (send _raw_angular_velocity :deserialize buf ptr-) (incf ptr- (send _raw_angular_velocity :serialization-length))
+   ;; geometry_msgs/Vector3 _raw_magnetic_field
+     (send _raw_magnetic_field :deserialize buf ptr-) (incf ptr- (send _raw_magnetic_field :serialization-length))
+   ;;
+   self)
+  )
+
+(setf (get ros_merge_test::RawImu :md5sum-) "3bc0ea37781da51ad41a6868ff62faa9")
+(setf (get ros_merge_test::RawImu :datatype-) "ros_merge_test/RawImu")
+(setf (get ros_merge_test::RawImu :definition-)
+      "Header header
+bool accelerometer
+bool gyroscope
+bool magnetometer
+geometry_msgs/Vector3 raw_linear_acceleration
+geometry_msgs/Vector3 raw_angular_velocity
+geometry_msgs/Vector3 raw_magnetic_field
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z
+")
+
+
+
+(provide :ros_merge_test/RawImu "3bc0ea37781da51ad41a6868ff62faa9")
+
+
diff --git a/project/projectCarLocation/src/.idea/.gitignore b/project/projectCarLocation/src/.idea/.gitignore
new file mode 100644
index 0000000..13566b8
--- /dev/null
+++ b/project/projectCarLocation/src/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/project/projectCarLocation/src/.idea/deployment.xml b/project/projectCarLocation/src/.idea/deployment.xml
new file mode 100644
index 0000000..538ef7e
--- /dev/null
+++ b/project/projectCarLocation/src/.idea/deployment.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="PublishConfigData" remoteFilesAllowedToDisappearOnAutoupload="false">
+    <serverData>
+      <paths name="Remote Host (1dce3a15-503d-4545-b5bc-e482c493c313)">
+        <serverdata>
+          <mappings>
+            <mapping deploy="/tmp/src" local="$PROJECT_DIR$" />
+          </mappings>
+        </serverdata>
+      </paths>
+    </serverData>
+  </component>
+</project>
\ No newline at end of file
diff --git a/project/projectCarLocation/src/.idea/misc.xml b/project/projectCarLocation/src/.idea/misc.xml
new file mode 100644
index 0000000..79b3c94
--- /dev/null
+++ b/project/projectCarLocation/src/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+</project>
\ No newline at end of file
diff --git a/project/projectCarLocation/src/.idea/modules.xml b/project/projectCarLocation/src/.idea/modules.xml
new file mode 100644
index 0000000..f669a0e
--- /dev/null
+++ b/project/projectCarLocation/src/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/src.iml" filepath="$PROJECT_DIR$/.idea/src.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/project/projectCarLocation/src/.idea/src.iml b/project/projectCarLocation/src/.idea/src.iml
new file mode 100644
index 0000000..f08604b
--- /dev/null
+++ b/project/projectCarLocation/src/.idea/src.iml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CMake" type="CPP_MODULE" version="4" />
\ No newline at end of file
diff --git a/project/projectCarLocation/src/.idea/vcs.xml b/project/projectCarLocation/src/.idea/vcs.xml
new file mode 100644
index 0000000..6c0b863
--- /dev/null
+++ b/project/projectCarLocation/src/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/project/projectCarLocation/src/CMakeLists.txt b/project/projectCarLocation/src/CMakeLists.txt
new file mode 100644
index 0000000..cd58121
--- /dev/null
+++ b/project/projectCarLocation/src/CMakeLists.txt
@@ -0,0 +1,69 @@
+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 3.0.2)
+
+project(Project)
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      if(NOT WIN32)
+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      else()
+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      endif()
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()
diff --git a/project/projectCarLocation/src/ros_merge_test/CMakeLists.txt b/project/projectCarLocation/src/ros_merge_test/CMakeLists.txt
new file mode 100644
index 0000000..12c3c30
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/CMakeLists.txt
@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(ros_merge_test)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+  geometry_msgs
+)
+
+# 寻找OpenCV库
+find_package(OpenCV REQUIRED)
+# 查找 Boost 库
+find_package(Boost REQUIRED)
+
+# catkin_package(
+# #  INCLUDE_DIRS include
+# #  LIBRARIES ros_merge_test
+# #  CATKIN_DEPENDS roscpp rospy std_msgs
+# #  DEPENDS system_lib
+# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
+# )
+
+
+include_directories(
+# include
+ ${OpenCV_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+        include
+)
+
+add_library(${PROJECT_NAME} SHARED
+        src/system.cpp
+        src/uwb.cpp
+        src/mapping.cpp
+        src/align.cpp
+        src/Mat.cpp
+        src/lighthouse.cpp
+        # src/read_sensor_data.cpp
+        include/senddata.h src/senddata.cpp)
+
+
+add_message_files(
+    DIRECTORY msg
+    FILES
+        RawImu.msg
+     
+)
+generate_messages(DEPENDENCIES std_msgs geometry_msgs)
+
+catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs)
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+
+target_link_libraries(${PROJECT_NAME}_node  ${catkin_LIBRARIES}  ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME})
+
+
diff --git a/project/projectCarLocation/src/ros_merge_test/include/Mat.h b/project/projectCarLocation/src/ros_merge_test/include/Mat.h
new file mode 100644
index 0000000..f8cc745
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/include/Mat.h
@@ -0,0 +1,83 @@
+/******************** (C) COPYRIGHT 2022 Geek************************************
+* File Name          : Mat.h
+* Current Version    : V1.0
+* Author             : logzhan
+* Date of Issued     : 2022.09.14
+* Comments           : �����ľ������
+********************************************************************************/
+/* Header File Including -----------------------------------------------------*/
+#ifndef _H_MAT_
+#define _H_MAT_
+
+#define MAT_MAX 15 //�������ܴ�����������
+
+
+#include <string.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+class Mat
+{
+public:
+	Mat();
+	Mat(int setm,int setn,int kind);//kind=1��λ��kind=0�����,��������ʼ�����ݡ�
+	void Init(int setm,int setn,int kind);//kind=1��λ��kind=0�����,��������ʼ�����ݡ�
+
+	void Zero(void);
+	//��Щ�ؼ�����Ӧ����Ϊprivate�ġ�����Ϊ�˷��㣬��Ҳ������public
+	int m;//����
+	int n;//����
+	double mat[MAT_MAX][MAT_MAX];//������������
+
+	//����ľ���
+	Mat SubMat(int a,int b,int lm,int ln);//��ȡ����һ����
+	void FillSubMat(int a,int b,Mat s);//����Ӿ���
+
+	//����ר��
+	double absvec();//����������ij��ȡ����Ǹ���Ԫ�صľ���ֵ��
+	double Sqrt();//�������ȵ�ƽ��
+	friend Mat operator ^(Mat a,Mat b);//���
+
+	//����
+	friend Mat operator *(double k,Mat a);
+	friend Mat operator *(Mat a,double k);
+	friend Mat operator /(Mat a,double k);
+	friend Mat operator *(Mat a,Mat b);
+	friend Mat operator +(Mat a,Mat b);
+	friend Mat operator -(Mat a,Mat b);
+	friend Mat operator ~(Mat a);//ת��	
+	friend Mat operator /(Mat a,Mat b);//a*inv(b)
+	friend Mat operator %(Mat a,Mat b);//inv(a)*b
+
+	//MAT inv();//�����
+
+private:
+	// Ϊ���ø�˹��Ԫ��������һЩ����
+	// ��������
+	void RowExchange(int a, int b);
+	// ijһ�г���ϵ��
+	void RowMul(int a,double k);
+	// ��ijһ�мӼ���һ�еı���
+	void RowAdd(int a,int b, double k);
+	// ��������
+	void ColExchange(int a, int b);
+	// ijһ�г���ϵ��
+	void ColMul(int a,double k);
+	// ��ijһ�мӼ���һ�еı���
+	void ColAdd(int a,int b,double k);
+	
+
+};
+
+
+
+
+
+
+#endif
+
+
+
+
+
+
diff --git a/project/projectCarLocation/src/ros_merge_test/include/align.h b/project/projectCarLocation/src/ros_merge_test/include/align.h
new file mode 100644
index 0000000..15e7d9a
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/include/align.h
@@ -0,0 +1,44 @@
+#include <cmath>
+#include <ros/ros.h>
+#include <opencv2/opencv.hpp>
+#include <nav_msgs/Odometry.h>
+#include <utility>
+#include <queue>
+#include <fstream>
+#include "ros_merge_test/RawImu.h"
+#include "type.h"
+#include "uwb.h"
+#include "lighthouse.h"
+#include "Mat.h"
+
+#ifndef ALIGN_H
+#define AlIGN_H
+namespace uwb_slam{
+    class Align
+    {
+    public:
+        Align(){
+
+        };
+        void Run();
+        void wheel_odomCB(const nav_msgs::Odometry& wheel_odom);
+        void imuCB(const ros_merge_test::RawImu& imu);
+        void odomCB(const nav_msgs::Odometry& odom);
+
+    public:
+        ros::NodeHandle nh_;
+        ros::Subscriber wheel_odom_sub_;
+        ros::Subscriber imu_sub_;
+        ros::Subscriber odom_sub_;
+        Imu_odom_pose_data imu_odom_;
+        Uwb_data uwb_data_;
+        ros::Time imuDataRxTime, uwbDataRxTime, odomDataRxTime;
+        ros::Time odom_tmp_ ;
+        bool write_data_ = false;
+        cv::Mat img1;
+        std::queue<std::pair<Imu_odom_pose_data,Uwb_data>> data_queue;
+        std::shared_ptr<uwb_slam::Uwb> uwb_;
+        std::shared_ptr<uwb_slam::Lighthouse> lighthouse_;
+    };
+};
+#endif
diff --git a/project/projectCarLocation/src/ros_merge_test/include/avoid.h b/project/projectCarLocation/src/ros_merge_test/include/avoid.h
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectCarLocation/src/ros_merge_test/include/kalman.h b/project/projectCarLocation/src/ros_merge_test/include/kalman.h
new file mode 100644
index 0000000..b120777
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/include/kalman.h
@@ -0,0 +1,6 @@
+#ifndef KALMAN_H
+#define KALMAN_H
+
+
+
+#endif
\ No newline at end of file
diff --git a/project/projectCarLocation/src/ros_merge_test/include/lighthouse.h b/project/projectCarLocation/src/ros_merge_test/include/lighthouse.h
new file mode 100644
index 0000000..333f9e5
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/include/lighthouse.h
@@ -0,0 +1,29 @@
+#include <ros/ros.h>
+#include <mutex>
+#include <boost/asio.hpp>
+#include <iostream>
+#include <string>
+#include <cstdint>
+#include "type.h"
+#include <queue>
+#include <chrono>
+#ifndef __LIGHTHOUSE_H__
+#define __LIGHTHOUSE_H__
+
+namespace uwb_slam{
+class Lighthouse{
+public:
+    Lighthouse();
+    ~Lighthouse();
+    void Run();
+    void UDPRead();
+    // Listen PORT
+    int PORT = 12345;
+    int UdpSocket = -1;
+
+    LightHouseData data;
+
+    std::mutex mMutexLighthouse;
+};
+};
+#endif
diff --git a/project/projectCarLocation/src/ros_merge_test/include/mapping.h b/project/projectCarLocation/src/ros_merge_test/include/mapping.h
new file mode 100644
index 0000000..ac39d27
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/include/mapping.h
@@ -0,0 +1,40 @@
+#include <queue>
+#include <opencv2/opencv.hpp>
+#include <mutex>
+#include "uwb.h"
+#include "align.h"
+
+#ifndef MAPPING_H
+#define MAPPING_H
+
+
+namespace uwb_slam{
+    class Mapping
+    {
+        public:
+        const double PIXEL_SCALE = 1.0;     //xiangsudian cm
+        const int    AREA_SIZE = 1000;      //map size cm
+        Mapping() {};
+        void Run();
+        bool checkQueue();
+        void feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData);
+        void process();
+        std::mutex mMutexMap;
+        std::shared_ptr<uwb_slam::Uwb> uwb_;
+        std::shared_ptr<uwb_slam::Align> align_;
+
+        private:
+        int realWidth, realHeight;
+        std::queue<std::vector<cv::Point2d>> posDataQueue;
+        std::vector<cv::Point2d> posData = std::vector<cv::Point2d>(3, {-1, -1});
+        //cv::Point2d imuPoint = {-1,-1};
+        // std::queue<cv::Point2d> posDataQueue;
+        
+
+        bool readPos = false;
+        cv::Mat img;
+    };
+
+}
+
+#endif
diff --git a/project/projectCarLocation/src/ros_merge_test/include/read_sensor_data.h b/project/projectCarLocation/src/ros_merge_test/include/read_sensor_data.h
new file mode 100644
index 0000000..61a7df3
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/include/read_sensor_data.h
@@ -0,0 +1,34 @@
+#include <ros/ros.h>
+#include "nav_msgs/Odometry.h"
+#include "geometry_msgs/Twist.h"
+#include "sensor_msgs/Imu.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "geometry_msgs/PoseWithCovarianceStamped.h"
+#include <boost/thread/mutex.hpp>
+#include "type.h"
+#include "uwb.h"
+
+
+#ifndef READ_SENSOR_DATA_H
+#define READ_SENSOR_DATA_H
+
+namespace uwb_slam{
+    typedef boost::shared_ptr<nav_msgs::Odometry const> OdomConstPtr;
+    typedef boost::shared_ptr<sensor_msgs::Imu const> ImuConstPtr;
+    class Read_sensor_data
+    {
+        public:
+        Read_sensor_data();
+
+        void Run(int argc, char* argv[]);
+        //void set_uwb(Uwb * uwb);
+        void imu_call_back(const ImuConstPtr& imu);
+        void odom_call_back(const OdomConstPtr& odom);
+
+        private:
+        ros::Subscriber imu_sub_;
+        ros::Subscriber odom_sub_;
+        
+    };
+}
+#endif
\ No newline at end of file
diff --git a/project/projectCarLocation/src/ros_merge_test/include/senddata.h b/project/projectCarLocation/src/ros_merge_test/include/senddata.h
new file mode 100644
index 0000000..efef283
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/include/senddata.h
@@ -0,0 +1,37 @@
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Quaternion.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <mutex>
+#include "uwb.h"
+#ifndef SENDDATA_H
+#define SENDDATA_H
+
+
+namespace uwb_slam{
+
+    class Senddata
+    {
+        public:
+        Senddata(){};
+        void publishOdometry( std::shared_ptr<uwb_slam::Uwb>uwb);
+        void Run(std::shared_ptr<uwb_slam::Uwb>uwb);
+        void odomCB(const nav_msgs::Odometry& odom);
+
+
+        std::mutex mMutexSend;
+        private:
+        ros::Publisher position_pub_;
+        ros::Subscriber odom_sub_;
+        ros::NodeHandle nh_;
+        nav_msgs::Odometry odom_;//odom的消息类型
+        nav_msgs::Odometry sub_odom_;//odom的消息类型
+
+
+      
+    };
+
+}
+
+#endif
\ No newline at end of file
diff --git a/project/projectCarLocation/src/ros_merge_test/include/system.h b/project/projectCarLocation/src/ros_merge_test/include/system.h
new file mode 100644
index 0000000..848f92b
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/include/system.h
@@ -0,0 +1,32 @@
+#include <thread>
+#include <string>
+#include "mapping.h"
+#include "uwb.h"
+#include "senddata.h"
+// #include "align.h"
+#include <iostream>
+
+#ifndef SYSTEM_H
+#define SYSTEM_H
+
+namespace uwb_slam{
+    class System{
+
+    public:
+        System() {
+        }
+        void Run();
+    public:
+       
+        std::shared_ptr<uwb_slam::Mapping>Mapping_;
+        std::shared_ptr<uwb_slam::Uwb>Uwb_;
+        std::shared_ptr<uwb_slam::Senddata>Sender_;
+        std::shared_ptr<uwb_slam::Align>Align_;
+        std::shared_ptr<uwb_slam::Lighthouse>Lighthouse_;
+
+        // Uwb* Uwb_ ;
+        // Senddata* Sender_;
+        // Mapping* Mapping_;
+    };
+}
+#endif
diff --git a/project/projectCarLocation/src/ros_merge_test/include/type.h b/project/projectCarLocation/src/ros_merge_test/include/type.h
new file mode 100644
index 0000000..53b77e2
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/include/type.h
@@ -0,0 +1,50 @@
+#include <ros/ros.h>
+#include <ros/time.h>
+#ifndef TYPE_H
+#define TYPE_H
+
+namespace uwb_slam{
+struct Imu_data
+{
+    ros::Time imu_t_;
+    double a_[3];
+    double g_[3];
+    double m_[3];
+    Imu_data(){};
+    Imu_data(double ax,double ay,double az, double gx, double gy, double gz, double mx, double my, double mz)
+    :a_{ax,ay,az},g_{gx,gy,gz},m_{mx,my,mz}{};
+};
+
+
+
+struct Imu_odom_pose_data
+{
+    Imu_data imu_data_;
+    double pose_[3];
+    double quat_[4];
+    double vxy_;
+    double angle_v_;
+    Imu_odom_pose_data(){};
+    Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){};
+};
+
+struct  Uwb_data
+{
+    float x_,y_;
+    ros::Time uwb_t_;
+    Uwb_data(){};
+    Uwb_data(float x,float y,float t):x_(x),y_(y),uwb_t_(t){};
+};
+
+struct LightHouseData
+{
+    float x_,y_,z_;
+    float qw_,qx_,qy_,qz_;
+    ros::Time lighthouse_t_;
+    LightHouseData(){};
+    LightHouseData(float x,float y,float z, float qw, float qx, float qy, float qz, float t):
+        x_(x),y_(y),z_(z),qw_(qw), qx_(qx), qy_(qy), qz_(qz), lighthouse_t_(t){};
+};
+
+}
+#endif
\ No newline at end of file
diff --git a/project/projectCarLocation/src/ros_merge_test/include/uwb.h b/project/projectCarLocation/src/ros_merge_test/include/uwb.h
new file mode 100644
index 0000000..7d1a939
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/include/uwb.h
@@ -0,0 +1,60 @@
+#include <ros/ros.h>
+#include <mutex>
+#include <boost/asio.hpp>
+#include <iostream>
+#include <string>
+#include <cstdint>
+#include "type.h"
+#include <queue>
+#include <chrono>
+#ifndef UWB_H
+#define UWB_H
+
+#define PI acos(-1)
+namespace uwb_slam{
+
+    class Uwb
+    {
+    public:
+        Uwb();
+        void Run();
+        bool checknewdata();
+        void feed_imu_odom_pose_data();
+        void Serread();
+       
+
+ 
+    public:
+        int pre_seq = -1;
+        int cur_seq = -1;
+        int AnchorNum = 3;
+        int AnchorPos[3][3]={
+            -240, 400, 113,\
+            240, 400, 113,\
+            -400, -240, 113
+        };//基站坐标，序号+三维坐标
+        int d[3];
+        int aoa[3];
+     
+    // std::queue<Imu_odom_pose_data> v_buffer_imu_odom_pose_data_;
+   
+       
+        Uwb_data uwb_data_;
+        // ros_merge_test::RawImu sub_imu_;
+        // std::queue<Imu_odom_pose_data > imu_odom_queue_;
+        // std::queue<Uwb_data> uwb_data_queue_;
+        std::mutex mMutexUwb;
+    //boost::asio::io_service io;
+    //boost::asio::serial_port s_port;
+
+    // Imu_odom_pose_data imu_odom_pose_data_;
+    };
+
+};
+
+
+
+
+
+
+#endif
diff --git a/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg b/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg
new file mode 100644
index 0000000..3c5ad41
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/msg/RawImu.msg
@@ -0,0 +1,7 @@
+Header header
+bool accelerometer
+bool gyroscope
+bool magnetometer
+geometry_msgs/Vector3 raw_linear_acceleration
+geometry_msgs/Vector3 raw_angular_velocity
+geometry_msgs/Vector3 raw_magnetic_field
diff --git a/project/projectCarLocation/src/ros_merge_test/package.xml b/project/projectCarLocation/src/ros_merge_test/package.xml
new file mode 100644
index 0000000..dee5884
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/package.xml
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_merge_test</name>
+  <version>0.0.0</version>
+  <description>The ros_merge_test package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ros_merge_test</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/project/projectCarLocation/src/ros_merge_test/src/Mat.cpp b/project/projectCarLocation/src/ros_merge_test/src/Mat.cpp
new file mode 100644
index 0000000..4192cb5
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/src/Mat.cpp
@@ -0,0 +1,368 @@
+/******************** (C) COPYRIGHT 2022 Geek************************************
+* File Name          : Mat.cpp
+* Current Version    : V1.0
+* Author             : logzhan
+* Date of Issued     : 2022.09.14
+* Comments           : ���������
+********************************************************************************/
+/* Header File Including -----------------------------------------------------*/
+#include "Mat.h"
+
+double mind(double a,double b)
+{
+	double c = a;
+	if(b < c){
+		c = b;
+	}
+	return c;
+}
+
+int mini(int a,int b)
+{
+	int c=a;
+	if(b<c)
+	{
+		c=b;
+	}
+	return c;
+	
+}
+
+//��Ҫ�ڳ�Ա�����ڵ��ù��캯��
+Mat::Mat()
+{
+	Init(1,1,0);
+}
+
+Mat::Mat(int setm,int setn,int kind)
+{
+	Init(setm,setn,kind);
+}
+
+void Mat::Init(int setm,int setn,int kind)
+{
+	this->m = setm;
+	this->n = setn;
+	if((kind==0)||(kind==1))
+	{
+		memset(mat,0,MAT_MAX*MAT_MAX*sizeof(double));
+	}
+
+	if(kind==1)
+	{
+		int x;
+		//Cԭ�е�max min�ᵼ�����������Ա������и��������Ķ�����Ҫֱ�ӷŵ�max���档
+		int xend = mini(this->m, this->n);
+		for(x=0;x < xend;x++){
+			mat[x][x] = 1;
+		}
+	}
+}
+void Mat::Zero() {
+
+}
+
+Mat Mat::SubMat(int a,int b,int lm,int ln)
+{
+
+	int aend=a+lm-1;
+	int bend=b+ln-1;
+
+
+	Mat s(lm,ln,-1);
+	int x,y;
+	for(x=0;x<lm;x++)
+	{
+		for(y=0;y<ln;y++)
+		{
+			s.mat[x][y]=mat[a+x][b+y];
+		}
+	}
+	return s;
+}
+
+
+void Mat::FillSubMat(int a,int b,Mat s)
+{
+	int x,y;
+	for(x=0;x<s.m;x++)
+	{
+		for(y=0;y<s.n;y++)
+		{
+			mat[a+x][b+y]=s.mat[x][y];
+		}
+	}
+}
+
+
+Mat operator *(double k, Mat a)
+{
+	Mat b(a.m,a.n,-1);
+	int x,y;
+	for(x=0;x<a.m;x++)
+	{
+		for(y=0;y<a.n;y++)
+		{
+			b.mat[x][y]=k*a.mat[x][y];
+		}
+	}
+	return b;
+}
+Mat operator *(Mat a,double k)
+{
+	return k*a;
+}
+Mat operator /(Mat a,double k)
+{
+	return (1/k)*a;
+}
+Mat operator *(Mat a,Mat b)
+{
+	Mat c(a.m,b.n,-1);
+	int x,y,z;
+	double s;
+	for(x=0;x<a.m;x++)
+	{
+		for(y=0;y<b.n;y++)
+		{
+			s=0;
+			for(z=0;z<a.n;z++)
+			{
+				s=s+a.mat[x][z]*b.mat[z][y];
+			}
+			c.mat[x][y]=s;
+		}
+	}
+	return c;
+
+}
+
+Mat operator +(Mat a,Mat b)
+{
+
+	Mat c=a;
+	int x,y;
+	for(x=0;x<c.m;x++)
+	{
+		for(y=0;y<c.n;y++)
+		{
+			c.mat[x][y]+=b.mat[x][y];
+		}
+	}
+	return c;
+}
+Mat operator -(Mat a,Mat b)
+{
+
+	Mat c=a;
+	int x,y;
+	for(x=0;x<c.m;x++)
+	{
+		for(y=0;y<c.n;y++)
+		{
+			c.mat[x][y]-=b.mat[x][y];
+		}
+	}
+	return c;
+}
+Mat operator ~(Mat a)
+{
+	Mat b(a.n,a.m,-1);
+	int x,y;
+	for(x=0;x<a.m;x++)
+	{
+		for(y=0;y<a.n;y++)
+		{
+			b.mat[y][x]=a.mat[x][y];
+
+		}
+	}
+	return b;
+}
+
+
+
+Mat operator /(Mat a,Mat b)
+{
+	//��˹��Ԫ��
+
+	int x,xb;
+	for(x=0;x<b.n;x++)
+	{
+		//�����ҵ���ѵ��С�����ʼԪ�����
+		double s=0;
+		int p=x;
+		double sxb;
+		for(xb=x;xb<b.n;xb++)
+		{
+			sxb=fabs(b.mat[x][xb]);
+			if(sxb>s)
+			{
+				p=xb;
+				s=sxb;
+			}
+		}
+		//ͬʱ�任�������
+		if(x!=p)
+		{
+			a.ColExchange(x,p);
+			b.ColExchange(x,p);
+		}
+
+		//��һ�й�һ
+		double k=1/b.mat[x][x];//��һ�䲻ҪǶ�׵����������У��������Ϊ���²�ͬ�����¼������
+		a.ColMul(x,k);
+		b.ColMul(x,k);
+
+		//���������
+		for(xb=0;xb<b.n;xb++)
+		{
+			if(xb!=x)
+			{
+				k=(-b.mat[x][xb]);
+				a.ColAdd(xb,x,k);
+				b.ColAdd(xb,x,k);
+			}
+		}
+	}
+	
+	return a;
+}
+
+
+Mat operator %(Mat a,Mat b)
+{
+	//��˹��Ԫ��
+	int x,xb;
+	for(x=0;x<a.m;x++)
+	{
+		//�����ҵ���ѵ��С�����ʼԪ�����
+		double s=0;
+		int p=x;
+		double sxb;
+		for(xb=x;xb<a.m;xb++)
+		{
+			sxb=fabs(a.mat[xb][x]);
+			if(sxb>s)
+			{
+				p=xb;
+				s=sxb;
+			}
+		}
+		//ͬʱ�任�������
+		if(x!=p)
+		{
+			a.RowExchange(x,p);
+			b.RowExchange(x,p);
+		}
+
+		//��һ�й�һ
+		double k=1/a.mat[x][x];//��һ�䲻ҪǶ�׵����������У��������Ϊ���²�ͬ�����¼������
+		a.RowMul(x,k);
+		b.RowMul(x,k);
+
+		//���������
+		for(xb=0;xb<a.m;xb++)
+		{
+			if(xb!=x)
+			{
+				k=(-a.mat[xb][x]);
+				a.RowAdd(xb,x,k);
+				b.RowAdd(xb,x,k);
+			}
+		}
+	}
+	
+	return b;
+}
+
+
+void Mat::RowExchange(int a, int b)
+{
+	double s[MAT_MAX];
+	int ncpy=n*sizeof(double);
+	memcpy(s,mat[a],ncpy);
+	memcpy(mat[a],mat[b],ncpy);
+	memcpy(mat[b],s,ncpy);
+}
+void Mat::RowMul(int a,double k)
+{
+	int y;
+	for(y=0;y<n;y++)
+	{
+		mat[a][y]= mat[a][y]*k;
+	}
+}
+void Mat::RowAdd(int a,int b,double k)
+{
+	int y;
+	for(y=0;y<n;y++)
+	{
+		mat[a][y]= mat[a][y]+ mat[b][y]*k;
+	}
+}
+
+void Mat::ColExchange(int a, int b)
+{
+	double s;
+	int x;
+	for(x=0;x<m;x++)
+	{
+		s=mat[x][a];
+		mat[x][a]=mat[x][b];
+		mat[x][b]=s;
+	}
+}
+void Mat::ColMul(int a,double k)
+{
+	int x;
+	for(x=0;x<m;x++)
+	{
+		mat[x][a]=mat[x][a]*k;
+	}
+}
+void Mat::ColAdd(int a,int b,double k)
+{
+	int x;
+	for(x=0;x<m;x++)
+	{
+		mat[x][a]=mat[x][a]+mat[x][b]*k;
+	}
+}
+
+
+
+double Mat::Sqrt()
+{
+	int x;
+	double numx;
+	double s=0;
+	for(x=0;x<m;x++)
+	{
+		numx=mat[x][0];
+		s+=(numx*numx);
+	}
+	return s;
+}
+double Mat::absvec()
+{
+	return sqrt(Sqrt());
+}
+
+Mat operator ^(Mat a, Mat b)
+{
+	double ax=a.mat[0][0];
+	double ay=a.mat[1][0];
+	double az=a.mat[2][0];
+	double bx=b.mat[0][0];
+	double by=b.mat[1][0];
+	double bz=b.mat[2][0];
+
+	Mat c(3,1,-1);
+	c.mat[0][0]=ay*bz-az*by;
+	c.mat[1][0]=(-(ax*bz-az*bx));
+	c.mat[2][0]=ax*by-ay*bx;
+
+	return c;
+}
+
diff --git a/project/projectCarLocation/src/ros_merge_test/src/align.cpp b/project/projectCarLocation/src/ros_merge_test/src/align.cpp
new file mode 100644
index 0000000..2b9328f
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/src/align.cpp
@@ -0,0 +1,103 @@
+#include "align.h"
+
+namespace uwb_slam{
+    void Align::Run()
+    {
+        imuDataRxTime = ros::Time::now();
+        uwbDataRxTime = ros::Time::now();
+
+        wheel_odom_sub_= nh_.subscribe("wheel_odom",10,&Align::wheel_odomCB,this);
+        imu_sub_= nh_.subscribe("raw_imu",10,&Align::imuCB,this);
+        odom_sub_= nh_.subscribe("odom",10,&Align::odomCB,this);
+
+        std::ofstream outfile("data.txt",std::ofstream::out);
+        if(outfile.is_open()) {
+            std::cout << "start saving data" << std::endl;
+            outfile << "imuDataRxTime,odomDataRxTime,uwbDataRxTime,"\
+                    << "aX,aY,aZ,"\
+                    << "gX,gY,gZ,"\
+                    << "mX,mY,mZ,"\
+                    << "qW,qX,qY,qZ,"\
+                    << "vXY,angleV,"\
+                    << "imuPosX,imuPosY,"\
+                    << "lightHousePosX,lightHousePosY,lightHousePosZ,"\
+                    << "lightHouseQW,lightHouseQX,lightHouseQY,lightHouseQZ,"\
+                    << "d1,d2,d3,"\
+                    << "aoa1,aoa2,aoa3\n";
+        } else {
+            std::cout<<"file can not open"<<std::endl;
+        }
+
+        while(1){
+            if(imuDataRxTime!=imu_odom_.imu_data_.imu_t_){
+                std::cout << "imu received" << std::endl;
+                imuDataRxTime = imu_odom_.imu_data_.imu_t_;
+                odomDataRxTime = odom_tmp_;
+                uwbDataRxTime = uwb_->uwb_data_.uwb_t_;
+    
+                outfile << imuDataRxTime << "," << odomDataRxTime << "," << uwbDataRxTime <<","\
+                        << imu_odom_.imu_data_.a_[0] << "," << imu_odom_.imu_data_.a_[1] << "," << imu_odom_.imu_data_.a_[2] << ","\
+                        << imu_odom_.imu_data_.g_[0] << "," << imu_odom_.imu_data_.g_[1] << "," << imu_odom_.imu_data_.g_[2] << ","\
+                        << imu_odom_.imu_data_.m_[0] << "," << imu_odom_.imu_data_.m_[1] << "," << imu_odom_.imu_data_.m_[2] << ","\
+                        << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << ","\
+                        << imu_odom_.vxy_ << "," << imu_odom_.angle_v_ << ","\
+                        << imu_odom_.pose_[0] << "," << imu_odom_.pose_[1] << ","\
+                        << lighthouse_->data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << ","\
+                        << lighthouse_->data.qw_ << "," << lighthouse_->data.qx_ << "," << lighthouse_->data.qy_ << "," << lighthouse_->data.qz_ << ","\
+                        << uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << ","\
+                        << uwb_->aoa[0] << "," << uwb_->aoa[1] << "," << uwb_->aoa[2] << "\n";
+            }
+        }
+        // outfile.close();
+        // std::cout<< "Data written to file." << std::endl;   
+    }
+    
+    
+    
+    void Align::wheel_odomCB(const nav_msgs::Odometry& wheel_odom)
+    {
+        imu_odom_.vxy_= wheel_odom.twist.twist.linear.x;
+        imu_odom_.angle_v_ = wheel_odom.twist.twist.angular.z;
+        // imu_odom_.pose_[0] = wheel_odom.pose.pose.position.x;
+        // imu_odom_.pose_[1] = wheel_odom.pose.pose.position.y;
+        // imu_odom_.pose_[2] = wheel_odom.pose.pose.position.z;
+        // imu_odom_.quat_[0] = wheel_odom.pose.pose.orientation.x;
+        // imu_odom_.quat_[1] = wheel_odom.pose.pose.orientation.y;
+        // imu_odom_.quat_[2] = wheel_odom.pose.pose.orientation.z;
+        // imu_odom_.quat_[3] = wheel_odom.pose.pose.orientation.w;
+        return;
+    }
+    void Align::imuCB(const ros_merge_test::RawImu& imu)
+    {
+        imu_odom_.imu_data_.imu_t_ = imu.header.stamp;
+        imu_odom_.imu_data_.a_[0] = imu.raw_linear_acceleration.x;
+        imu_odom_.imu_data_.a_[1] = imu.raw_linear_acceleration.y;
+        imu_odom_.imu_data_.a_[2] = imu.raw_linear_acceleration.z;
+
+        imu_odom_.imu_data_.g_[0] = imu.raw_angular_velocity.x;
+        imu_odom_.imu_data_.g_[1] = imu.raw_angular_velocity.y;
+        imu_odom_.imu_data_.g_[2] = imu.raw_angular_velocity.z;
+
+        imu_odom_.imu_data_.m_[0] = imu.raw_magnetic_field.x;
+        imu_odom_.imu_data_.m_[1] = imu.raw_magnetic_field.y;
+        imu_odom_.imu_data_.m_[2] = imu.raw_magnetic_field.z;
+
+        return;
+    }
+
+    void Align::odomCB(const nav_msgs::Odometry& odom)
+    {
+        odom_tmp_ = odom.header.stamp;
+        imu_odom_.pose_[0] = odom.pose.pose.position.x;
+        imu_odom_.pose_[1] = odom.pose.pose.position.y;
+        imu_odom_.pose_[2] = odom.pose.pose.position.z;
+        imu_odom_.quat_[0] = odom.pose.pose.orientation.w;
+        imu_odom_.quat_[1] = odom.pose.pose.orientation.x;
+        imu_odom_.quat_[2] = odom.pose.pose.orientation.y;
+        imu_odom_.quat_[3] = odom.pose.pose.orientation.z;
+    }
+
+};
+
+
+
diff --git a/project/projectCarLocation/src/ros_merge_test/src/kf.cpp b/project/projectCarLocation/src/ros_merge_test/src/kf.cpp
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectCarLocation/src/ros_merge_test/src/lighthouse.cpp b/project/projectCarLocation/src/ros_merge_test/src/lighthouse.cpp
new file mode 100644
index 0000000..3088186
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/src/lighthouse.cpp
@@ -0,0 +1,79 @@
+#include "lighthouse.h"
+#include <cmath>
+#include <string>
+
+namespace uwb_slam{
+    Lighthouse::Lighthouse(){
+        std::cout << "Start Run. "  << std::endl;
+
+        // 创建UDP套接字
+        UdpSocket = socket(AF_INET, SOCK_DGRAM, 0);
+        if (UdpSocket == -1) {
+            std::cerr << "Error creating UDP socket." << std::endl;
+            return;
+        }
+
+        std::cout << "Creating UDP socket sucess. "  << std::endl;
+
+        // 设置套接字地址结构
+        sockaddr_in udpAddress;
+        std::memset(&udpAddress, 0, sizeof(udpAddress));
+        udpAddress.sin_family = AF_INET;
+        udpAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+        udpAddress.sin_port = htons(PORT);
+
+        // 将套接字绑定到地址
+        if (bind(UdpSocket, (struct sockaddr*)&udpAddress, sizeof(udpAddress)) == -1) {
+            std::cerr << "Error binding UDP socket." << std::endl;
+            close(UdpSocket);
+        }
+    }
+
+    Lighthouse::~Lighthouse(){
+        close(UdpSocket);
+    }
+
+    void Lighthouse::Run() {
+        while(1){
+            // 这是一个阻塞线程
+            this->UDPRead();
+        }
+    }
+
+    void Lighthouse::UDPRead(){
+        char buffer[1024];
+        ssize_t bytesRead = recvfrom(UdpSocket, buffer, sizeof(buffer), 0, nullptr, nullptr);
+        if (bytesRead == -1) {
+            std::cerr << "Error receiving data." << std::endl;
+            return;
+        }
+
+        std::string data(buffer);
+
+        float x,y,z,qw,qx,qy,qz;
+
+        qw = 1.0;
+
+        sscanf(data.c_str(),"%f %f %f %f %f %f",&x,&y,&z,&qx,&qy,&qz);
+
+        mMutexLighthouse.lock();
+
+        this->data.x_ = x;
+        this->data.y_ = y;
+        this->data.z_ = z;
+
+        this->data.qw_ = qw;
+        this->data.qx_ = qx;
+        this->data.qy_ = qy;
+        this->data.qz_ = qz;
+
+        
+
+        mMutexLighthouse.unlock();
+
+        // 打印接收到的消息
+        buffer[bytesRead] = '\0';
+        // std::cout << "Received: " << buffer << std::endl;
+
+    }
+};
\ No newline at end of file
diff --git a/project/projectCarLocation/src/ros_merge_test/src/main.cpp b/project/projectCarLocation/src/ros_merge_test/src/main.cpp
new file mode 100644
index 0000000..7bac9be
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/src/main.cpp
@@ -0,0 +1,65 @@
+#include "../include/system.h"
+#include "../include/uwb.h"
+#include "../include/lighthouse.h"
+#include "Mat.h"
+
+
+#include <iostream>
+#include <ros/ros.h>
+#include <thread>
+#include "senddata.h"
+
+
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node
+
+    std::shared_ptr<uwb_slam::System> system = std::make_shared<uwb_slam::System>();
+    std::shared_ptr<uwb_slam::Mapping> mp = std::make_shared<uwb_slam::Mapping>();
+    std::shared_ptr<uwb_slam::Uwb> uwb = std::make_shared<uwb_slam::Uwb>();
+    std::shared_ptr<uwb_slam::Senddata> sender = std::make_shared<uwb_slam::Senddata>();
+    std::shared_ptr<uwb_slam::Align> align = std::make_shared<uwb_slam::Align>();
+    std::shared_ptr<uwb_slam::Lighthouse> lighthouse = std::make_shared<uwb_slam::Lighthouse>();
+
+    
+    system->Mapping_ = mp;
+    system->Uwb_ = uwb;
+    system->Sender_ = sender;
+    system->Align_ = align;
+    system->Lighthouse_ = lighthouse;
+
+    mp->uwb_ = system->Uwb_;
+    mp->align_ = system->Align_;
+    align->uwb_ = system->Uwb_;
+    align->lighthouse_ = system->Lighthouse_;
+
+    // //  control data fllow in system
+    // std::thread rose_trd ([&system]() {
+    //     system->Run();
+    // });
+
+    // uwb serried read
+    std::thread uwb_trd([&uwb]() {
+        uwb->Run();
+    });
+
+    // build map
+    // std::thread map_trd ([&mp]() {
+    //     mp->Run();
+    // });
+
+    std::thread sender_trd ([&sender, uwb]() {
+        sender->Run(uwb);
+    });
+
+    std::thread align_trd ([&align]() {
+        align->Run();
+    });
+
+    std::thread lighthouse_trd ([&lighthouse]() {
+        lighthouse->Run();
+    });
+
+    ros::spin(); 
+}
diff --git a/project/projectCarLocation/src/ros_merge_test/src/mapping.cpp b/project/projectCarLocation/src/ros_merge_test/src/mapping.cpp
new file mode 100644
index 0000000..9cd9c4f
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/src/mapping.cpp
@@ -0,0 +1,149 @@
+#include "mapping.h"
+#include <mutex>
+#include <unistd.h>// 包含 usleep() 函数所在的头文件
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+
+namespace uwb_slam
+{
+    bool Mapping::checkQueue()
+    {
+        //std::unique_lock<std::mutex> lock(mMutexMap);
+        return !posDataQueue.empty();
+    }
+
+    void Mapping::feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData)
+    {
+        //std::unique_lock<std::mutex> lock(mMutexMap);
+        posDataQueue.push({imuPosData, uwbPosData, syncPosData});
+
+    }
+    
+
+    void Mapping::process()
+    {
+        {   
+            
+            //std::unique_lock<std::mutex> lock(mMutexMap);
+            //std::cout << "SIZE:  " <<posDataQueue.size() << std::endl;
+            posData = posDataQueue.front();
+            //std::cout << "x: " <<cur_point.x << " y:" << cur_point.y << std::endl;
+            posDataQueue.pop();
+        }
+        /*生成图*/
+
+        int imuPosPointX = posData[0].x / PIXEL_SCALE + ( fmod(posData[0].x ,PIXEL_SCALE) != 0) + realWidth / 2;
+        int imuPosPointY = posData[0].y / PIXEL_SCALE + ( fmod(posData[0].y ,PIXEL_SCALE) != 0) + realHeight / 2;
+        int uwbPosPointX = posData[1].x / PIXEL_SCALE + ( fmod(posData[1].x ,PIXEL_SCALE) != 0) + realWidth / 2;
+        int uwbPosPointY = posData[1].y / PIXEL_SCALE + ( fmod(posData[1].y ,PIXEL_SCALE) != 0) + realHeight / 2;
+        int syncPosPointX = posData[2].x / PIXEL_SCALE + ( fmod(posData[2].x ,PIXEL_SCALE) != 0) + realWidth / 2;
+        int syncPosPointY = posData[2].y / PIXEL_SCALE + ( fmod(posData[2].y ,PIXEL_SCALE) != 0) + realHeight / 2;
+        // std::cout << "syncPos:" <<posData[2].x << " " << posData[2].y;
+        // std::cout << " uwbPos:" <<posData[1].x << " " << posData[1].x;
+        // std::cout << " imuPos:" <<posData[0].x << " " << posData[0].y << std::endl;
+
+        // std::cout << "syncPos:" <<syncPosPointX << " " << syncPosPointY;
+        // std::cout << " uwbPos:" <<uwbPosPointX << " " << uwbPosPointY;
+        // std::cout << " imuPos:" <<imuPosPointX << " " << imuPosPointY << std::endl;
+        // img.at<unsigned char>(imuPosPointY, imuPosPointX) = 0;   
+        img.at<cv::Vec3b>(imuPosPointY, imuPosPointX) = cv::Vec3b(0,0,255);     //imu trace is red
+        img.at<cv::Vec3b>(uwbPosPointY, uwbPosPointX) = cv::Vec3b(0,255,0);     //uwb trace is green
+        img.at<cv::Vec3b>(syncPosPointY, syncPosPointX) = cv::Vec3b(255,0,0);   //sync trace is blue
+    }
+
+
+    void Mapping::Run()
+    {
+        
+        //int key = cv::waitKey(0);//等待用户按下按键
+        //std::cout << key << std::endl;
+        realWidth = AREA_SIZE / PIXEL_SCALE;
+        realHeight = AREA_SIZE / PIXEL_SCALE;
+
+        img = cv::Mat(realHeight, realWidth, CV_8UC3, cv::Scalar(255,255,255));
+        //cankao
+        for (int j=0;j<AREA_SIZE / PIXEL_SCALE;j+=10)
+            for (int i=0;i<AREA_SIZE / PIXEL_SCALE;i+=10)
+                img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
+        
+        for (int j=realHeight/2-1; j<=realHeight/2+1; j+=1)
+            for (int i=realWidth/2-1; i<=realWidth/2+1; i+=1)
+                img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
+        int i = 0, j = 0;
+        img.at<cv::Vec3b>(j,i)= cv::Vec3b(0,0,0);
+
+
+
+        cv::imshow("Image",img);
+
+        // bool printFlag = 0;
+        // std::ofstream outfile("data.txt",std::ofstream::out);
+        // if(outfile.is_open()) {
+        //     std::cout << "start saving data" << key << std::endl;
+        //     printFlag = 1;
+        // } else {
+        //     std::cout<<"file can not open"<<std::endl;
+        // }
+
+        /*
+        std::cout << "waiting" <<std::endl;
+        int key = cv::waitKey(0);
+        if (key == 'q' || key == 27) {
+            this->feed_uwb_data(cv::Point2d(uwb_->x,uwb_->y));
+            readPos = true;
+            std::cout << "non" << key << std::endl;
+            cv::destroyAllWindows();
+         }
+        */
+        while(1){
+            int key = cv::waitKey(0);
+            if (key == 'q' ) {
+                readPos = true;
+                std::cout << "start mapping" << key << std::endl;
+        
+                //cv::destroyAllWindows();
+            }
+            while( readPos )//按下空格键
+            {
+                int key2 = cv::waitKey(1);
+                if (key2 == 'q') {
+                    //TODO: save
+
+                    std::string pngimage="/home/firefly/Project_Ros11/Project_Ros1/src/ros_merge_test/Map/output_image.png";//保存的图片文件路径
+                    cv::imwrite(pngimage,img);
+                    readPos = false;
+                    
+                    // outfile.close();
+                    // printFlag = 0;
+                    // std::cout<< "Data written to file." << std::endl;
+                    
+                    break;
+                }
+        
+                //this->feedPos(cv::Point2d(align_->imuPos.mat[0][0], align_->imuPos.mat[1][0]), cv::Point2d(align_->uwbPos.mat[0][0], align_->uwbPos.mat[1][0]), cv::Point2d(align_->syncPos.mat[0][0], align_->syncPos.mat[1][0]));
+                //this->feedPos(cv::Point2d(uwb_->x, uwb_->y));
+
+                //uwb xieru
+                //std::cout << "cur_SEQ: " <<uwb_->cur_seq  << std::endl;
+
+                if(checkQueue())
+                {
+                    //std::cout << " start process" << std::endl;
+                    process();
+                    //std::cout << " end process" << std::endl;
+                     
+                }
+            }
+            // std::cout << "out" << key << std::endl;
+
+        }
+
+
+
+        //std::string pngimage="../Map/pngimage.png";//保存的图片文件路径
+        //cv::imwrite(pngimage,img);
+      
+        /*ros 发送图片给导航 */
+    }
+} // namespace uwb_slam
+
diff --git a/project/projectCarLocation/src/ros_merge_test/src/read_sensor_data.cpp b/project/projectCarLocation/src/ros_merge_test/src/read_sensor_data.cpp
new file mode 100644
index 0000000..e74d0cd
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/src/read_sensor_data.cpp
@@ -0,0 +1,30 @@
+#include <read_sensor_data.h>
+
+namespace uwb_slam {
+
+
+    //void Read_sensor_data::set_uwb(){}
+
+
+    void Read_sensor_data::imu_call_back(const ImuConstPtr& imu){
+        Imu_data d1= Imu_data(imu->linear_acceleration.x,imu->linear_acceleration.y,imu->linear_acceleration.z,
+                              imu->angular_velocity.x,imu->angular_velocity.y,imu->angular_velocity.z);
+
+    }
+    void Read_sensor_data::odom_call_back(const OdomConstPtr& odom){
+        Odom_data d1 = Odom_data(odom->pose.pose.position.x, odom->pose.pose.position.y, odom->pose.pose.position.z,
+                                 odom->pose.pose.orientation.w,odom->pose.pose.orientation.x, odom->pose.pose.orientation.y, odom->pose.pose.orientation.z,
+                                 odom->header.stamp,odom->twist.twist.linear.x,odom->twist.twist.linear.y,odom->twist.twist.angular.z);
+
+    }
+    void Read_sensor_data::Run(int argc, char* argv[]){
+
+        ros::init(argc, argv, "imu_odom");
+        // 创建一个节点句柄
+        ros::NodeHandle nh;
+        //imu_sub_ = nh.subscribe<std_msgs::String>("imu/data_raw", 1000, this->imu_call_back);
+        //odom_sub_ =nh.subscribe("odom", 1000,odom_call_back);
+        ros::spin();
+    }
+
+}
diff --git a/project/projectCarLocation/src/ros_merge_test/src/senddata.cpp b/project/projectCarLocation/src/ros_merge_test/src/senddata.cpp
new file mode 100644
index 0000000..c6681ae
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/src/senddata.cpp
@@ -0,0 +1,64 @@
+#include "senddata.h"
+
+
+namespace uwb_slam
+{
+    void Senddata::Run(std::shared_ptr<uwb_slam::Uwb>uwb){
+
+        ros::Rate loop_rate(10);
+        position_pub_=nh_.advertise<nav_msgs::Odometry>("uwb_odom",50);
+        odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this);
+        while(ros::ok()){
+            publishOdometry(uwb);
+            ros::spinOnce();
+            loop_rate.sleep();
+        }
+
+
+    }
+    void Senddata::odomCB(const nav_msgs::Odometry& odom){
+        sub_odom_ = odom;
+        return;
+    }
+
+    void Senddata::publishOdometry(std::shared_ptr<uwb_slam::Uwb>uwb)
+    {
+
+        std::mutex mMutexSend;
+        ros::Time current_time = ros::Time::now();
+
+        // 设置 Odometry 消息的头部信息
+        odom_.header.stamp = current_time;
+        odom_.header.frame_id = "odom";  // 设置坐标系为 "map"
+        odom_.child_frame_id = "base_link";  // 设置坐标系为 "base_link"
+        
+        // 填充 Odometry 消息的位置信息
+        odom_.pose.pose.position.x = uwb->uwb_data_.x_;
+        odom_.pose.pose.position.y = uwb->uwb_data_.y_;
+        odom_.pose.pose.position.z = 0.0;
+        
+
+        // 填充 Odometry 消息的姿态信息（使用四元数来表示姿态）
+        // tf2::Quaternion quat;
+        // quat.setRPY(0, 0, uwb->theta);  // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0
+        // odom.pose.pose.orientation.x = quat.x();
+        // odom.pose.pose.orientation.y = quat.y();
+        // odom.pose.pose.orientation.z = quat.z();
+        // odom.pose.pose.orientation.w = quat.w();
+
+        odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x;
+        odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y;
+        odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z;
+        odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w;
+
+        // 发布 Odometry 消息
+        position_pub_.publish(odom_);
+
+
+    }
+
+
+    
+
+
+} // namespace uwb_slam
\ No newline at end of file
diff --git a/project/projectCarLocation/src/ros_merge_test/src/system.cpp b/project/projectCarLocation/src/ros_merge_test/src/system.cpp
new file mode 100644
index 0000000..44f5878
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/src/system.cpp
@@ -0,0 +1,15 @@
+#include "../include/system.h"
+//#include ""
+
+
+namespace uwb_slam{
+
+    void System::Run()
+    {
+        while(1){
+
+        }
+
+    }
+    
+}
\ No newline at end of file
diff --git a/project/projectCarLocation/src/ros_merge_test/src/uwb.cpp b/project/projectCarLocation/src/ros_merge_test/src/uwb.cpp
new file mode 100644
index 0000000..30bee87
--- /dev/null
+++ b/project/projectCarLocation/src/ros_merge_test/src/uwb.cpp
@@ -0,0 +1,120 @@
+#include "uwb.h"
+#include <cmath>
+#include "Mat.h"
+
+
+#define CARHEIGHT 20
+#define DISINDEX 3
+#define AOAINDEX 15
+#define DATALENGTH 27
+
+namespace uwb_slam{
+    Uwb::Uwb(){
+    
+    }
+
+    void Uwb::Run() {
+        
+        while(1){
+        this->Serread();
+
+        }
+
+
+    }
+
+
+    void Uwb::Serread(){
+        try {
+        boost::asio::io_service io;
+        boost::asio::serial_port serial(io, "/dev/ttyUSB0"); // 替换成你的串口设备路径
+
+        serial.set_option(boost::asio::serial_port_base::baud_rate(115200)); // 设置波特率
+        serial.set_option(boost::asio::serial_port_base::character_size(8)); // 设置数据位
+        serial.set_option(boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none)); // 设置校验位
+        serial.set_option(boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one)); // 设置停止位
+
+        uint8_t tmpdata[DATALENGTH];
+        // std::cerr << "befor read" << std::endl;
+        size_t bytesRead = boost::asio::read(serial, boost::asio::buffer(tmpdata, sizeof(tmpdata))); // 读取串口数据
+        // std::cerr << "after read" << std::endl;
+        this->uwb_data_.uwb_t_ = ros::Time::now();
+        
+        // for (int i=0;i< bytesRead;i++)
+        // {
+        //     std::cout << std::hex<<static_cast<int>(tmpdata[i]) << " ";
+        // }
+        // std::cout << std::endl;
+
+        memcpy(&this->d[0], &tmpdata[DISINDEX], sizeof(d[0]));
+        memcpy(&this->d[1], &tmpdata[DISINDEX + sizeof(d[0])], sizeof(d[0]));
+        memcpy(&this->d[2], &tmpdata[DISINDEX + sizeof(d[0]) * 2], sizeof(d[0]));
+        memcpy(&this->aoa[0], &tmpdata[AOAINDEX], sizeof(aoa[0]));
+        memcpy(&this->aoa[1], &tmpdata[AOAINDEX + sizeof(aoa[0])], sizeof(aoa[0]));
+        memcpy(&this->aoa[2], &tmpdata[AOAINDEX + sizeof(aoa[0]) * 2], sizeof(aoa[0]));
+
+        // std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << " ";
+        // std::cout << "aoa:" << aoa[0] << " " << aoa[1] << " " << aoa[2] << std::endl;
+
+        if(abs(d[0]) > 2000 || abs(d[1]) > 2000 || abs(d[2]) > 2000) {
+            return;
+        }
+        // for(int i=0; i<3; i++)
+        // {
+        //     this->d[i] = sqrt(this->d[i] * this->d[i] - (AnchorPos[i][2] - CARHEIGHT) * (AnchorPos[i][2] - CARHEIGHT));
+        // }
+        // d[0] = ((((4.9083e-07 * d[0]) - 4.6166e-04) * d[0]) + 1.0789) * d[0] + 5.4539;
+        // d[1] = ((((-4.1679e-07 * d[1]) + 5.0999e-04) * d[1]) + 0.7930) * d[1] + 29.8296;
+        // d[2] = ((((2.3514e-07 * d[2]) - 1.8277e-04) * d[2]) + 0.9935) * d[2] + 9.8852;   
+    } catch (const std::exception& ex) {
+        std::cerr << "Exception: " << ex.what() << std::endl;
+    }
+
+
+
+    }
+    
+ 
+    void fusion()
+    {
+
+    }
+
+
+
+    
+
+
+};
+
+// bool Uwb::checknewdata()
+// {
+//     std::unique_lock<std::mutex> lock(mMutexUwb);
+//     return !v_buffer_imu_odom_pose_data_.empty();
+// }
+
+// void Uwb::Run() {
+//     while(1)
+//     {
+//         if(checknewdata())
+//         {
+//             {
+//                 std::unique_lock<std::mutex> lock(mMutexUwb);
+//                 Imu_odom_pose_data imu_odom_pose_data = v_buffer_imu_odom_pose_data_.front();
+//                 v_buffer_imu_odom_pose_data_.pop();
+//             }
+
+
+
+//         }
+//     }
+
+
+
+// }
+
+// void Uwb::feed_imu_odom_pose_data(const Imu_odom_pose_data& imu_odom_pose_data){
+//     std::unique_lock<std::mutex> lock(mMutexUwb);
+//     v_buffer_imu_odom_pose_data_.push(imu_odom_pose_data);
+// }
+
diff --git a/project/projectMaster/.catkin_workspace b/project/projectMaster/.catkin_workspace
new file mode 100644
index 0000000..52fd97e
--- /dev/null
+++ b/project/projectMaster/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/project/projectMaster/build/.built_by b/project/projectMaster/build/.built_by
new file mode 100644
index 0000000..2e212dd
--- /dev/null
+++ b/project/projectMaster/build/.built_by
@@ -0,0 +1 @@
+catkin_make
\ No newline at end of file
diff --git a/project/projectMaster/build/CATKIN_IGNORE b/project/projectMaster/build/CATKIN_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectMaster/build/CMakeCache.txt b/project/projectMaster/build/CMakeCache.txt
new file mode 100644
index 0000000..0186b7c
--- /dev/null
+++ b/project/projectMaster/build/CMakeCache.txt
@@ -0,0 +1,777 @@
+# This is the CMakeCache file.
+# For build in directory: /home/firefly/Project_Ros-master/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Builds the googlemock subproject
+BUILD_GMOCK:BOOL=ON
+
+//Build dynamically-linked binaries
+BUILD_SHARED_LIBS:BOOL=ON
+
+//The directory containing a CMake configuration file for Boost.
+Boost_DIR:PATH=/usr/lib/aarch64-linux-gnu/cmake/Boost-1.71.0
+
+//Path to a file.
+Boost_INCLUDE_DIR:PATH=/usr/include
+
+//List of ';' separated packages to exclude
+CATKIN_BLACKLIST_PACKAGES:STRING=
+
+//catkin devel space
+CATKIN_DEVEL_PREFIX:PATH=/home/firefly/Project_Ros-master/devel
+
+//Catkin enable testing
+CATKIN_ENABLE_TESTING:BOOL=ON
+
+//Catkin skip testing
+CATKIN_SKIP_TESTING:BOOL=OFF
+
+//Replace the CMake install command with a custom implementation
+// using symlinks instead of copying resources
+CATKIN_SYMLINK_INSTALL:BOOL=OFF
+
+//List of ';' separated packages to build
+CATKIN_WHITELIST_PACKAGES:STRING=
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the C compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the C compiler during DEBUG builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the C compiler during MINSIZEREL builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the C compiler during RELEASE builds.
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
+CMAKE_EXE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during DEBUG builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during MINSIZEREL builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during RELEASE builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during RELWITHDEBINFO builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//User executables (bin)
+CMAKE_INSTALL_BINDIR:PATH=bin
+
+//Read-only architecture-independent data (DATAROOTDIR)
+CMAKE_INSTALL_DATADIR:PATH=
+
+//Read-only architecture-independent data root (share)
+CMAKE_INSTALL_DATAROOTDIR:PATH=share
+
+//Documentation root (DATAROOTDIR/doc/PROJECT_NAME)
+CMAKE_INSTALL_DOCDIR:PATH=
+
+//C header files (include)
+CMAKE_INSTALL_INCLUDEDIR:PATH=include
+
+//Info documentation (DATAROOTDIR/info)
+CMAKE_INSTALL_INFODIR:PATH=
+
+//Object code libraries (lib)
+CMAKE_INSTALL_LIBDIR:PATH=lib
+
+//Program executables (libexec)
+CMAKE_INSTALL_LIBEXECDIR:PATH=libexec
+
+//Locale-dependent data (DATAROOTDIR/locale)
+CMAKE_INSTALL_LOCALEDIR:PATH=
+
+//Modifiable single-machine data (var)
+CMAKE_INSTALL_LOCALSTATEDIR:PATH=var
+
+//Man documentation (DATAROOTDIR/man)
+CMAKE_INSTALL_MANDIR:PATH=
+
+//C header files for non-gcc (/usr/include)
+CMAKE_INSTALL_OLDINCLUDEDIR:PATH=/usr/include
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/firefly/Project_Ros-master/install
+
+//Run-time variable data (LOCALSTATEDIR/run)
+CMAKE_INSTALL_RUNSTATEDIR:PATH=
+
+//System admin executables (sbin)
+CMAKE_INSTALL_SBINDIR:PATH=sbin
+
+//Modifiable architecture-independent data (com)
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+
+//Read-only single-machine data (etc)
+CMAKE_INSTALL_SYSCONFDIR:PATH=etc
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules during
+// all build types.
+CMAKE_MODULE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of modules during
+// DEBUG builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of modules during
+// MINSIZEREL builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELEASE builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELWITHDEBINFO builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_DESCRIPTION:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=Project
+
+//Value Computed by CMake
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+
+//Value Computed by CMake
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+
+//Value Computed by CMake
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+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_PATCH:STATIC=0
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_TWEAK:STATIC=
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Path to a program.
+CMAKE_READELF:FILEPATH=/usr/bin/readelf
+
+//Flags used by the linker during the creation of shared libraries
+// during all build types.
+CMAKE_SHARED_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during DEBUG builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during MINSIZEREL builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELWITHDEBINFO builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries
+// during all build types.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during DEBUG builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during MINSIZEREL builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELEASE builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELWITHDEBINFO builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a program.
+DOXYGEN_EXECUTABLE:FILEPATH=DOXYGEN_EXECUTABLE-NOTFOUND
+
+//Path to a program.
+EMPY_EXECUTABLE:FILEPATH=EMPY_EXECUTABLE-NOTFOUND
+
+//Empy script
+EMPY_SCRIPT:STRING=/usr/lib/python3/dist-packages/em.py
+
+//Path to a library.
+GMOCK_LIBRARY:FILEPATH=GMOCK_LIBRARY-NOTFOUND
+
+//Path to a library.
+GMOCK_LIBRARY_DEBUG:FILEPATH=GMOCK_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+GMOCK_MAIN_LIBRARY:FILEPATH=GMOCK_MAIN_LIBRARY-NOTFOUND
+
+//Path to a library.
+GMOCK_MAIN_LIBRARY_DEBUG:FILEPATH=GMOCK_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//The directory containing a CMake configuration file for GMock.
+GMock_DIR:PATH=GMock_DIR-NOTFOUND
+
+//Path to a file.
+GTEST_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+GTEST_LIBRARY:FILEPATH=/usr/lib/aarch64-linux-gnu/libgtest.a
+
+//Path to a library.
+GTEST_LIBRARY_DEBUG:FILEPATH=GTEST_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+GTEST_MAIN_LIBRARY:FILEPATH=/usr/lib/aarch64-linux-gnu/libgtest_main.a
+
+//Path to a library.
+GTEST_MAIN_LIBRARY_DEBUG:FILEPATH=GTEST_MAIN_LIBRARY_DEBUG-NOTFOUND
+
+//The directory containing a CMake configuration file for GTest.
+GTest_DIR:PATH=GTest_DIR-NOTFOUND
+
+//Enable installation of googletest. (Projects embedding googletest
+// may want to turn this OFF.)
+INSTALL_GTEST:BOOL=OFF
+
+//lsb_release executable was found
+LSB_FOUND:BOOL=TRUE
+
+//Path to a program.
+LSB_RELEASE_EXECUTABLE:FILEPATH=/usr/bin/lsb_release
+
+//Path to a program.
+NOSETESTS:FILEPATH=/usr/bin/nosetests3
+
+//The directory containing a CMake configuration file for OpenCV.
+OpenCV_DIR:PATH=/usr/lib/aarch64-linux-gnu/cmake/opencv4
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=3
+
+//Location of Python module em
+PY_EM:STRING=/usr/lib/python3/dist-packages/em.py
+
+//Value Computed by CMake
+Project_BINARY_DIR:STATIC=/home/firefly/Project_Ros-master/build
+
+//Value Computed by CMake
+Project_SOURCE_DIR:STATIC=/home/firefly/Project_Ros-master/src
+
+//Path to a library.
+RT_LIBRARY:FILEPATH=/usr/lib/aarch64-linux-gnu/librt.so
+
+//Enable debian style python package layout
+SETUPTOOLS_DEB_LAYOUT:BOOL=ON
+
+//Name of the computer/site where compile is being run
+SITE:STRING=firefly
+
+//LSB Distrib tag
+UBUNTU:BOOL=TRUE
+
+//LSB Distrib - codename tag
+UBUNTU_FOCAL:BOOL=TRUE
+
+//Path to a file.
+_gmock_INCLUDES:FILEPATH=/usr/src/googletest/googlemock/include/gmock/gmock.h
+
+//Path to a file.
+_gmock_SOURCES:FILEPATH=/usr/src/gmock/src/gmock.cc
+
+//Path to a file.
+_gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h
+
+//Path to a file.
+_gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc
+
+//The directory containing a CMake configuration file for boost_headers.
+boost_headers_DIR:PATH=/usr/lib/aarch64-linux-gnu/cmake/boost_headers-1.71.0
+
+//The directory containing a CMake configuration file for catkin.
+catkin_DIR:PATH=/opt/ros/noetic/share/catkin/cmake
+
+//The directory containing a CMake configuration file for cpp_common.
+cpp_common_DIR:PATH=/opt/ros/noetic/share/cpp_common/cmake
+
+//The directory containing a CMake configuration file for gencpp.
+gencpp_DIR:PATH=/opt/ros/noetic/share/gencpp/cmake
+
+//The directory containing a CMake configuration file for geneus.
+geneus_DIR:PATH=/opt/ros/noetic/share/geneus/cmake
+
+//The directory containing a CMake configuration file for genlisp.
+genlisp_DIR:PATH=/opt/ros/noetic/share/genlisp/cmake
+
+//The directory containing a CMake configuration file for genmsg.
+genmsg_DIR:PATH=/opt/ros/noetic/share/genmsg/cmake
+
+//The directory containing a CMake configuration file for gennodejs.
+gennodejs_DIR:PATH=/opt/ros/noetic/share/gennodejs/cmake
+
+//The directory containing a CMake configuration file for genpy.
+genpy_DIR:PATH=/opt/ros/noetic/share/genpy/cmake
+
+//The directory containing a CMake configuration file for geometry_msgs.
+geometry_msgs_DIR:PATH=/opt/ros/noetic/share/geometry_msgs/cmake
+
+//Value Computed by CMake
+gmock_BINARY_DIR:STATIC=/home/firefly/Project_Ros-master/build/gtest/googlemock
+
+//Dependencies for the target
+gmock_LIB_DEPENDS:STATIC=general;gtest;
+
+//Value Computed by CMake
+gmock_SOURCE_DIR:STATIC=/usr/src/googletest/googlemock
+
+//Build all of Google Mock's own tests.
+gmock_build_tests:BOOL=OFF
+
+//Dependencies for the target
+gmock_main_LIB_DEPENDS:STATIC=general;gmock;
+
+//Value Computed by CMake
+googletest-distribution_BINARY_DIR:STATIC=/home/firefly/Project_Ros-master/build/gtest
+
+//Value Computed by CMake
+googletest-distribution_SOURCE_DIR:STATIC=/usr/src/googletest
+
+//Value Computed by CMake
+gtest_BINARY_DIR:STATIC=/home/firefly/Project_Ros-master/build/gtest/googletest
+
+//Value Computed by CMake
+gtest_SOURCE_DIR:STATIC=/usr/src/googletest/googletest
+
+//Build gtest's sample programs.
+gtest_build_samples:BOOL=OFF
+
+//Build all of gtest's own tests.
+gtest_build_tests:BOOL=OFF
+
+//Disable uses of pthreads in gtest.
+gtest_disable_pthreads:BOOL=OFF
+
+//Use shared (DLL) run-time lib even when Google Test is built
+// as static lib.
+gtest_force_shared_crt:BOOL=OFF
+
+//Build gtest with internal symbols hidden in shared libraries.
+gtest_hide_internal_symbols:BOOL=OFF
+
+//Dependencies for the target
+gtest_main_LIB_DEPENDS:STATIC=general;gtest;
+
+//Path to a library.
+lib:FILEPATH=/opt/ros/noetic/lib/libxmlrpcpp.so
+
+//The directory containing a CMake configuration file for message_generation.
+message_generation_DIR:PATH=/opt/ros/noetic/share/message_generation/cmake
+
+//The directory containing a CMake configuration file for message_runtime.
+message_runtime_DIR:PATH=/opt/ros/noetic/share/message_runtime/cmake
+
+//Value Computed by CMake
+ros_merge_test_BINARY_DIR:STATIC=/home/firefly/Project_Ros-master/build/ros_merge_test
+
+//Value Computed by CMake
+ros_merge_test_SOURCE_DIR:STATIC=/home/firefly/Project_Ros-master/src/ros_merge_test
+
+//The directory containing a CMake configuration file for rosconsole.
+rosconsole_DIR:PATH=/opt/ros/noetic/share/rosconsole/cmake
+
+//The directory containing a CMake configuration file for roscpp.
+roscpp_DIR:PATH=/opt/ros/noetic/share/roscpp/cmake
+
+//The directory containing a CMake configuration file for roscpp_serialization.
+roscpp_serialization_DIR:PATH=/opt/ros/noetic/share/roscpp_serialization/cmake
+
+//The directory containing a CMake configuration file for roscpp_traits.
+roscpp_traits_DIR:PATH=/opt/ros/noetic/share/roscpp_traits/cmake
+
+//The directory containing a CMake configuration file for rosgraph_msgs.
+rosgraph_msgs_DIR:PATH=/opt/ros/noetic/share/rosgraph_msgs/cmake
+
+//The directory containing a CMake configuration file for rospy.
+rospy_DIR:PATH=/opt/ros/noetic/share/rospy/cmake
+
+//The directory containing a CMake configuration file for rostime.
+rostime_DIR:PATH=/opt/ros/noetic/share/rostime/cmake
+
+//The directory containing a CMake configuration file for std_msgs.
+std_msgs_DIR:PATH=/opt/ros/noetic/share/std_msgs/cmake
+
+//The directory containing a CMake configuration file for xmlrpcpp.
+xmlrpcpp_DIR:PATH=/opt/ros/noetic/share/xmlrpcpp/cmake
+
+
+########################
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+########################
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+Boost_DIR-ADVANCED:INTERNAL=1
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+
+
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+set(CMAKE_SYSTEM_VERSION "5.10.160")
+set(CMAKE_SYSTEM_PROCESSOR "aarch64")
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diff --git a/project/projectMaster/build/CMakeFiles/3.16.3/CompilerIdC/CMakeCCompilerId.c b/project/projectMaster/build/CMakeFiles/3.16.3/CompilerIdC/CMakeCCompilerId.c
new file mode 100644
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@@ -0,0 +1,671 @@
+#ifdef __cplusplus
+# error "A C++ compiler has been selected for C."
+#endif
+
+#if defined(__18CXX)
+# define ID_VOID_MAIN
+#endif
+#if defined(__CLASSIC_C__)
+/* cv-qualifiers did not exist in K&R C */
+# define const
+# define volatile
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+  || (defined(__ibmxl__) || defined(__IBMC__))
+#  define C_DIALECT "90"
+# else
+#  define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+  "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/project/projectMaster/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/project/projectMaster/build/CMakeFiles/3.16.3/CompilerIdC/a.out
new file mode 100755
index 0000000..1926469
Binary files /dev/null and b/project/projectMaster/build/CMakeFiles/3.16.3/CompilerIdC/a.out differ
diff --git a/project/projectMaster/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/project/projectMaster/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..69cfdba
--- /dev/null
+++ b/project/projectMaster/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
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+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
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+  ('0' + ((n)>>28 & 0xF)), \
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+  ('0' + ((n)>>16 & 0xF)), \
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+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
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+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
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+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
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+  'I', 'N', 'F', 'O', ':',
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+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
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+
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+
+
+
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+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
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+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
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+}
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+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_generate_messages_nodejs
+.PHONY : ros_merge_test_generate_messages_nodejs
+
+# fast build rule for target.
+ros_merge_test_generate_messages_nodejs/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_nodejs.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_nodejs.dir/build
+.PHONY : ros_merge_test_generate_messages_nodejs/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test_generate_messages_lisp
+
+# Build rule for target.
+ros_merge_test_generate_messages_lisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_generate_messages_lisp
+.PHONY : ros_merge_test_generate_messages_lisp
+
+# fast build rule for target.
+ros_merge_test_generate_messages_lisp/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_lisp.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_generate_messages_lisp.dir/build
+.PHONY : ros_merge_test_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named roscpp_generate_messages_eus
+
+# Build rule for target.
+roscpp_generate_messages_eus: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 roscpp_generate_messages_eus
+.PHONY : roscpp_generate_messages_eus
+
+# fast build rule for target.
+roscpp_generate_messages_eus/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/roscpp_generate_messages_eus.dir/build.make ros_merge_test/CMakeFiles/roscpp_generate_messages_eus.dir/build
+.PHONY : roscpp_generate_messages_eus/fast
+
+#=============================================================================
+# Target rules for targets named ros_merge_test_genlisp
+
+# Build rule for target.
+ros_merge_test_genlisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 ros_merge_test_genlisp
+.PHONY : ros_merge_test_genlisp
+
+# fast build rule for target.
+ros_merge_test_genlisp/fast:
+	$(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test_genlisp.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test_genlisp.dir/build
+.PHONY : ros_merge_test_genlisp/fast
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... install/strip"
+	@echo "... install/local"
+	@echo "... install"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... edit_cache"
+	@echo "... test"
+	@echo "... doxygen"
+	@echo "... run_tests"
+	@echo "... clean_test_results"
+	@echo "... tests"
+	@echo "... download_extra_data"
+	@echo "... gmock_main"
+	@echo "... gmock"
+	@echo "... gtest_main"
+	@echo "... gtest"
+	@echo "... ros_merge_test_node"
+	@echo "... ros_merge_test_genpy"
+	@echo "... ros_merge_test_gennodejs"
+	@echo "... rosgraph_msgs_generate_messages_py"
+	@echo "... roscpp_generate_messages_lisp"
+	@echo "... geometry_msgs_generate_messages_cpp"
+	@echo "... rosgraph_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_geneus"
+	@echo "... rosgraph_msgs_generate_messages_eus"
+	@echo "... std_msgs_generate_messages_cpp"
+	@echo "... rosgraph_msgs_generate_messages_cpp"
+	@echo "... std_msgs_generate_messages_eus"
+	@echo "... geometry_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_cpp"
+	@echo "... roscpp_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages"
+	@echo "... rosgraph_msgs_generate_messages_nodejs"
+	@echo "... roscpp_generate_messages_cpp"
+	@echo "... geometry_msgs_generate_messages_py"
+	@echo "... std_msgs_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages_py"
+	@echo "... std_msgs_generate_messages_nodejs"
+	@echo "... geometry_msgs_generate_messages_eus"
+	@echo "... roscpp_generate_messages_nodejs"
+	@echo "... ros_merge_test"
+	@echo "... geometry_msgs_generate_messages_nodejs"
+	@echo "... _ros_merge_test_generate_messages_check_deps_RawImu"
+	@echo "... ros_merge_test_gencpp"
+	@echo "... std_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_eus"
+	@echo "... ros_merge_test_generate_messages_nodejs"
+	@echo "... ros_merge_test_generate_messages_lisp"
+	@echo "... roscpp_generate_messages_eus"
+	@echo "... ros_merge_test_genlisp"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/project/projectMaster/build/atomic_configure/.rosinstall b/project/projectMaster/build/atomic_configure/.rosinstall
new file mode 100644
index 0000000..76c7a1c
--- /dev/null
+++ b/project/projectMaster/build/atomic_configure/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/firefly/Project_Ros-master/devel/setup.sh
diff --git a/project/projectMaster/build/atomic_configure/_setup_util.py b/project/projectMaster/build/atomic_configure/_setup_util.py
new file mode 100755
index 0000000..10c424e
--- /dev/null
+++ b/project/projectMaster/build/atomic_configure/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectMaster/build/atomic_configure/env.sh b/project/projectMaster/build/atomic_configure/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectMaster/build/atomic_configure/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectMaster/build/atomic_configure/local_setup.bash b/project/projectMaster/build/atomic_configure/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectMaster/build/atomic_configure/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectMaster/build/atomic_configure/local_setup.sh b/project/projectMaster/build/atomic_configure/local_setup.sh
new file mode 100644
index 0000000..528a520
--- /dev/null
+++ b/project/projectMaster/build/atomic_configure/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/Project_Ros-master/devel}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectMaster/build/atomic_configure/local_setup.zsh b/project/projectMaster/build/atomic_configure/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectMaster/build/atomic_configure/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectMaster/build/atomic_configure/setup.bash b/project/projectMaster/build/atomic_configure/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectMaster/build/atomic_configure/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectMaster/build/atomic_configure/setup.sh b/project/projectMaster/build/atomic_configure/setup.sh
new file mode 100644
index 0000000..57ed46b
--- /dev/null
+++ b/project/projectMaster/build/atomic_configure/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/Project_Ros-master/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectMaster/build/atomic_configure/setup.zsh b/project/projectMaster/build/atomic_configure/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectMaster/build/atomic_configure/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectMaster/build/catkin/catkin_generated/version/package.cmake b/project/projectMaster/build/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 0000000..c37e287
--- /dev/null
+++ b/project/projectMaster/build/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,24 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.8.10")
+set(catkin_MAINTAINER "Michael Carroll <michael@openrobotics.org>, Tully Foote <tfoote@openrobotics.org>")
+set(catkin_PACKAGE_FORMAT "3")
+set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools")
+set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools")
+set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose")
+set(catkin_DOC_DEPENDS )
+set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin")
+set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues")
+set(catkin_URL_REPOSITORY "https://github.com/ros/catkin")
+set(catkin_DEPRECATED "")
\ No newline at end of file
diff --git a/project/projectMaster/build/catkin_generated/env_cached.sh b/project/projectMaster/build/catkin_generated/env_cached.sh
new file mode 100755
index 0000000..d6be91d
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/project/projectMaster/build/catkin_generated/generate_cached_setup.py b/project/projectMaster/build/catkin_generated/generate_cached_setup.py
new file mode 100644
index 0000000..ce06872
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,30 @@
+# -*- coding: utf-8 -*-
+from __future__ import print_function
+
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in '/opt/ros/noetic'.split(';'):
+        python_path = os.path.join(workspace, 'lib/python3/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/firefly/Project_Ros-master/devel/env.sh')
+
+output_filename = '/home/firefly/Project_Ros-master/build/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    # print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/project/projectMaster/build/catkin_generated/installspace/.rosinstall b/project/projectMaster/build/catkin_generated/installspace/.rosinstall
new file mode 100644
index 0000000..124996f
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/firefly/Project_Ros-master/install/setup.sh
diff --git a/project/projectMaster/build/catkin_generated/installspace/_setup_util.py b/project/projectMaster/build/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 0000000..10c424e
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectMaster/build/catkin_generated/installspace/env.sh b/project/projectMaster/build/catkin_generated/installspace/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectMaster/build/catkin_generated/installspace/local_setup.bash b/project/projectMaster/build/catkin_generated/installspace/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/installspace/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectMaster/build/catkin_generated/installspace/local_setup.sh b/project/projectMaster/build/catkin_generated/installspace/local_setup.sh
new file mode 100644
index 0000000..4bcbc2c
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/installspace/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/Project_Ros-master/install}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectMaster/build/catkin_generated/installspace/local_setup.zsh b/project/projectMaster/build/catkin_generated/installspace/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/installspace/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectMaster/build/catkin_generated/installspace/setup.bash b/project/projectMaster/build/catkin_generated/installspace/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectMaster/build/catkin_generated/installspace/setup.sh b/project/projectMaster/build/catkin_generated/installspace/setup.sh
new file mode 100644
index 0000000..b72b584
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/installspace/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/Project_Ros-master/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectMaster/build/catkin_generated/installspace/setup.zsh b/project/projectMaster/build/catkin_generated/installspace/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectMaster/build/catkin_generated/order_packages.cmake b/project/projectMaster/build/catkin_generated/order_packages.cmake
new file mode 100644
index 0000000..776fe8c
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/order_packages.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+list(APPEND CATKIN_ORDERED_PACKAGES "ros_merge_test")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "ros_merge_test")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
+
+set(CATKIN_MESSAGE_GENERATORS )
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python3/dist-packages/catkin_pkg/templates/metapackage.cmake.in")
diff --git a/project/projectMaster/build/catkin_generated/order_packages.py b/project/projectMaster/build/catkin_generated/order_packages.py
new file mode 100644
index 0000000..00fe41d
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/order_packages.py
@@ -0,0 +1,5 @@
+# generated from catkin/cmake/template/order_packages.context.py.in
+source_root_dir = '/home/firefly/Project_Ros-master/src'
+whitelisted_packages = ''.split(';') if '' != '' else []
+blacklisted_packages = ''.split(';') if '' != '' else []
+underlay_workspaces = '/opt/ros/noetic'.split(';') if '/opt/ros/noetic' != '' else []
diff --git a/project/projectMaster/build/catkin_generated/setup_cached.sh b/project/projectMaster/build/catkin_generated/setup_cached.sh
new file mode 100755
index 0000000..d31162c
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/setup_cached.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export CMAKE_PREFIX_PATH="/home/firefly/Project_Ros-master/devel:$CMAKE_PREFIX_PATH"
+export PWD='/home/firefly/Project_Ros-master/build'
+export ROSLISP_PACKAGE_DIRECTORIES='/home/firefly/Project_Ros-master/devel/share/common-lisp'
+export ROS_PACKAGE_PATH="/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src:/home/firefly/Project_Ros-master/src:$ROS_PACKAGE_PATH"
\ No newline at end of file
diff --git a/project/projectMaster/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/project/projectMaster/build/catkin_generated/stamps/Project/_setup_util.py.stamp
new file mode 100755
index 0000000..10c424e
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/stamps/Project/_setup_util.py.stamp
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectMaster/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/project/projectMaster/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 0000000..5e25fbf
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,255 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+
+import os
+import runpy
+import sys
+from argparse import ArgumentParser
+
+setup_modules = []
+
+try:
+    import distutils.core
+    setup_modules.append(distutils.core)
+except ImportError:
+    pass
+
+try:
+    import setuptools
+    setup_modules.append(setuptools)
+except ImportError:
+    pass
+
+assert setup_modules, 'Must have distutils or setuptools installed'
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs.
+
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = os.path.join(parent_location, splits[key_len])
+                else:
+                    locations[key] = os.path.join(allprefix, key)
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None):
+    """
+    Generate lines to add to a cmake file which will set variables.
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :param pkgs: [list of str] python_packages declared in catkin package
+    :param modules: [list of str] python modules
+    :param setup_module: str, setuptools or distutils
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    if setup_module:
+        result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module))
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if '.' not in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        root_name = splits[0]
+        root_location = location
+        for _ in range(len(splits) - 1):
+            root_location = os.path.dirname(root_location)
+        if root_location != locations[root_name]:
+            raise RuntimeError(
+                'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [locations[pkg]]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/')))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/')))
+
+    return result
+
+
+def _create_mock_setup_function(setup_module, package_name, outfile):
+    """
+    Create a function to call instead of distutils.core.setup or setuptools.setup.
+
+    It just captures some args and writes them into a file that can be used from cmake.
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        """Check kwargs and write a scriptfile."""
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError('version not found in setup.py')
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules,
+                                     setup_module=setup_module)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """Script main, parses arguments and invokes Dummy.setup indirectly."""
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    backup_modules = {}
+    try:
+
+        for module in setup_modules:
+            backup_modules[id(module)] = module.setup
+            module.setup = _create_mock_setup_function(
+                setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile)
+
+        runpy.run_path(args.setupfile_path)
+    finally:
+        for module in setup_modules:
+            module.setup = backup_modules[id(module)]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/project/projectMaster/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/project/projectMaster/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
new file mode 100644
index 0000000..7ec7539
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
@@ -0,0 +1,70 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+@{
+import os
+try:
+    from catkin_pkg.cmake import get_metapackage_cmake_template_path
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.topological_order import topological_order
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.package import InvalidPackage
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+# vars defined in order_packages.context.py.in
+try:
+    ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces)
+except InvalidPackage as e:
+    print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"'))
+    ordered_packages = []
+fatal_error = False
+}@
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+@[for path, package in ordered_packages]@
+@[if path is None]@
+message(FATAL_ERROR "Circular dependency in subset of packages:\n@package")
+@{
+fatal_error = True
+}@
+@[elif package.name != 'catkin']@
+list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))")
+@{
+package.evaluate_conditions(os.environ)
+try:
+    build_type = package.get_build_type()
+except InvalidPackage:
+    build_type = None
+}@
+@[if build_type is None]@
+message(FATAL_ERROR "Only one <build_type> element is permitted for package '@(package.name)'.")
+@{
+fatal_error = True
+}@
+@[else]@
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())")
+@[end if]@
+@{
+deprecated = [e for e in package.exports if e.tagname == 'deprecated']
+}@
+@[if deprecated]@
+message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')")
+@[end if]@
+@[end if]@
+@[end for]@
+
+@[if not fatal_error]@
+@{
+message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]]
+}@
+set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators)))
+@[end if]@
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))")
diff --git a/project/projectMaster/build/catkin_generated/stamps/Project/package.xml.stamp b/project/projectMaster/build/catkin_generated/stamps/Project/package.xml.stamp
new file mode 100644
index 0000000..61e815f
--- /dev/null
+++ b/project/projectMaster/build/catkin_generated/stamps/Project/package.xml.stamp
@@ -0,0 +1,49 @@
+<?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>catkin</name>
+  <version>0.8.10</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
+  <maintainer email="tfoote@openrobotics.org">Tully Foote</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
+
+  <author>Troy Straszheim</author>
+  <author>Morten Kjaergaard</author>
+  <author>Brian Gerkey</author>
+  <author>Dirk Thomas</author>
+
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-argparse</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2" version_gt="0.4.3">python-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3" version_gt="0.4.3">python3-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-empy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <buildtool_export_depend>cmake</buildtool_export_depend>
+  <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
+
+  <build_export_depend>google-mock</build_export_depend>
+  <build_export_depend>gtest</build_export_depend>
+  <build_export_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</build_export_depend>
+  <build_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</build_export_depend>
+
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+    <architecture_independent/>
+  </export>
+</package>
diff --git a/project/projectMaster/build/catkin_make.cache b/project/projectMaster/build/catkin_make.cache
new file mode 100644
index 0000000..64e4bad
--- /dev/null
+++ b/project/projectMaster/build/catkin_make.cache
@@ -0,0 +1,2 @@
+ros_merge_test
+-DCATKIN_DEVEL_PREFIX=/home/firefly/Project_Ros-master/devel -DCMAKE_INSTALL_PREFIX=/home/firefly/Project_Ros-master/install -G Unix Makefiles
\ No newline at end of file
diff --git a/project/projectMaster/build/cmake_install.cmake b/project/projectMaster/build/cmake_install.cmake
new file mode 100644
index 0000000..ab6325f
--- /dev/null
+++ b/project/projectMaster/build/cmake_install.cmake
@@ -0,0 +1,147 @@
+# Install script for directory: /home/firefly/Project_Ros-master/src
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/firefly/Project_Ros-master/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+      endif()
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+      endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/Project_Ros-master/install/_setup_util.py")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/Project_Ros-master/install" TYPE PROGRAM FILES "/home/firefly/Project_Ros-master/build/catkin_generated/installspace/_setup_util.py")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/Project_Ros-master/install/env.sh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/Project_Ros-master/install" TYPE PROGRAM FILES "/home/firefly/Project_Ros-master/build/catkin_generated/installspace/env.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/Project_Ros-master/install/setup.bash;/home/firefly/Project_Ros-master/install/local_setup.bash")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/Project_Ros-master/install" TYPE FILE FILES
+    "/home/firefly/Project_Ros-master/build/catkin_generated/installspace/setup.bash"
+    "/home/firefly/Project_Ros-master/build/catkin_generated/installspace/local_setup.bash"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/Project_Ros-master/install/setup.sh;/home/firefly/Project_Ros-master/install/local_setup.sh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+file(INSTALL DESTINATION "/home/firefly/Project_Ros-master/install" TYPE FILE FILES
+    "/home/firefly/Project_Ros-master/build/catkin_generated/installspace/setup.sh"
+    "/home/firefly/Project_Ros-master/build/catkin_generated/installspace/local_setup.sh"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/home/firefly/Project_Ros-master/install/setup.zsh;/home/firefly/Project_Ros-master/install/local_setup.zsh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
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+.PHONY : src/system.cpp.s
+
+src/uwb.o: src/uwb.cpp.o
+
+.PHONY : src/uwb.o
+
+# target to build an object file
+src/uwb.cpp.o:
+	cd /home/firefly/Project_Ros-master/build && $(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test.dir/src/uwb.cpp.o
+.PHONY : src/uwb.cpp.o
+
+src/uwb.i: src/uwb.cpp.i
+
+.PHONY : src/uwb.i
+
+# target to preprocess a source file
+src/uwb.cpp.i:
+	cd /home/firefly/Project_Ros-master/build && $(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test.dir/src/uwb.cpp.i
+.PHONY : src/uwb.cpp.i
+
+src/uwb.s: src/uwb.cpp.s
+
+.PHONY : src/uwb.s
+
+# target to generate assembly for a file
+src/uwb.cpp.s:
+	cd /home/firefly/Project_Ros-master/build && $(MAKE) -f ros_merge_test/CMakeFiles/ros_merge_test.dir/build.make ros_merge_test/CMakeFiles/ros_merge_test.dir/src/uwb.cpp.s
+.PHONY : src/uwb.cpp.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... install/strip"
+	@echo "... install"
+	@echo "... list_install_components"
+	@echo "... ros_merge_test_node"
+	@echo "... ros_merge_test_genpy"
+	@echo "... ros_merge_test_gennodejs"
+	@echo "... rosgraph_msgs_generate_messages_py"
+	@echo "... roscpp_generate_messages_lisp"
+	@echo "... geometry_msgs_generate_messages_cpp"
+	@echo "... rosgraph_msgs_generate_messages_lisp"
+	@echo "... edit_cache"
+	@echo "... ros_merge_test_geneus"
+	@echo "... install/local"
+	@echo "... rosgraph_msgs_generate_messages_eus"
+	@echo "... std_msgs_generate_messages_cpp"
+	@echo "... test"
+	@echo "... rosgraph_msgs_generate_messages_cpp"
+	@echo "... std_msgs_generate_messages_eus"
+	@echo "... geometry_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_cpp"
+	@echo "... roscpp_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages"
+	@echo "... rosgraph_msgs_generate_messages_nodejs"
+	@echo "... roscpp_generate_messages_cpp"
+	@echo "... geometry_msgs_generate_messages_py"
+	@echo "... std_msgs_generate_messages_py"
+	@echo "... ros_merge_test_generate_messages_py"
+	@echo "... std_msgs_generate_messages_nodejs"
+	@echo "... geometry_msgs_generate_messages_eus"
+	@echo "... roscpp_generate_messages_nodejs"
+	@echo "... ros_merge_test"
+	@echo "... geometry_msgs_generate_messages_nodejs"
+	@echo "... _ros_merge_test_generate_messages_check_deps_RawImu"
+	@echo "... ros_merge_test_gencpp"
+	@echo "... std_msgs_generate_messages_lisp"
+	@echo "... ros_merge_test_generate_messages_eus"
+	@echo "... ros_merge_test_generate_messages_nodejs"
+	@echo "... ros_merge_test_generate_messages_lisp"
+	@echo "... rebuild_cache"
+	@echo "... roscpp_generate_messages_eus"
+	@echo "... ros_merge_test_genlisp"
+	@echo "... src/align.o"
+	@echo "... src/align.i"
+	@echo "... src/align.s"
+	@echo "... src/main.o"
+	@echo "... src/main.i"
+	@echo "... src/main.s"
+	@echo "... src/mapping.o"
+	@echo "... src/mapping.i"
+	@echo "... src/mapping.s"
+	@echo "... src/senddata.o"
+	@echo "... src/senddata.i"
+	@echo "... src/senddata.s"
+	@echo "... src/system.o"
+	@echo "... src/system.i"
+	@echo "... src/system.s"
+	@echo "... src/uwb.o"
+	@echo "... src/uwb.i"
+	@echo "... src/uwb.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /home/firefly/Project_Ros-master/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake b/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake
new file mode 100644
index 0000000..4d4311a
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "msg/RawImu.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake b/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake
new file mode 100644
index 0000000..9b6cf00
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+
+_prepend_path("${ros_merge_test_DIR}/.." "msg" ros_merge_test_MSG_INCLUDE_DIRS UNIQUE)
+set(ros_merge_test_MSG_DEPENDENCIES std_msgs;geometry_msgs)
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc b/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc
new file mode 100644
index 0000000..3db08a9
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc
@@ -0,0 +1,8 @@
+prefix=/home/firefly/Project_Ros-master/install
+
+Name: ros_merge_test
+Description: Description of ros_merge_test
+Version: 0.0.0
+Cflags: -I${prefix}/include
+Libs: -L${prefix}/lib 
+Requires: message_runtime std_msgs geometry_msgs
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake b/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake
new file mode 100644
index 0000000..7fd9f99
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake b/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake
new file mode 100644
index 0000000..d1e73a8
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(ros_merge_test_CONFIG_INCLUDED)
+  return()
+endif()
+set(ros_merge_test_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(ros_merge_test_SOURCE_PREFIX /home/firefly/Project_Ros-master/src/ros_merge_test)
+  set(ros_merge_test_DEVEL_PREFIX /home/firefly/Project_Ros-master/devel)
+  set(ros_merge_test_INSTALL_PREFIX "")
+  set(ros_merge_test_PREFIX ${ros_merge_test_DEVEL_PREFIX})
+else()
+  set(ros_merge_test_SOURCE_PREFIX "")
+  set(ros_merge_test_DEVEL_PREFIX "")
+  set(ros_merge_test_INSTALL_PREFIX /home/firefly/Project_Ros-master/install)
+  set(ros_merge_test_PREFIX ${ros_merge_test_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'ros_merge_test' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(ros_merge_test_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "include " STREQUAL " ")
+  set(ros_merge_test_INCLUDE_DIRS "")
+  set(_include_dirs "include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'luoruidi <luoruidi@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${ros_merge_test_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(ros_merge_test_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT ros_merge_test_NUM_DUMMY_TARGETS)
+      set(ros_merge_test_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR ros_merge_test_NUM_DUMMY_TARGETS "${ros_merge_test_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND ros_merge_test_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/firefly/Project_Ros-master/install/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(ros_merge_test_LIBRARY_DIRS ${lib_path})
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'ros_merge_test'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(ros_merge_test_EXPORTED_TARGETS "ros_merge_test_generate_messages_cpp;ros_merge_test_generate_messages_eus;ros_merge_test_generate_messages_lisp;ros_merge_test_generate_messages_nodejs;ros_merge_test_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${ros_merge_test_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "message_runtime;std_msgs;geometry_msgs")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 ros_merge_test_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${ros_merge_test_dep}_FOUND)
+      find_package(${ros_merge_test_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${ros_merge_test_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(ros_merge_test_INCLUDE_DIRS ${${ros_merge_test_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${ros_merge_test_dep}_LIBRARIES})
+  _list_append_deduplicate(ros_merge_test_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+
+  _list_append_unique(ros_merge_test_LIBRARY_DIRS ${${ros_merge_test_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(ros_merge_test_EXPORTED_TARGETS ${${ros_merge_test_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "ros_merge_test-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${ros_merge_test_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/ordered_paths.cmake b/project/projectMaster/build/ros_merge_test/catkin_generated/ordered_paths.cmake
new file mode 100644
index 0000000..454cf03
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/noetic/lib")
\ No newline at end of file
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/package.cmake b/project/projectMaster/build/ros_merge_test/catkin_generated/package.cmake
new file mode 100644
index 0000000..a8f207e
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/package.cmake
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "ros_merge_test")
+set(ros_merge_test_VERSION "0.0.0")
+set(ros_merge_test_MAINTAINER "luoruidi <luoruidi@todo.todo>")
+set(ros_merge_test_PACKAGE_FORMAT "2")
+set(ros_merge_test_BUILD_DEPENDS "roscpp" "rospy" "std_msgs" "geometry_msgs" "message_generation")
+set(ros_merge_test_BUILD_EXPORT_DEPENDS "roscpp" "rospy" "std_msgs")
+set(ros_merge_test_BUILDTOOL_DEPENDS "catkin")
+set(ros_merge_test_BUILDTOOL_EXPORT_DEPENDS )
+set(ros_merge_test_EXEC_DEPENDS "roscpp" "rospy" "std_msgs" "message_runtime" "geometry_msgs")
+set(ros_merge_test_RUN_DEPENDS "roscpp" "rospy" "std_msgs" "message_runtime" "geometry_msgs")
+set(ros_merge_test_TEST_DEPENDS )
+set(ros_merge_test_DOC_DEPENDS )
+set(ros_merge_test_URL_WEBSITE "")
+set(ros_merge_test_URL_BUGTRACKER "")
+set(ros_merge_test_URL_REPOSITORY "")
+set(ros_merge_test_DEPRECATED "")
\ No newline at end of file
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py b/project/projectMaster/build/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 0000000..2d54f0c
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "/home/firefly/Project_Ros-master/devel/include".split(';') if "/home/firefly/Project_Ros-master/devel/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "message_runtime;std_msgs;geometry_msgs".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "ros_merge_test"
+PROJECT_SPACE_DIR = "/home/firefly/Project_Ros-master/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py b/project/projectMaster/build/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 0000000..a92b704
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "${prefix}/include".split(';') if "${prefix}/include" != "" else []
+PROJECT_CATKIN_DEPENDS = "message_runtime;std_msgs;geometry_msgs".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "ros_merge_test"
+PROJECT_SPACE_DIR = "/home/firefly/Project_Ros-master/install"
+PROJECT_VERSION = "0.0.0"
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.develspace.in b/project/projectMaster/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.develspace.in
new file mode 100644
index 0000000..66054ab
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.develspace.in
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.installspace.in b/project/projectMaster/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.installspace.in
new file mode 100644
index 0000000..4d4311a
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/ros_merge_test-msg-extras.cmake.installspace.in
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "msg/RawImu.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp b/project/projectMaster/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp
new file mode 100644
index 0000000..dee5884
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_merge_test</name>
+  <version>0.0.0</version>
+  <description>The ros_merge_test package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ros_merge_test</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg-genmsg.cmake.em.stamp b/project/projectMaster/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg-genmsg.cmake.em.stamp
new file mode 100644
index 0000000..eca9adc
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg-genmsg.cmake.em.stamp
@@ -0,0 +1,167 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+@{
+import os
+import sys
+
+import genmsg
+import genmsg.base
+genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ)
+import genmsg.deps
+import genmsg.gentools
+
+# split incoming variables
+messages = messages_str.split(';') if messages_str != '' else []
+services = services_str.split(';') if services_str != '' else []
+dependencies = dependencies_str.split(';') if dependencies_str != '' else []
+dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else []
+
+dep_search_paths_dict = {}
+dep_search_paths_tuple_list = []
+is_even = True
+for val in dep_search_paths:
+    if is_even:
+        dep_search_paths_dict.setdefault(val, [])
+        val_prev = val
+        is_even = False
+    else:
+        dep_search_paths_dict[val_prev].append(val)
+        dep_search_paths_tuple_list.append((val_prev, val))
+        is_even = True
+dep_search_paths = dep_search_paths_dict
+
+if not messages and not services:
+    print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")')
+
+msg_deps = {}
+msg_dep_types = {}
+for m in messages:
+  try:
+    _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths)
+    msg_deps[m] = [d[1] for d in _deps]
+    msg_dep_types[m] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"')))
+
+srv_deps = {}
+srv_dep_types = {}
+for s in services:
+  try:
+    _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths)
+    srv_deps[s] = [d[1] for d in _deps]
+    srv_dep_types[s] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"')))
+
+}@
+message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services")
+
+set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))")
+
+# Find all generators
+@[if langs]@
+@[for l in langs.split(';')]@
+find_package(@l REQUIRED)
+@[end for]@
+@[end if]@
+
+add_custom_target(@(pkg_name)_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))}
+@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))}
+@[for f in all_deps.keys()]@
+@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')}
+get_filename_component(_filename "@(f)" NAME_WE)
+add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)"
+)
+@[end for]@# messages and services
+
+#
+#  langs = @langs
+#
+
+@[if langs]@
+@[for l in langs.split(';')]@
+### Section generating for lang: @l
+### Generating Messages
+@[for m in msg_deps.keys()]@
+_generate_msg_@(l[3:])(@pkg_name
+  "@m"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(msg_deps[m]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# messages
+
+### Generating Services
+@[for s in srv_deps.keys()]@
+_generate_srv_@(l[3:])(@pkg_name
+  "@s"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(srv_deps[s]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# services
+
+### Generating Module File
+_generate_module_@(l[3:])(@pkg_name
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+  "${ALL_GEN_OUTPUT_FILES_@(l[3:])}"
+)
+
+add_custom_target(@(pkg_name)_generate_messages_@(l[3:])
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])}
+)
+add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:]))
+
+# add dependencies to all check dependencies targets
+@[for f in all_deps.keys()]@
+get_filename_component(_filename "@(f)" NAME_WE)
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename})
+@[end for]@# messages and services
+
+# target for backward compatibility
+add_custom_target(@(pkg_name)_@(l))
+add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:]))
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:]))
+
+@[end for]@# langs
+@[end if]@
+
+@[if langs]@
+@[for l in langs.split(';')]@
+
+if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name)
+@[if l == 'genpy']@
+  install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")")
+@[end if]@
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+@[if l == 'genpy' and package_has_static_sources]@
+    # skip all init files
+    PATTERN "__init__.py" EXCLUDE
+    PATTERN "__init__.pyc" EXCLUDE
+  )
+  # install init files which are not in the root folder of the generated code
+  string(REGEX REPLACE "([][+.*()^])" "\\\\\\1" ESCAPED_PATH "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)")
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+    FILES_MATCHING
+    REGEX "${ESCAPED_PATH}/.+/__init__.pyc?$"
+@[end if]@
+  )
+endif()
+@[for d in dependencies]@
+if(TARGET @(d)_generate_messages_@(l[3:]))
+  add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:]))
+endif()
+@[end for]@# dependencies
+@[end for]@# langs
+@[end if]@
diff --git a/project/projectMaster/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp b/project/projectMaster/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp
new file mode 100644
index 0000000..549fb75
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp
@@ -0,0 +1,8 @@
+prefix=@PROJECT_SPACE_DIR
+
+Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
+Description: Description of @PROJECT_NAME
+Version: @PROJECT_VERSION
+Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
+Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/project/projectMaster/build/ros_merge_test/cmake/ros_merge_test-genmsg-context.py b/project/projectMaster/build/ros_merge_test/cmake/ros_merge_test-genmsg-context.py
new file mode 100644
index 0000000..b6b210c
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/cmake/ros_merge_test-genmsg-context.py
@@ -0,0 +1,11 @@
+# generated from genmsg/cmake/pkg-genmsg.context.in
+
+messages_str = "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg"
+services_str = ""
+pkg_name = "ros_merge_test"
+dependencies_str = "std_msgs;geometry_msgs"
+langs = "gencpp;geneus;genlisp;gennodejs;genpy"
+dep_include_paths_str = "ros_merge_test;/home/firefly/Project_Ros-master/src/ros_merge_test/msg;std_msgs;/opt/ros/noetic/share/std_msgs/cmake/../msg;geometry_msgs;/opt/ros/noetic/share/geometry_msgs/cmake/../msg"
+PYTHON_EXECUTABLE = "/usr/bin/python3"
+package_has_static_sources = '' == 'TRUE'
+genmsg_check_deps_script = "/opt/ros/noetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py"
diff --git a/project/projectMaster/build/ros_merge_test/cmake/ros_merge_test-genmsg.cmake b/project/projectMaster/build/ros_merge_test/cmake/ros_merge_test-genmsg.cmake
new file mode 100644
index 0000000..2f53dc8
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/cmake/ros_merge_test-genmsg.cmake
@@ -0,0 +1,265 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+message(STATUS "ros_merge_test: 1 messages, 0 services")
+
+set(MSG_I_FLAGS "-Iros_merge_test:/home/firefly/Project_Ros-master/src/ros_merge_test/msg;-Istd_msgs:/opt/ros/noetic/share/std_msgs/cmake/../msg;-Igeometry_msgs:/opt/ros/noetic/share/geometry_msgs/cmake/../msg")
+
+# Find all generators
+find_package(gencpp REQUIRED)
+find_package(geneus REQUIRED)
+find_package(genlisp REQUIRED)
+find_package(gennodejs REQUIRED)
+find_package(genpy REQUIRED)
+
+add_custom_target(ros_merge_test_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+
+
+
+get_filename_component(_filename "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_custom_target(_ros_merge_test_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "ros_merge_test" "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg" "std_msgs/Header:geometry_msgs/Vector3"
+)
+
+#
+#  langs = gencpp;geneus;genlisp;gennodejs;genpy
+#
+
+### Section generating for lang: gencpp
+### Generating Messages
+_generate_msg_cpp(ros_merge_test
+  "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg;/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_cpp(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_cpp}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_cpp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_cpp}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_cpp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_cpp _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_gencpp)
+add_dependencies(ros_merge_test_gencpp ros_merge_test_generate_messages_cpp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_cpp)
+
+### Section generating for lang: geneus
+### Generating Messages
+_generate_msg_eus(ros_merge_test
+  "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg;/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg"
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_eus(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_eus}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_eus
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_eus}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_eus)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_eus _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_geneus)
+add_dependencies(ros_merge_test_geneus ros_merge_test_generate_messages_eus)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_eus)
+
+### Section generating for lang: genlisp
+### Generating Messages
+_generate_msg_lisp(ros_merge_test
+  "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg;/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_lisp(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_lisp}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_lisp
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_lisp}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_lisp)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_lisp _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_genlisp)
+add_dependencies(ros_merge_test_genlisp ros_merge_test_generate_messages_lisp)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_lisp)
+
+### Section generating for lang: gennodejs
+### Generating Messages
+_generate_msg_nodejs(ros_merge_test
+  "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg;/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg"
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_nodejs(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_nodejs}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_nodejs
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_nodejs}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_nodejs)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_nodejs _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_gennodejs)
+add_dependencies(ros_merge_test_gennodejs ros_merge_test_generate_messages_nodejs)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_nodejs)
+
+### Section generating for lang: genpy
+### Generating Messages
+_generate_msg_py(ros_merge_test
+  "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg"
+  "${MSG_I_FLAGS}"
+  "/opt/ros/noetic/share/std_msgs/cmake/../msg/Header.msg;/opt/ros/noetic/share/geometry_msgs/cmake/../msg/Vector3.msg"
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+)
+
+### Generating Services
+
+### Generating Module File
+_generate_module_py(ros_merge_test
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+  "${ALL_GEN_OUTPUT_FILES_py}"
+)
+
+add_custom_target(ros_merge_test_generate_messages_py
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_py}
+)
+add_dependencies(ros_merge_test_generate_messages ros_merge_test_generate_messages_py)
+
+# add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg" NAME_WE)
+add_dependencies(ros_merge_test_generate_messages_py _ros_merge_test_generate_messages_check_deps_${_filename})
+
+# target for backward compatibility
+add_custom_target(ros_merge_test_genpy)
+add_dependencies(ros_merge_test_genpy ros_merge_test_generate_messages_py)
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS ros_merge_test_generate_messages_py)
+
+
+
+if(gencpp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${gencpp_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_cpp)
+  add_dependencies(ros_merge_test_generate_messages_cpp std_msgs_generate_messages_cpp)
+endif()
+if(TARGET geometry_msgs_generate_messages_cpp)
+  add_dependencies(ros_merge_test_generate_messages_cpp geometry_msgs_generate_messages_cpp)
+endif()
+
+if(geneus_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${geneus_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_eus)
+  add_dependencies(ros_merge_test_generate_messages_eus std_msgs_generate_messages_eus)
+endif()
+if(TARGET geometry_msgs_generate_messages_eus)
+  add_dependencies(ros_merge_test_generate_messages_eus geometry_msgs_generate_messages_eus)
+endif()
+
+if(genlisp_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${genlisp_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_lisp)
+  add_dependencies(ros_merge_test_generate_messages_lisp std_msgs_generate_messages_lisp)
+endif()
+if(TARGET geometry_msgs_generate_messages_lisp)
+  add_dependencies(ros_merge_test_generate_messages_lisp geometry_msgs_generate_messages_lisp)
+endif()
+
+if(gennodejs_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test)
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${gennodejs_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_nodejs)
+  add_dependencies(ros_merge_test_generate_messages_nodejs std_msgs_generate_messages_nodejs)
+endif()
+if(TARGET geometry_msgs_generate_messages_nodejs)
+  add_dependencies(ros_merge_test_generate_messages_nodejs geometry_msgs_generate_messages_nodejs)
+endif()
+
+if(genpy_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test)
+  install(CODE "execute_process(COMMAND \"/usr/bin/python3\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test\")")
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/ros_merge_test
+    DESTINATION ${genpy_INSTALL_DIR}
+  )
+endif()
+if(TARGET std_msgs_generate_messages_py)
+  add_dependencies(ros_merge_test_generate_messages_py std_msgs_generate_messages_py)
+endif()
+if(TARGET geometry_msgs_generate_messages_py)
+  add_dependencies(ros_merge_test_generate_messages_py geometry_msgs_generate_messages_py)
+endif()
diff --git a/project/projectMaster/build/ros_merge_test/cmake_install.cmake b/project/projectMaster/build/ros_merge_test/cmake_install.cmake
new file mode 100644
index 0000000..f2c053b
--- /dev/null
+++ b/project/projectMaster/build/ros_merge_test/cmake_install.cmake
@@ -0,0 +1,90 @@
+# Install script for directory: /home/firefly/Project_Ros-master/src/ros_merge_test
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/firefly/Project_Ros-master/install")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/msg" TYPE FILE FILES "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/cmake" TYPE FILE FILES "/home/firefly/Project_Ros-master/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-paths.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/firefly/Project_Ros-master/devel/include/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/roseus/ros" TYPE DIRECTORY FILES "/home/firefly/Project_Ros-master/devel/share/roseus/ros/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/common-lisp/ros" TYPE DIRECTORY FILES "/home/firefly/Project_Ros-master/devel/share/common-lisp/ros/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/gennodejs/ros" TYPE DIRECTORY FILES "/home/firefly/Project_Ros-master/devel/share/gennodejs/ros/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  execute_process(COMMAND "/usr/bin/python3" -m compileall "/home/firefly/Project_Ros-master/devel/lib/python3/dist-packages/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python3/dist-packages" TYPE DIRECTORY FILES "/home/firefly/Project_Ros-master/devel/lib/python3/dist-packages/ros_merge_test")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/firefly/Project_Ros-master/build/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/cmake" TYPE FILE FILES "/home/firefly/Project_Ros-master/build/ros_merge_test/catkin_generated/installspace/ros_merge_test-msg-extras.cmake")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/cmake" TYPE FILE FILES
+    "/home/firefly/Project_Ros-master/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake"
+    "/home/firefly/Project_Ros-master/build/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test" TYPE FILE FILES "/home/firefly/Project_Ros-master/src/ros_merge_test/package.xml")
+endif()
+
diff --git a/project/projectMaster/data.txt b/project/projectMaster/data.txt
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectMaster/data2.txt b/project/projectMaster/data2.txt
new file mode 100644
index 0000000..c3e001f
--- /dev/null
+++ b/project/projectMaster/data2.txt
@@ -0,0 +1,9313 @@
+imu_odom_:  1691062406.60567234   0.40462    -0.203507  9.88087    -0.0553937  -0.00532632 0.04048     0          0             pose: 4.992375385   0          0           0 -0.0001201543.25945e-05 0.0017383   0.999998       uwb: 5.69647        848.899  990.624  
+imu_odom_:  1691062406.74560911   0.395043   -0.217872  9.89284    -0.0532632  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 -0.0001201543.25945e-05 0.0017383   0.999998       uwb: 0.0            848.899  990.624  
+imu_odom_:  1691062406.88551088   0.407014   -0.220267  9.93354    -0.056459   -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 -0.0001201543.25945e-05 0.0017383   0.999998       uwb: 0.0            848.899  990.624  
+imu_odom_:  1691062406.103499256  0.407014   -0.201113  9.86411    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.41938452    0          0           0 -0.000324512-8.4751e-05 0.00174832  0.999998       uwb: 0.49796316     848.749  990.349  
+imu_odom_:  1691062406.117553882  0.395043   -0.215478  9.90721    -0.0553937  -0.00639159 0.0383495   0          0             pose: 0.0           0          0           0 -0.000324512-8.4751e-05 0.00174832  0.999998       uwb: 0.0            848.749  990.349  
+imu_odom_:  1691062406.131637380  0.411803   -0.234632  9.89763    -0.0543285  -0.00639159 0.0394148   0          0             pose: 0.0           0          0           0 -0.000324512-8.4751e-05 0.00174832  0.999998       uwb: 0.0            848.749  990.349  
+imu_odom_:  1691062406.145511781  0.402226   -0.213084  9.86172    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.42989764    0          0           0 -0.000664817-3.48417e-060.00173524  0.999998       uwb: 0.0            848.749  990.349  
+imu_odom_:  1691062406.159568449  0.385466   -0.21069   9.90242    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000664817-3.48417e-060.00173524  0.999998       uwb: 0.50022618     848.829  990.222  
+imu_odom_:  1691062406.174740294  0.395043   -0.198719  9.88805    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.000664817-3.48417e-060.00173524  0.999998       uwb: 0.0            848.829  990.222  
+imu_odom_:  1691062406.189629554  0.368707   -0.21069   9.90242    -0.0553937  -0.00213053 0.0394148   0          0             pose: 0.42203248    0          0           0 0.000574562 0.000871917 0.00174669  0.999998       uwb: 0.0            848.829  990.222  
+imu_odom_:  1691062406.203636062  0.399832   -0.215478  9.88326    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 0.000574562 0.000871917 0.00174669  0.999998       uwb: 0.50110397     848.408  991.655  
+imu_odom_:  1691062406.218761831  0.40462    -0.198719  9.85693    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000574562 0.000871917 0.00174669  0.999998       uwb: 0.0            848.408  991.655  
+imu_odom_:  1691062406.232487212  0.397437   -0.227449  9.91918    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.43939590    0          0           0 0.000515237 -2.01853e-050.00174243  0.999998       uwb: 0.0            848.408  991.655  
+imu_odom_:  1691062406.246468640  0.392649   -0.205901  9.88566    -0.056459   -0.00319579 0.04048     0          0             pose: 0.0           0          0           0 0.000515237 -2.01853e-050.00174243  0.999998       uwb: 0.49904509     848.374  990.99   
+imu_odom_:  1691062406.261469884  0.442927   -0.208296  9.88805    -0.0553937  -0.00426106 0.0383495   0          0             pose: 0.0           0          0           0 0.000515237 -2.01853e-050.00174243  0.999998       uwb: 0.0            848.374  990.99   
+imu_odom_:  1691062406.275469393  0.392649   -0.203507  9.90721    -0.0543285  -0.00532632 0.0394148   0          0             pose: 0.42895860    0          0           0 0.000866584 0.000589087 0.00175076  0.999998       uwb: 0.0            848.374  990.99   
+imu_odom_:  1691062406.289530144  0.397437   -0.208296  9.88566    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 0.000866584 0.000589087 0.00175076  0.999998       uwb: 0.0            848.374  990.99   
+imu_odom_:  1691062406.303534610  0.395043   -0.196325  9.91678    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000866584 0.000589087 0.00175076  0.999998       uwb: 0.49984707     848.287  991.251  
+imu_odom_:  1691062406.317526828  0.407014   -0.246603  9.88087    -0.056459   -0.00532632 0.0394148   0          0             pose: 0.43000554    0          0           0 0.000633687 0.000122746 0.00174983  0.999998       uwb: 0.0            848.287  991.251  
+imu_odom_:  1691062406.331611784  0.390255   -0.208296  9.88087    -0.0553937  -0.00426106 0.0415453   0          0             pose: 0.0           0          0           0 0.000633687 0.000122746 0.00174983  0.999998       uwb: 0.0            848.287  991.251  
+imu_odom_:  1691062406.346509209  0.397437   -0.222661  9.86172    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000633687 0.000122746 0.00174983  0.999998       uwb: 0.50000746     848.374  990.591  
+imu_odom_:  1691062406.361576361  0.399832   -0.222661  9.85932    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.42095055    0          0           0 0.000423404 0.000852043 0.00176396  0.999998       uwb: 0.0            848.374  990.591  
+imu_odom_:  1691062406.375555456  0.407014   -0.213084  9.87608    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.0           0          0           0 0.000423404 0.000852043 0.00176396  0.999998       uwb: 0.0            848.374  990.591  
+imu_odom_:  1691062406.389449105  0.409408   -0.246603  9.92875    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.000423404 0.000852043 0.00176396  0.999998       uwb: 0.0            848.374  990.591  
+imu_odom_:  1691062406.403450072  0.407014   -0.232238  9.90242    -0.0543285  -0.00532632 0.04048     0          0             pose: 0.43840729    0          0           0 -0.000477101-0.0002333210.00177124  0.999998       uwb: 0.49956418     848.589  991.4    
+imu_odom_:  1691062406.417437916  0.40462    -0.232238  9.90002    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000477101-0.0002333210.00177124  0.999998       uwb: 0.0            848.589  991.4    
+imu_odom_:  1691062406.431440341  0.387861   -0.213084  9.89284    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 -0.000477101-0.0002333210.00177124  0.999998       uwb: 0.0            848.589  991.4    
+imu_odom_:  1691062406.445570207  0.385466   -0.234632  9.87369    -0.056459   -0.00532632 0.0383495   0          0             pose: 0.0           0          0           0 -0.000477101-0.0002333210.00177124  0.999998       uwb: 0.49974208     848.861  991.68   
+imu_odom_:  1691062406.459430902  0.40462    -0.222661  9.89524    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.41972863    0          0           0 -0.00079746 0.000198817 0.00178639  0.999998       uwb: 0.0            848.861  991.68   
+imu_odom_:  1691062406.473489903  0.385466   -0.203507  9.92636    -0.056459   -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -0.00079746 0.000198817 0.00178639  0.999998       uwb: 0.0            848.861  991.68   
+imu_odom_:  1691062406.487484162  0.378284   -0.21069   9.90242    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.41991528    0          0           0 -5.58655e-050.000411178 0.00178643  0.999998       uwb: 0.0            848.861  991.68   
+imu_odom_:  1691062406.501428554  0.383072   -0.196325  9.88566    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -5.58655e-050.000411178 0.00178643  0.999998       uwb: 0.50040991     849.074  991.295  
+imu_odom_:  1691062406.515422522  0.418985   -0.215478  9.93833    -0.0553937  -0.00426106 0.0394148   0          0             pose: 0.0           0          0           0 -5.58655e-050.000411178 0.00178643  0.999998       uwb: 0.0            849.074  991.295  
+imu_odom_:  1691062406.529420281  0.423774   -0.203507  9.91199    -0.0553937  -0.00639159 0.04048     0          0             pose: 0.42008151    0          0           0 0.000522006 0.000584839 0.00179126  0.999998       uwb: 0.0            849.074  991.295  
+imu_odom_:  1691062406.543414541  0.414197   -0.213084  9.87848    -0.0553937  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000522006 0.000584839 0.00179126  0.999998       uwb: 0.0            849.074  991.295  
+imu_odom_:  1691062406.557481999  0.42138    -0.232238  9.91439    -0.0543285  -0.00426106 0.04048     0          0             pose: 0.0           0          0           0 0.000522006 0.000584839 0.00179126  0.999998       uwb: 0.49959626     849.679  990.803  
+imu_odom_:  1691062406.571417058  0.399832   -0.222661  9.89524    -0.0553937  -0.00532632 0.04048     0          0             pose: 0.50036616    0          0           0 -0.00121253 -0.00117036 0.00181061  0.999997       uwb: 0.0            849.679  990.803  
+imu_odom_:  1691062406.585471685  0.402226   -0.232238  9.90242    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.0           0          0           0 -0.00121253 -0.00117036 0.00181061  0.999997       uwb: 0.0            849.679  990.803  
+imu_odom_:  1691062406.600479636  0.428562   -0.198719  9.87848    -0.0553937  -0.00213053 0.0394148   0          0             pose: 0.0           0          0           0 -0.00121253 -0.00117036 0.00181061  0.999997       uwb: 0.50178346     849.711  991.069  
+imu_odom_:  1691062406.614416446  0.390255   -0.196325  9.91199    -0.0543285  -0.00426106 0.0383495   0          0             pose: 0.5995248     0          0           0 -0.000904869-0.0006590710.00181358  0.999998       uwb: 0.0            849.711  991.069  
+imu_odom_:  1691062406.628428786  0.387861   -0.191536  9.87129    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 -0.000904869-0.0006590710.00181358  0.999998       uwb: 0.0            849.711  991.069  
+imu_odom_:  1691062406.642425087  0.40462    -0.229843  9.90002    -0.0553937  -0.00532632 0.0383495   0          0             pose: 0.0           0          0           0 -0.000904869-0.0006590710.00181358  0.999998       uwb: 0.0            849.711  991.069  
+imu_odom_:  1691062406.657601891  0.392649   -0.208296  9.91199    -0.0553937  -0.00319579 0.0394148   0          0             pose: 0.70946788    0          0           0 0.00112456  0.00085094  0.00180015  0.999997       uwb: 0.49945046     849.52   990.662  
+imu_odom_:  1691062406.671486499  0.387861   -0.198719  9.90481    -0.0553937  -0.00532632 0.0394148   0          0             pose: 0.0           0          0           0 0.00112456  0.00085094  0.00180015  0.999997       uwb: 0.0            849.52   990.662  
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diff --git a/project/projectMaster/devel/.built_by b/project/projectMaster/devel/.built_by
new file mode 100644
index 0000000..2e212dd
--- /dev/null
+++ b/project/projectMaster/devel/.built_by
@@ -0,0 +1 @@
+catkin_make
\ No newline at end of file
diff --git a/project/projectMaster/devel/.catkin b/project/projectMaster/devel/.catkin
new file mode 100644
index 0000000..c26b07c
--- /dev/null
+++ b/project/projectMaster/devel/.catkin
@@ -0,0 +1 @@
+/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src;/home/firefly/Project_Ros-master/src
\ No newline at end of file
diff --git a/project/projectMaster/devel/.rosinstall b/project/projectMaster/devel/.rosinstall
new file mode 100644
index 0000000..76c7a1c
--- /dev/null
+++ b/project/projectMaster/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/firefly/Project_Ros-master/devel/setup.sh
diff --git a/project/projectMaster/devel/_setup_util.py b/project/projectMaster/devel/_setup_util.py
new file mode 100755
index 0000000..10c424e
--- /dev/null
+++ b/project/projectMaster/devel/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'aarch64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'aarch64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'aarch64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectMaster/devel/cmake.lock b/project/projectMaster/devel/cmake.lock
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectMaster/devel/env.sh b/project/projectMaster/devel/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectMaster/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectMaster/devel/include/ros_merge_test/RawImu.h b/project/projectMaster/devel/include/ros_merge_test/RawImu.h
new file mode 100644
index 0000000..4e2a74e
--- /dev/null
+++ b/project/projectMaster/devel/include/ros_merge_test/RawImu.h
@@ -0,0 +1,292 @@
+// Generated by gencpp from file ros_merge_test/RawImu.msg
+// DO NOT EDIT!
+
+
+#ifndef ROS_MERGE_TEST_MESSAGE_RAWIMU_H
+#define ROS_MERGE_TEST_MESSAGE_RAWIMU_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+#include <std_msgs/Header.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Vector3.h>
+#include <geometry_msgs/Vector3.h>
+
+namespace ros_merge_test
+{
+template <class ContainerAllocator>
+struct RawImu_
+{
+  typedef RawImu_<ContainerAllocator> Type;
+
+  RawImu_()
+    : header()
+    , accelerometer(false)
+    , gyroscope(false)
+    , magnetometer(false)
+    , raw_linear_acceleration()
+    , raw_angular_velocity()
+    , raw_magnetic_field()  {
+    }
+  RawImu_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , accelerometer(false)
+    , gyroscope(false)
+    , magnetometer(false)
+    , raw_linear_acceleration(_alloc)
+    , raw_angular_velocity(_alloc)
+    , raw_magnetic_field(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+  _header_type header;
+
+   typedef uint8_t _accelerometer_type;
+  _accelerometer_type accelerometer;
+
+   typedef uint8_t _gyroscope_type;
+  _gyroscope_type gyroscope;
+
+   typedef uint8_t _magnetometer_type;
+  _magnetometer_type magnetometer;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _raw_linear_acceleration_type;
+  _raw_linear_acceleration_type raw_linear_acceleration;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _raw_angular_velocity_type;
+  _raw_angular_velocity_type raw_angular_velocity;
+
+   typedef  ::geometry_msgs::Vector3_<ContainerAllocator>  _raw_magnetic_field_type;
+  _raw_magnetic_field_type raw_magnetic_field;
+
+
+
+
+
+  typedef boost::shared_ptr< ::ros_merge_test::RawImu_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::ros_merge_test::RawImu_<ContainerAllocator> const> ConstPtr;
+
+}; // struct RawImu_
+
+typedef ::ros_merge_test::RawImu_<std::allocator<void> > RawImu;
+
+typedef boost::shared_ptr< ::ros_merge_test::RawImu > RawImuPtr;
+typedef boost::shared_ptr< ::ros_merge_test::RawImu const> RawImuConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::ros_merge_test::RawImu_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::ros_merge_test::RawImu_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::ros_merge_test::RawImu_<ContainerAllocator1> & lhs, const ::ros_merge_test::RawImu_<ContainerAllocator2> & rhs)
+{
+  return lhs.header == rhs.header &&
+    lhs.accelerometer == rhs.accelerometer &&
+    lhs.gyroscope == rhs.gyroscope &&
+    lhs.magnetometer == rhs.magnetometer &&
+    lhs.raw_linear_acceleration == rhs.raw_linear_acceleration &&
+    lhs.raw_angular_velocity == rhs.raw_angular_velocity &&
+    lhs.raw_magnetic_field == rhs.raw_magnetic_field;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::ros_merge_test::RawImu_<ContainerAllocator1> & lhs, const ::ros_merge_test::RawImu_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace ros_merge_test
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsMessage< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::ros_merge_test::RawImu_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::ros_merge_test::RawImu_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::ros_merge_test::RawImu_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "3bc0ea37781da51ad41a6868ff62faa9";
+  }
+
+  static const char* value(const ::ros_merge_test::RawImu_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x3bc0ea37781da51aULL;
+  static const uint64_t static_value2 = 0xd41a6868ff62faa9ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "ros_merge_test/RawImu";
+  }
+
+  static const char* value(const ::ros_merge_test::RawImu_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "Header header\n"
+"bool accelerometer\n"
+"bool gyroscope\n"
+"bool magnetometer\n"
+"geometry_msgs/Vector3 raw_linear_acceleration\n"
+"geometry_msgs/Vector3 raw_angular_velocity\n"
+"geometry_msgs/Vector3 raw_magnetic_field\n"
+"\n"
+"================================================================================\n"
+"MSG: std_msgs/Header\n"
+"# Standard metadata for higher-level stamped data types.\n"
+"# This is generally used to communicate timestamped data \n"
+"# in a particular coordinate frame.\n"
+"# \n"
+"# sequence ID: consecutively increasing ID \n"
+"uint32 seq\n"
+"#Two-integer timestamp that is expressed as:\n"
+"# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n"
+"# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n"
+"# time-handling sugar is provided by the client library\n"
+"time stamp\n"
+"#Frame this data is associated with\n"
+"string frame_id\n"
+"\n"
+"================================================================================\n"
+"MSG: geometry_msgs/Vector3\n"
+"# This represents a vector in free space. \n"
+"# It is only meant to represent a direction. Therefore, it does not\n"
+"# make sense to apply a translation to it (e.g., when applying a \n"
+"# generic rigid transformation to a Vector3, tf2 will only apply the\n"
+"# rotation). If you want your data to be translatable too, use the\n"
+"# geometry_msgs/Point message instead.\n"
+"\n"
+"float64 x\n"
+"float64 y\n"
+"float64 z\n"
+;
+  }
+
+  static const char* value(const ::ros_merge_test::RawImu_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::ros_merge_test::RawImu_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.header);
+      stream.next(m.accelerometer);
+      stream.next(m.gyroscope);
+      stream.next(m.magnetometer);
+      stream.next(m.raw_linear_acceleration);
+      stream.next(m.raw_angular_velocity);
+      stream.next(m.raw_magnetic_field);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct RawImu_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::ros_merge_test::RawImu_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::ros_merge_test::RawImu_<ContainerAllocator>& v)
+  {
+    s << indent << "header: ";
+    s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "accelerometer: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.accelerometer);
+    s << indent << "gyroscope: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.gyroscope);
+    s << indent << "magnetometer: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.magnetometer);
+    s << indent << "raw_linear_acceleration: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.raw_linear_acceleration);
+    s << indent << "raw_angular_velocity: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.raw_angular_velocity);
+    s << indent << "raw_magnetic_field: ";
+    s << std::endl;
+    Printer< ::geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + "  ", v.raw_magnetic_field);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // ROS_MERGE_TEST_MESSAGE_RAWIMU_H
diff --git a/project/projectMaster/devel/lib/libros_merge_test.so b/project/projectMaster/devel/lib/libros_merge_test.so
new file mode 100755
index 0000000..212da68
Binary files /dev/null and b/project/projectMaster/devel/lib/libros_merge_test.so differ
diff --git a/project/projectMaster/devel/lib/pkgconfig/ros_merge_test.pc b/project/projectMaster/devel/lib/pkgconfig/ros_merge_test.pc
new file mode 100644
index 0000000..3bc188c
--- /dev/null
+++ b/project/projectMaster/devel/lib/pkgconfig/ros_merge_test.pc
@@ -0,0 +1,8 @@
+prefix=/home/firefly/Project_Ros-master/devel
+
+Name: ros_merge_test
+Description: Description of ros_merge_test
+Version: 0.0.0
+Cflags: -I/home/firefly/Project_Ros-master/devel/include
+Libs: -L${prefix}/lib 
+Requires: message_runtime std_msgs geometry_msgs
diff --git a/project/projectMaster/devel/lib/python3/dist-packages/ros_merge_test/__init__.py b/project/projectMaster/devel/lib/python3/dist-packages/ros_merge_test/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectMaster/devel/lib/python3/dist-packages/ros_merge_test/msg/_RawImu.py b/project/projectMaster/devel/lib/python3/dist-packages/ros_merge_test/msg/_RawImu.py
new file mode 100644
index 0000000..e995b4b
--- /dev/null
+++ b/project/projectMaster/devel/lib/python3/dist-packages/ros_merge_test/msg/_RawImu.py
@@ -0,0 +1,239 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from ros_merge_test/RawImu.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+import geometry_msgs.msg
+import std_msgs.msg
+
+class RawImu(genpy.Message):
+  _md5sum = "3bc0ea37781da51ad41a6868ff62faa9"
+  _type = "ros_merge_test/RawImu"
+  _has_header = True  # flag to mark the presence of a Header object
+  _full_text = """Header header
+bool accelerometer
+bool gyroscope
+bool magnetometer
+geometry_msgs/Vector3 raw_linear_acceleration
+geometry_msgs/Vector3 raw_angular_velocity
+geometry_msgs/Vector3 raw_magnetic_field
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z"""
+  __slots__ = ['header','accelerometer','gyroscope','magnetometer','raw_linear_acceleration','raw_angular_velocity','raw_magnetic_field']
+  _slot_types = ['std_msgs/Header','bool','bool','bool','geometry_msgs/Vector3','geometry_msgs/Vector3','geometry_msgs/Vector3']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       header,accelerometer,gyroscope,magnetometer,raw_linear_acceleration,raw_angular_velocity,raw_magnetic_field
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(RawImu, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.accelerometer is None:
+        self.accelerometer = False
+      if self.gyroscope is None:
+        self.gyroscope = False
+      if self.magnetometer is None:
+        self.magnetometer = False
+      if self.raw_linear_acceleration is None:
+        self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.raw_angular_velocity is None:
+        self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      if self.raw_magnetic_field is None:
+        self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+    else:
+      self.header = std_msgs.msg.Header()
+      self.accelerometer = False
+      self.gyroscope = False
+      self.magnetometer = False
+      self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self
+      buff.write(_get_struct_3B9d().pack(_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.raw_linear_acceleration is None:
+        self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.raw_angular_velocity is None:
+        self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      if self.raw_magnetic_field is None:
+        self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 75
+      (_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z,) = _get_struct_3B9d().unpack(str[start:end])
+      self.accelerometer = bool(self.accelerometer)
+      self.gyroscope = bool(self.gyroscope)
+      self.magnetometer = bool(self.magnetometer)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_3I().pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self
+      buff.write(_get_struct_3B9d().pack(_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg.Header()
+      if self.raw_linear_acceleration is None:
+        self.raw_linear_acceleration = geometry_msgs.msg.Vector3()
+      if self.raw_angular_velocity is None:
+        self.raw_angular_velocity = geometry_msgs.msg.Vector3()
+      if self.raw_magnetic_field is None:
+        self.raw_magnetic_field = geometry_msgs.msg.Vector3()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 75
+      (_x.accelerometer, _x.gyroscope, _x.magnetometer, _x.raw_linear_acceleration.x, _x.raw_linear_acceleration.y, _x.raw_linear_acceleration.z, _x.raw_angular_velocity.x, _x.raw_angular_velocity.y, _x.raw_angular_velocity.z, _x.raw_magnetic_field.x, _x.raw_magnetic_field.y, _x.raw_magnetic_field.z,) = _get_struct_3B9d().unpack(str[start:end])
+      self.accelerometer = bool(self.accelerometer)
+      self.gyroscope = bool(self.gyroscope)
+      self.magnetometer = bool(self.magnetometer)
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_3B9d = None
+def _get_struct_3B9d():
+    global _struct_3B9d
+    if _struct_3B9d is None:
+        _struct_3B9d = struct.Struct("<3B9d")
+    return _struct_3B9d
+_struct_3I = None
+def _get_struct_3I():
+    global _struct_3I
+    if _struct_3I is None:
+        _struct_3I = struct.Struct("<3I")
+    return _struct_3I
diff --git a/project/projectMaster/devel/lib/python3/dist-packages/ros_merge_test/msg/__init__.py b/project/projectMaster/devel/lib/python3/dist-packages/ros_merge_test/msg/__init__.py
new file mode 100644
index 0000000..7ac9d65
--- /dev/null
+++ b/project/projectMaster/devel/lib/python3/dist-packages/ros_merge_test/msg/__init__.py
@@ -0,0 +1 @@
+from ._RawImu import *
diff --git a/project/projectMaster/devel/lib/ros_merge_test/ros_merge_test_node b/project/projectMaster/devel/lib/ros_merge_test/ros_merge_test_node
new file mode 100755
index 0000000..5ee3163
Binary files /dev/null and b/project/projectMaster/devel/lib/ros_merge_test/ros_merge_test_node differ
diff --git a/project/projectMaster/devel/local_setup.bash b/project/projectMaster/devel/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectMaster/devel/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectMaster/devel/local_setup.sh b/project/projectMaster/devel/local_setup.sh
new file mode 100644
index 0000000..528a520
--- /dev/null
+++ b/project/projectMaster/devel/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/Project_Ros-master/devel}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectMaster/devel/local_setup.zsh b/project/projectMaster/devel/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectMaster/devel/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectMaster/devel/setup.bash b/project/projectMaster/devel/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectMaster/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectMaster/devel/setup.sh b/project/projectMaster/devel/setup.sh
new file mode 100644
index 0000000..57ed46b
--- /dev/null
+++ b/project/projectMaster/devel/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/firefly/Project_Ros-master/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectMaster/devel/setup.zsh b/project/projectMaster/devel/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectMaster/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/RawImu.lisp b/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/RawImu.lisp
new file mode 100644
index 0000000..6fe3d03
--- /dev/null
+++ b/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/RawImu.lisp
@@ -0,0 +1,148 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package ros_merge_test-msg)
+
+
+;//! \htmlinclude RawImu.msg.html
+
+(cl:defclass <RawImu> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (accelerometer
+    :reader accelerometer
+    :initarg :accelerometer
+    :type cl:boolean
+    :initform cl:nil)
+   (gyroscope
+    :reader gyroscope
+    :initarg :gyroscope
+    :type cl:boolean
+    :initform cl:nil)
+   (magnetometer
+    :reader magnetometer
+    :initarg :magnetometer
+    :type cl:boolean
+    :initform cl:nil)
+   (raw_linear_acceleration
+    :reader raw_linear_acceleration
+    :initarg :raw_linear_acceleration
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (raw_angular_velocity
+    :reader raw_angular_velocity
+    :initarg :raw_angular_velocity
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3))
+   (raw_magnetic_field
+    :reader raw_magnetic_field
+    :initarg :raw_magnetic_field
+    :type geometry_msgs-msg:Vector3
+    :initform (cl:make-instance 'geometry_msgs-msg:Vector3)))
+)
+
+(cl:defclass RawImu (<RawImu>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <RawImu>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'RawImu)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name ros_merge_test-msg:<RawImu> is deprecated: use ros_merge_test-msg:RawImu instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:header-val is deprecated.  Use ros_merge_test-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'accelerometer-val :lambda-list '(m))
+(cl:defmethod accelerometer-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:accelerometer-val is deprecated.  Use ros_merge_test-msg:accelerometer instead.")
+  (accelerometer m))
+
+(cl:ensure-generic-function 'gyroscope-val :lambda-list '(m))
+(cl:defmethod gyroscope-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:gyroscope-val is deprecated.  Use ros_merge_test-msg:gyroscope instead.")
+  (gyroscope m))
+
+(cl:ensure-generic-function 'magnetometer-val :lambda-list '(m))
+(cl:defmethod magnetometer-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:magnetometer-val is deprecated.  Use ros_merge_test-msg:magnetometer instead.")
+  (magnetometer m))
+
+(cl:ensure-generic-function 'raw_linear_acceleration-val :lambda-list '(m))
+(cl:defmethod raw_linear_acceleration-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:raw_linear_acceleration-val is deprecated.  Use ros_merge_test-msg:raw_linear_acceleration instead.")
+  (raw_linear_acceleration m))
+
+(cl:ensure-generic-function 'raw_angular_velocity-val :lambda-list '(m))
+(cl:defmethod raw_angular_velocity-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:raw_angular_velocity-val is deprecated.  Use ros_merge_test-msg:raw_angular_velocity instead.")
+  (raw_angular_velocity m))
+
+(cl:ensure-generic-function 'raw_magnetic_field-val :lambda-list '(m))
+(cl:defmethod raw_magnetic_field-val ((m <RawImu>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader ros_merge_test-msg:raw_magnetic_field-val is deprecated.  Use ros_merge_test-msg:raw_magnetic_field instead.")
+  (raw_magnetic_field m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <RawImu>) ostream)
+  "Serializes a message object of type '<RawImu>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'accelerometer) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'gyroscope) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'magnetometer) 1 0)) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'raw_linear_acceleration) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'raw_angular_velocity) ostream)
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'raw_magnetic_field) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <RawImu>) istream)
+  "Deserializes a message object of type '<RawImu>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:setf (cl:slot-value msg 'accelerometer) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'gyroscope) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'magnetometer) (cl:not (cl:zerop (cl:read-byte istream))))
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'raw_linear_acceleration) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'raw_angular_velocity) istream)
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'raw_magnetic_field) istream)
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<RawImu>)))
+  "Returns string type for a message object of type '<RawImu>"
+  "ros_merge_test/RawImu")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RawImu)))
+  "Returns string type for a message object of type 'RawImu"
+  "ros_merge_test/RawImu")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<RawImu>)))
+  "Returns md5sum for a message object of type '<RawImu>"
+  "3bc0ea37781da51ad41a6868ff62faa9")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RawImu)))
+  "Returns md5sum for a message object of type 'RawImu"
+  "3bc0ea37781da51ad41a6868ff62faa9")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<RawImu>)))
+  "Returns full string definition for message of type '<RawImu>"
+  (cl:format cl:nil "Header header~%bool accelerometer~%bool gyroscope~%bool magnetometer~%geometry_msgs/Vector3 raw_linear_acceleration~%geometry_msgs/Vector3 raw_angular_velocity~%geometry_msgs/Vector3 raw_magnetic_field~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'RawImu)))
+  "Returns full string definition for message of type 'RawImu"
+  (cl:format cl:nil "Header header~%bool accelerometer~%bool gyroscope~%bool magnetometer~%geometry_msgs/Vector3 raw_linear_acceleration~%geometry_msgs/Vector3 raw_angular_velocity~%geometry_msgs/Vector3 raw_magnetic_field~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%# It is only meant to represent a direction. Therefore, it does not~%# make sense to apply a translation to it (e.g., when applying a ~%# generic rigid transformation to a Vector3, tf2 will only apply the~%# rotation). If you want your data to be translatable too, use the~%# geometry_msgs/Point message instead.~%~%float64 x~%float64 y~%float64 z~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <RawImu>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     1
+     1
+     1
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'raw_linear_acceleration))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'raw_angular_velocity))
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'raw_magnetic_field))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <RawImu>))
+  "Converts a ROS message object to a list"
+  (cl:list 'RawImu
+    (cl:cons ':header (header msg))
+    (cl:cons ':accelerometer (accelerometer msg))
+    (cl:cons ':gyroscope (gyroscope msg))
+    (cl:cons ':magnetometer (magnetometer msg))
+    (cl:cons ':raw_linear_acceleration (raw_linear_acceleration msg))
+    (cl:cons ':raw_angular_velocity (raw_angular_velocity msg))
+    (cl:cons ':raw_magnetic_field (raw_magnetic_field msg))
+))
diff --git a/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/_package.lisp b/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/_package.lisp
new file mode 100644
index 0000000..15617b7
--- /dev/null
+++ b/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/_package.lisp
@@ -0,0 +1,7 @@
+(cl:defpackage ros_merge_test-msg
+  (:use )
+  (:export
+   "<RAWIMU>"
+   "RAWIMU"
+  ))
+
diff --git a/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/_package_RawImu.lisp b/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/_package_RawImu.lisp
new file mode 100644
index 0000000..332e598
--- /dev/null
+++ b/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/_package_RawImu.lisp
@@ -0,0 +1,16 @@
+(cl:in-package ros_merge_test-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          ACCELEROMETER-VAL
+          ACCELEROMETER
+          GYROSCOPE-VAL
+          GYROSCOPE
+          MAGNETOMETER-VAL
+          MAGNETOMETER
+          RAW_LINEAR_ACCELERATION-VAL
+          RAW_LINEAR_ACCELERATION
+          RAW_ANGULAR_VELOCITY-VAL
+          RAW_ANGULAR_VELOCITY
+          RAW_MAGNETIC_FIELD-VAL
+          RAW_MAGNETIC_FIELD
+))
\ No newline at end of file
diff --git a/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/ros_merge_test-msg.asd b/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/ros_merge_test-msg.asd
new file mode 100644
index 0000000..20e8b07
--- /dev/null
+++ b/project/projectMaster/devel/share/common-lisp/ros/ros_merge_test/msg/ros_merge_test-msg.asd
@@ -0,0 +1,11 @@
+
+(cl:in-package :asdf)
+
+(defsystem "ros_merge_test-msg"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils :geometry_msgs-msg
+               :std_msgs-msg
+)
+  :components ((:file "_package")
+    (:file "RawImu" :depends-on ("_package_RawImu"))
+    (:file "_package_RawImu" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/project/projectMaster/devel/share/gennodejs/ros/ros_merge_test/_index.js b/project/projectMaster/devel/share/gennodejs/ros/ros_merge_test/_index.js
new file mode 100644
index 0000000..74b3dd0
--- /dev/null
+++ b/project/projectMaster/devel/share/gennodejs/ros/ros_merge_test/_index.js
@@ -0,0 +1,6 @@
+
+"use strict";
+
+module.exports = {
+  msg: require('./msg/_index.js'),
+};
diff --git a/project/projectMaster/devel/share/gennodejs/ros/ros_merge_test/msg/RawImu.js b/project/projectMaster/devel/share/gennodejs/ros/ros_merge_test/msg/RawImu.js
new file mode 100644
index 0000000..3d17dbc
--- /dev/null
+++ b/project/projectMaster/devel/share/gennodejs/ros/ros_merge_test/msg/RawImu.js
@@ -0,0 +1,234 @@
+// Auto-generated. Do not edit!
+
+// (in-package ros_merge_test.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let std_msgs = _finder('std_msgs');
+let geometry_msgs = _finder('geometry_msgs');
+
+//-----------------------------------------------------------
+
+class RawImu {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.header = null;
+      this.accelerometer = null;
+      this.gyroscope = null;
+      this.magnetometer = null;
+      this.raw_linear_acceleration = null;
+      this.raw_angular_velocity = null;
+      this.raw_magnetic_field = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('header')) {
+        this.header = initObj.header
+      }
+      else {
+        this.header = new std_msgs.msg.Header();
+      }
+      if (initObj.hasOwnProperty('accelerometer')) {
+        this.accelerometer = initObj.accelerometer
+      }
+      else {
+        this.accelerometer = false;
+      }
+      if (initObj.hasOwnProperty('gyroscope')) {
+        this.gyroscope = initObj.gyroscope
+      }
+      else {
+        this.gyroscope = false;
+      }
+      if (initObj.hasOwnProperty('magnetometer')) {
+        this.magnetometer = initObj.magnetometer
+      }
+      else {
+        this.magnetometer = false;
+      }
+      if (initObj.hasOwnProperty('raw_linear_acceleration')) {
+        this.raw_linear_acceleration = initObj.raw_linear_acceleration
+      }
+      else {
+        this.raw_linear_acceleration = new geometry_msgs.msg.Vector3();
+      }
+      if (initObj.hasOwnProperty('raw_angular_velocity')) {
+        this.raw_angular_velocity = initObj.raw_angular_velocity
+      }
+      else {
+        this.raw_angular_velocity = new geometry_msgs.msg.Vector3();
+      }
+      if (initObj.hasOwnProperty('raw_magnetic_field')) {
+        this.raw_magnetic_field = initObj.raw_magnetic_field
+      }
+      else {
+        this.raw_magnetic_field = new geometry_msgs.msg.Vector3();
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type RawImu
+    // Serialize message field [header]
+    bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
+    // Serialize message field [accelerometer]
+    bufferOffset = _serializer.bool(obj.accelerometer, buffer, bufferOffset);
+    // Serialize message field [gyroscope]
+    bufferOffset = _serializer.bool(obj.gyroscope, buffer, bufferOffset);
+    // Serialize message field [magnetometer]
+    bufferOffset = _serializer.bool(obj.magnetometer, buffer, bufferOffset);
+    // Serialize message field [raw_linear_acceleration]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.raw_linear_acceleration, buffer, bufferOffset);
+    // Serialize message field [raw_angular_velocity]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.raw_angular_velocity, buffer, bufferOffset);
+    // Serialize message field [raw_magnetic_field]
+    bufferOffset = geometry_msgs.msg.Vector3.serialize(obj.raw_magnetic_field, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type RawImu
+    let len;
+    let data = new RawImu(null);
+    // Deserialize message field [header]
+    data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
+    // Deserialize message field [accelerometer]
+    data.accelerometer = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [gyroscope]
+    data.gyroscope = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [magnetometer]
+    data.magnetometer = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [raw_linear_acceleration]
+    data.raw_linear_acceleration = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    // Deserialize message field [raw_angular_velocity]
+    data.raw_angular_velocity = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    // Deserialize message field [raw_magnetic_field]
+    data.raw_magnetic_field = geometry_msgs.msg.Vector3.deserialize(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += std_msgs.msg.Header.getMessageSize(object.header);
+    return length + 75;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'ros_merge_test/RawImu';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '3bc0ea37781da51ad41a6868ff62faa9';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    Header header
+    bool accelerometer
+    bool gyroscope
+    bool magnetometer
+    geometry_msgs/Vector3 raw_linear_acceleration
+    geometry_msgs/Vector3 raw_angular_velocity
+    geometry_msgs/Vector3 raw_magnetic_field
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    string frame_id
+    
+    ================================================================================
+    MSG: geometry_msgs/Vector3
+    # This represents a vector in free space. 
+    # It is only meant to represent a direction. Therefore, it does not
+    # make sense to apply a translation to it (e.g., when applying a 
+    # generic rigid transformation to a Vector3, tf2 will only apply the
+    # rotation). If you want your data to be translatable too, use the
+    # geometry_msgs/Point message instead.
+    
+    float64 x
+    float64 y
+    float64 z
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new RawImu(null);
+    if (msg.header !== undefined) {
+      resolved.header = std_msgs.msg.Header.Resolve(msg.header)
+    }
+    else {
+      resolved.header = new std_msgs.msg.Header()
+    }
+
+    if (msg.accelerometer !== undefined) {
+      resolved.accelerometer = msg.accelerometer;
+    }
+    else {
+      resolved.accelerometer = false
+    }
+
+    if (msg.gyroscope !== undefined) {
+      resolved.gyroscope = msg.gyroscope;
+    }
+    else {
+      resolved.gyroscope = false
+    }
+
+    if (msg.magnetometer !== undefined) {
+      resolved.magnetometer = msg.magnetometer;
+    }
+    else {
+      resolved.magnetometer = false
+    }
+
+    if (msg.raw_linear_acceleration !== undefined) {
+      resolved.raw_linear_acceleration = geometry_msgs.msg.Vector3.Resolve(msg.raw_linear_acceleration)
+    }
+    else {
+      resolved.raw_linear_acceleration = new geometry_msgs.msg.Vector3()
+    }
+
+    if (msg.raw_angular_velocity !== undefined) {
+      resolved.raw_angular_velocity = geometry_msgs.msg.Vector3.Resolve(msg.raw_angular_velocity)
+    }
+    else {
+      resolved.raw_angular_velocity = new geometry_msgs.msg.Vector3()
+    }
+
+    if (msg.raw_magnetic_field !== undefined) {
+      resolved.raw_magnetic_field = geometry_msgs.msg.Vector3.Resolve(msg.raw_magnetic_field)
+    }
+    else {
+      resolved.raw_magnetic_field = new geometry_msgs.msg.Vector3()
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = RawImu;
diff --git a/project/projectMaster/devel/share/gennodejs/ros/ros_merge_test/msg/_index.js b/project/projectMaster/devel/share/gennodejs/ros/ros_merge_test/msg/_index.js
new file mode 100644
index 0000000..0ec6f28
--- /dev/null
+++ b/project/projectMaster/devel/share/gennodejs/ros/ros_merge_test/msg/_index.js
@@ -0,0 +1,8 @@
+
+"use strict";
+
+let RawImu = require('./RawImu.js');
+
+module.exports = {
+  RawImu: RawImu,
+};
diff --git a/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_test-msg-extras.cmake b/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_test-msg-extras.cmake
new file mode 100644
index 0000000..66054ab
--- /dev/null
+++ b/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_test-msg-extras.cmake
@@ -0,0 +1,2 @@
+set(ros_merge_test_MESSAGE_FILES "/home/firefly/Project_Ros-master/src/ros_merge_test/msg/RawImu.msg")
+set(ros_merge_test_SERVICE_FILES "")
diff --git a/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_test-msg-paths.cmake b/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_test-msg-paths.cmake
new file mode 100644
index 0000000..ca869a1
--- /dev/null
+++ b/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_test-msg-paths.cmake
@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in
+
+set(ros_merge_test_MSG_INCLUDE_DIRS "/home/firefly/Project_Ros-master/src/ros_merge_test/msg")
+set(ros_merge_test_MSG_DEPENDENCIES std_msgs;geometry_msgs)
diff --git a/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake b/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake
new file mode 100644
index 0000000..7fd9f99
--- /dev/null
+++ b/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake b/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake
new file mode 100644
index 0000000..d1038ef
--- /dev/null
+++ b/project/projectMaster/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(ros_merge_test_CONFIG_INCLUDED)
+  return()
+endif()
+set(ros_merge_test_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(ros_merge_test_SOURCE_PREFIX /home/firefly/Project_Ros-master/src/ros_merge_test)
+  set(ros_merge_test_DEVEL_PREFIX /home/firefly/Project_Ros-master/devel)
+  set(ros_merge_test_INSTALL_PREFIX "")
+  set(ros_merge_test_PREFIX ${ros_merge_test_DEVEL_PREFIX})
+else()
+  set(ros_merge_test_SOURCE_PREFIX "")
+  set(ros_merge_test_DEVEL_PREFIX "")
+  set(ros_merge_test_INSTALL_PREFIX /home/firefly/Project_Ros-master/install)
+  set(ros_merge_test_PREFIX ${ros_merge_test_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'ros_merge_test' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(ros_merge_test_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "/home/firefly/Project_Ros-master/devel/include " STREQUAL " ")
+  set(ros_merge_test_INCLUDE_DIRS "")
+  set(_include_dirs "/home/firefly/Project_Ros-master/devel/include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'luoruidi <luoruidi@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${ros_merge_test_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/firefly/Project_Ros-master/src/ros_merge_test/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(ros_merge_test_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT ros_merge_test_NUM_DUMMY_TARGETS)
+      set(ros_merge_test_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR ros_merge_test_NUM_DUMMY_TARGETS "${ros_merge_test_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND ros_merge_test_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/firefly/Project_Ros-master/devel/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(ros_merge_test_LIBRARY_DIRS ${lib_path})
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'ros_merge_test'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(ros_merge_test_EXPORTED_TARGETS "ros_merge_test_generate_messages_cpp;ros_merge_test_generate_messages_eus;ros_merge_test_generate_messages_lisp;ros_merge_test_generate_messages_nodejs;ros_merge_test_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${ros_merge_test_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "message_runtime;std_msgs;geometry_msgs")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 ros_merge_test_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${ros_merge_test_dep}_FOUND)
+      find_package(${ros_merge_test_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${ros_merge_test_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(ros_merge_test_INCLUDE_DIRS ${${ros_merge_test_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${ros_merge_test_dep}_LIBRARIES})
+  _list_append_deduplicate(ros_merge_test_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+
+  _list_append_unique(ros_merge_test_LIBRARY_DIRS ${${ros_merge_test_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(ros_merge_test_EXPORTED_TARGETS ${${ros_merge_test_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "ros_merge_test-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${ros_merge_test_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/project/projectMaster/devel/share/roseus/ros/ros_merge_test/manifest.l b/project/projectMaster/devel/share/roseus/ros/ros_merge_test/manifest.l
new file mode 100644
index 0000000..1a70cbf
--- /dev/null
+++ b/project/projectMaster/devel/share/roseus/ros/ros_merge_test/manifest.l
@@ -0,0 +1,12 @@
+;;
+;; DO NOT EDIT THIS FILE
+;;
+;; THIS FILE IS AUTOMATICALLY GENERATED
+;;  FROM /home/firefly/Project_Ros-master/src/ros_merge_test/package.xml (0.0.0)
+;; USING /opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py /opt/ros/noetic/share/geneus/package.xml (3.0.0)
+;;
+(ros::load-ros-package "geometry_msgs")
+(ros::load-ros-package "roscpp")
+(ros::load-ros-package "rosgraph_msgs")
+(ros::load-ros-package "std_msgs")
+(ros::load-ros-package "ros_merge_test")
diff --git a/project/projectMaster/devel/share/roseus/ros/ros_merge_test/msg/RawImu.l b/project/projectMaster/devel/share/roseus/ros/ros_merge_test/msg/RawImu.l
new file mode 100644
index 0000000..3c1c1a5
--- /dev/null
+++ b/project/projectMaster/devel/share/roseus/ros/ros_merge_test/msg/RawImu.l
@@ -0,0 +1,183 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'ros_merge_test::RawImu)
+  (if (not (find-package "ROS_MERGE_TEST"))
+    (make-package "ROS_MERGE_TEST"))
+  (shadow 'RawImu (find-package "ROS_MERGE_TEST")))
+(unless (find-package "ROS_MERGE_TEST::RAWIMU")
+  (make-package "ROS_MERGE_TEST::RAWIMU"))
+
+(in-package "ROS")
+;;//! \htmlinclude RawImu.msg.html
+(if (not (find-package "GEOMETRY_MSGS"))
+  (ros::roseus-add-msgs "geometry_msgs"))
+(if (not (find-package "STD_MSGS"))
+  (ros::roseus-add-msgs "std_msgs"))
+
+
+(defclass ros_merge_test::RawImu
+  :super ros::object
+  :slots (_header _accelerometer _gyroscope _magnetometer _raw_linear_acceleration _raw_angular_velocity _raw_magnetic_field ))
+
+(defmethod ros_merge_test::RawImu
+  (:init
+   (&key
+    ((:header __header) (instance std_msgs::Header :init))
+    ((:accelerometer __accelerometer) nil)
+    ((:gyroscope __gyroscope) nil)
+    ((:magnetometer __magnetometer) nil)
+    ((:raw_linear_acceleration __raw_linear_acceleration) (instance geometry_msgs::Vector3 :init))
+    ((:raw_angular_velocity __raw_angular_velocity) (instance geometry_msgs::Vector3 :init))
+    ((:raw_magnetic_field __raw_magnetic_field) (instance geometry_msgs::Vector3 :init))
+    )
+   (send-super :init)
+   (setq _header __header)
+   (setq _accelerometer __accelerometer)
+   (setq _gyroscope __gyroscope)
+   (setq _magnetometer __magnetometer)
+   (setq _raw_linear_acceleration __raw_linear_acceleration)
+   (setq _raw_angular_velocity __raw_angular_velocity)
+   (setq _raw_magnetic_field __raw_magnetic_field)
+   self)
+  (:header
+   (&rest __header)
+   (if (keywordp (car __header))
+       (send* _header __header)
+     (progn
+       (if __header (setq _header (car __header)))
+       _header)))
+  (:accelerometer
+   (&optional (__accelerometer :null))
+   (if (not (eq __accelerometer :null)) (setq _accelerometer __accelerometer)) _accelerometer)
+  (:gyroscope
+   (&optional (__gyroscope :null))
+   (if (not (eq __gyroscope :null)) (setq _gyroscope __gyroscope)) _gyroscope)
+  (:magnetometer
+   (&optional (__magnetometer :null))
+   (if (not (eq __magnetometer :null)) (setq _magnetometer __magnetometer)) _magnetometer)
+  (:raw_linear_acceleration
+   (&rest __raw_linear_acceleration)
+   (if (keywordp (car __raw_linear_acceleration))
+       (send* _raw_linear_acceleration __raw_linear_acceleration)
+     (progn
+       (if __raw_linear_acceleration (setq _raw_linear_acceleration (car __raw_linear_acceleration)))
+       _raw_linear_acceleration)))
+  (:raw_angular_velocity
+   (&rest __raw_angular_velocity)
+   (if (keywordp (car __raw_angular_velocity))
+       (send* _raw_angular_velocity __raw_angular_velocity)
+     (progn
+       (if __raw_angular_velocity (setq _raw_angular_velocity (car __raw_angular_velocity)))
+       _raw_angular_velocity)))
+  (:raw_magnetic_field
+   (&rest __raw_magnetic_field)
+   (if (keywordp (car __raw_magnetic_field))
+       (send* _raw_magnetic_field __raw_magnetic_field)
+     (progn
+       (if __raw_magnetic_field (setq _raw_magnetic_field (car __raw_magnetic_field)))
+       _raw_magnetic_field)))
+  (:serialization-length
+   ()
+   (+
+    ;; std_msgs/Header _header
+    (send _header :serialization-length)
+    ;; bool _accelerometer
+    1
+    ;; bool _gyroscope
+    1
+    ;; bool _magnetometer
+    1
+    ;; geometry_msgs/Vector3 _raw_linear_acceleration
+    (send _raw_linear_acceleration :serialization-length)
+    ;; geometry_msgs/Vector3 _raw_angular_velocity
+    (send _raw_angular_velocity :serialization-length)
+    ;; geometry_msgs/Vector3 _raw_magnetic_field
+    (send _raw_magnetic_field :serialization-length)
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; std_msgs/Header _header
+       (send _header :serialize s)
+     ;; bool _accelerometer
+       (if _accelerometer (write-byte -1 s) (write-byte 0 s))
+     ;; bool _gyroscope
+       (if _gyroscope (write-byte -1 s) (write-byte 0 s))
+     ;; bool _magnetometer
+       (if _magnetometer (write-byte -1 s) (write-byte 0 s))
+     ;; geometry_msgs/Vector3 _raw_linear_acceleration
+       (send _raw_linear_acceleration :serialize s)
+     ;; geometry_msgs/Vector3 _raw_angular_velocity
+       (send _raw_angular_velocity :serialize s)
+     ;; geometry_msgs/Vector3 _raw_magnetic_field
+       (send _raw_magnetic_field :serialize s)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; std_msgs/Header _header
+     (send _header :deserialize buf ptr-) (incf ptr- (send _header :serialization-length))
+   ;; bool _accelerometer
+     (setq _accelerometer (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _gyroscope
+     (setq _gyroscope (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; bool _magnetometer
+     (setq _magnetometer (not (= 0 (sys::peek buf ptr- :char)))) (incf ptr- 1)
+   ;; geometry_msgs/Vector3 _raw_linear_acceleration
+     (send _raw_linear_acceleration :deserialize buf ptr-) (incf ptr- (send _raw_linear_acceleration :serialization-length))
+   ;; geometry_msgs/Vector3 _raw_angular_velocity
+     (send _raw_angular_velocity :deserialize buf ptr-) (incf ptr- (send _raw_angular_velocity :serialization-length))
+   ;; geometry_msgs/Vector3 _raw_magnetic_field
+     (send _raw_magnetic_field :deserialize buf ptr-) (incf ptr- (send _raw_magnetic_field :serialization-length))
+   ;;
+   self)
+  )
+
+(setf (get ros_merge_test::RawImu :md5sum-) "3bc0ea37781da51ad41a6868ff62faa9")
+(setf (get ros_merge_test::RawImu :datatype-) "ros_merge_test/RawImu")
+(setf (get ros_merge_test::RawImu :definition-)
+      "Header header
+bool accelerometer
+bool gyroscope
+bool magnetometer
+geometry_msgs/Vector3 raw_linear_acceleration
+geometry_msgs/Vector3 raw_angular_velocity
+geometry_msgs/Vector3 raw_magnetic_field
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+string frame_id
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+# It is only meant to represent a direction. Therefore, it does not
+# make sense to apply a translation to it (e.g., when applying a 
+# generic rigid transformation to a Vector3, tf2 will only apply the
+# rotation). If you want your data to be translatable too, use the
+# geometry_msgs/Point message instead.
+
+float64 x
+float64 y
+float64 z
+")
+
+
+
+(provide :ros_merge_test/RawImu "3bc0ea37781da51ad41a6868ff62faa9")
+
+
diff --git a/project/projectMaster/src/.idea/.gitignore b/project/projectMaster/src/.idea/.gitignore
new file mode 100644
index 0000000..13566b8
--- /dev/null
+++ b/project/projectMaster/src/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/project/projectMaster/src/.idea/deployment.xml b/project/projectMaster/src/.idea/deployment.xml
new file mode 100644
index 0000000..538ef7e
--- /dev/null
+++ b/project/projectMaster/src/.idea/deployment.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="PublishConfigData" remoteFilesAllowedToDisappearOnAutoupload="false">
+    <serverData>
+      <paths name="Remote Host (1dce3a15-503d-4545-b5bc-e482c493c313)">
+        <serverdata>
+          <mappings>
+            <mapping deploy="/tmp/src" local="$PROJECT_DIR$" />
+          </mappings>
+        </serverdata>
+      </paths>
+    </serverData>
+  </component>
+</project>
\ No newline at end of file
diff --git a/project/projectMaster/src/.idea/misc.xml b/project/projectMaster/src/.idea/misc.xml
new file mode 100644
index 0000000..79b3c94
--- /dev/null
+++ b/project/projectMaster/src/.idea/misc.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+</project>
\ No newline at end of file
diff --git a/project/projectMaster/src/.idea/modules.xml b/project/projectMaster/src/.idea/modules.xml
new file mode 100644
index 0000000..f669a0e
--- /dev/null
+++ b/project/projectMaster/src/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/src.iml" filepath="$PROJECT_DIR$/.idea/src.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/project/projectMaster/src/.idea/src.iml b/project/projectMaster/src/.idea/src.iml
new file mode 100644
index 0000000..f08604b
--- /dev/null
+++ b/project/projectMaster/src/.idea/src.iml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CMake" type="CPP_MODULE" version="4" />
\ No newline at end of file
diff --git a/project/projectMaster/src/.idea/vcs.xml b/project/projectMaster/src/.idea/vcs.xml
new file mode 100644
index 0000000..6c0b863
--- /dev/null
+++ b/project/projectMaster/src/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/project/projectMaster/src/CMakeLists.txt b/project/projectMaster/src/CMakeLists.txt
new file mode 120000
index 0000000..2016816
--- /dev/null
+++ b/project/projectMaster/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/query/cache-v2 b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/query/cache-v2
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/query/cmakeFiles-v1 b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/query/cmakeFiles-v1
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/query/codemodel-v2 b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/query/codemodel-v2
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/query/toolchains-v1 b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/query/toolchains-v1
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/cache-v2-6650d493702c7c7ec9e1.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/cache-v2-6650d493702c7c7ec9e1.json
new file mode 100644
index 0000000..8f10211
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/cache-v2-6650d493702c7c7ec9e1.json
@@ -0,0 +1,2771 @@
+{
+	"entries" : 
+	[
+		{
+			"name" : "BUILD_GMOCK",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Builds the googlemock subproject"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "ON"
+		},
+		{
+			"name" : "BUILD_SHARED_LIBS",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Build dynamically-linked binaries"
+				}
+			],
+			"type" : "BOOL",
+			"value" : "ON"
+		},
+		{
+			"name" : "Boost_DIR",
+			"properties" : 
+			[
+				{
+					"name" : "ADVANCED",
+					"value" : "1"
+				},
+				{
+					"name" : "HELPSTRING",
+					"value" : "The directory containing a CMake configuration file for Boost."
+				}
+			],
+			"type" : "PATH",
+			"value" : "/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0"
+		},
+		{
+			"name" : "Boost_INCLUDE_DIR",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Path to a file."
+				}
+			],
+			"type" : "PATH",
+			"value" : "/usr/include"
+		},
+		{
+			"name" : "CATKIN_BLACKLIST_PACKAGES",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "List of ';' separated packages to exclude"
+				}
+			],
+			"type" : "STRING",
+			"value" : ""
+		},
+		{
+			"name" : "CATKIN_ENABLE_TESTING",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Catkin enable testing"
+				}
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+			"type" : "BOOL",
+			"value" : "ON"
+		},
+		{
+			"name" : "CATKIN_ENV",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "catkin environment"
+				}
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+		},
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+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Catkin skip testing"
+				}
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+			"type" : "BOOL",
+			"value" : "OFF"
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+		{
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+			"properties" : 
+			[
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+					"name" : "HELPSTRING",
+					"value" : "Replace the CMake install command with a custom implementation using symlinks instead of copying resources"
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+			[
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+			"value" : "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/test_results"
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+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "List of ';' separated packages to build"
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+			"value" : ""
+		},
+		{
+			"name" : "CMAKE_ADDR2LINE",
+			"properties" : 
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+					"name" : "ADVANCED",
+					"value" : "1"
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+				{
+					"name" : "HELPSTRING",
+					"value" : "Path to a program."
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+			"type" : "FILEPATH",
+			"value" : "/usr/bin/addr2line"
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+			"properties" : 
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+				{
+					"name" : "ADVANCED",
+					"value" : "1"
+				},
+				{
+					"name" : "HELPSTRING",
+					"value" : "Path to a program."
+				}
+			],
+			"type" : "FILEPATH",
+			"value" : "/usr/bin/ar"
+		},
+		{
+			"name" : "CMAKE_BUILD_TYPE",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel ..."
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+			"type" : "STRING",
+			"value" : "Debug"
+		},
+		{
+			"name" : "CMAKE_CACHEFILE_DIR",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "This is the directory where this CMakeCache.txt was created"
+				}
+			],
+			"type" : "INTERNAL",
+			"value" : "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug"
+		},
+		{
+			"name" : "CMAKE_CACHE_MAJOR_VERSION",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Major version of cmake used to create the current loaded cache"
+				}
+			],
+			"type" : "INTERNAL",
+			"value" : "3"
+		},
+		{
+			"name" : "CMAKE_CACHE_MINOR_VERSION",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Minor version of cmake used to create the current loaded cache"
+				}
+			],
+			"type" : "INTERNAL",
+			"value" : "25"
+		},
+		{
+			"name" : "CMAKE_CACHE_PATCH_VERSION",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Patch version of cmake used to create the current loaded cache"
+				}
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+			"type" : "INTERNAL",
+			"value" : "2"
+		},
+		{
+			"name" : "CMAKE_COLOR_DIAGNOSTICS",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Enable colored diagnostics throughout."
+				}
+			],
+			"type" : "BOOL",
+			"value" : "ON"
+		},
+		{
+			"name" : "CMAKE_COMMAND",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Path to CMake executable."
+				}
+			],
+			"type" : "INTERNAL",
+			"value" : "/snap/clion/246/bin/cmake/linux/x64/bin/cmake"
+		},
+		{
+			"name" : "CMAKE_CPACK_COMMAND",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Path to cpack program executable."
+				}
+			],
+			"type" : "INTERNAL",
+			"value" : "/snap/clion/246/bin/cmake/linux/x64/bin/cpack"
+		},
+		{
+			"name" : "CMAKE_CTEST_COMMAND",
+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Path to ctest program executable."
+				}
+			],
+			"type" : "INTERNAL",
+			"value" : "/snap/clion/246/bin/cmake/linux/x64/bin/ctest"
+		},
+		{
+			"name" : "CMAKE_CXX_COMPILER",
+			"properties" : 
+			[
+				{
+					"name" : "ADVANCED",
+					"value" : "1"
+				},
+				{
+					"name" : "HELPSTRING",
+					"value" : "CXX compiler"
+				}
+			],
+			"type" : "FILEPATH",
+			"value" : "/usr/bin/c++"
+		},
+		{
+			"name" : "CMAKE_CXX_COMPILER_AR",
+			"properties" : 
+			[
+				{
+					"name" : "ADVANCED",
+					"value" : "1"
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+				{
+					"name" : "HELPSTRING",
+					"value" : "A wrapper around 'ar' adding the appropriate '--plugin' option for the GCC compiler"
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+			"type" : "FILEPATH",
+			"value" : "/usr/bin/gcc-ar-9"
+		},
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+			"name" : "CMAKE_CXX_COMPILER_RANLIB",
+			"properties" : 
+			[
+				{
+					"name" : "ADVANCED",
+					"value" : "1"
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+			"properties" : 
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+					"name" : "ADVANCED",
+					"value" : "1"
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+					"name" : "HELPSTRING",
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+			"value" : ""
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+		{
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+			"properties" : 
+			[
+				{
+					"name" : "ADVANCED",
+					"value" : "1"
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+				{
+					"name" : "HELPSTRING",
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+			"type" : "STRING",
+			"value" : "-g"
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+					"name" : "ADVANCED",
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+					"name" : "ADVANCED",
+					"value" : "1"
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+					"value" : "C compiler"
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+			"value" : "/usr/bin/cc"
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+				{
+					"name" : "ADVANCED",
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+					"value" : "Flags used by the C compiler during all build types."
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+					"name" : "HELPSTRING",
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+		},
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+			"properties" : 
+			[
+				{
+					"name" : "HELPSTRING",
+					"value" : "Value Computed by CMake."
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+			"value" : "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/CMakeFiles/pkgRedirects"
+		},
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+			[
+				{
+					"name" : "HELPSTRING",
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+			"value" : "Ninja"
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/cmakeFiles-v1-2bafb8f7bcadde62b5ed.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/cmakeFiles-v1-2bafb8f7bcadde62b5ed.json
new file mode 100644
index 0000000..ddc5b2e
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/cmakeFiles-v1-2bafb8f7bcadde62b5ed.json
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new file mode 100644
index 0000000..5fe3edc
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/codemodel-v2-b0403b4ca58509ec1383.json
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-.-Debug-8262e3b911ebea636270.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-.-Debug-8262e3b911ebea636270.json
new file mode 100644
index 0000000..d677972
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-.-Debug-8262e3b911ebea636270.json
@@ -0,0 +1,221 @@
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+			[
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+			[
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+				"cmake-build-debug/catkin_generated/installspace/local_setup.bash"
+			],
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+			[
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+			],
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+			"paths" : 
+			[
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+			],
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+	{
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+}
diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-gtest-Debug-40f9edd0af6c04d6f946.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-gtest-Debug-40f9edd0af6c04d6f946.json
new file mode 100644
index 0000000..bdaea78
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-gtest-Debug-40f9edd0af6c04d6f946.json
@@ -0,0 +1,14 @@
+{
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+	{
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+	},
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+	"paths" : 
+	{
+		"build" : "gtest",
+		"source" : "/usr/src/googletest"
+	}
+}
diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-gtest.googlemock-Debug-8fd0af86403c015b5fbc.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-gtest.googlemock-Debug-8fd0af86403c015b5fbc.json
new file mode 100644
index 0000000..36407a0
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-gtest.googlemock-Debug-8fd0af86403c015b5fbc.json
@@ -0,0 +1,14 @@
+{
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+	{
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+	},
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+	"paths" : 
+	{
+		"build" : "gtest/googlemock",
+		"source" : "/usr/src/googletest/googlemock"
+	}
+}
diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-gtest.googletest-Debug-5804ba12edef54b53d36.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-gtest.googletest-Debug-5804ba12edef54b53d36.json
new file mode 100644
index 0000000..ccba160
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-gtest.googletest-Debug-5804ba12edef54b53d36.json
@@ -0,0 +1,14 @@
+{
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+	{
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+		"nodes" : []
+	},
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+	"paths" : 
+	{
+		"build" : "gtest/googletest",
+		"source" : "/usr/src/googletest/googletest"
+	}
+}
diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-ros_merge_test-Debug-5a23b1a187f71526d0b6.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-ros_merge_test-Debug-5a23b1a187f71526d0b6.json
new file mode 100644
index 0000000..20ba33a
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/directory-ros_merge_test-Debug-5a23b1a187f71526d0b6.json
@@ -0,0 +1,111 @@
+{
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+	{
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+		[
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+		"files" : 
+		[
+			"/opt/ros/noetic/share/catkin/cmake/custom_install.cmake",
+			"/opt/ros/noetic/share/catkin/cmake/catkin_package.cmake",
+			"ros_merge_test/CMakeLists.txt"
+		],
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+			"paths" : 
+			[
+				"cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc"
+			],
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+		},
+		{
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+			"paths" : 
+			[
+				"cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake",
+				"cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake"
+			],
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+		},
+		{
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+			[
+				"ros_merge_test/package.xml"
+			],
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+		}
+	],
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+	{
+		"build" : "ros_merge_test",
+		"source" : "ros_merge_test"
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/index-2023-07-24T13-15-44-0355.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/index-2023-07-24T13-15-44-0355.json
new file mode 100644
index 0000000..2600431
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/index-2023-07-24T13-15-44-0355.json
@@ -0,0 +1,108 @@
+{
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+			"name" : "Ninja"
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+			"cpack" : "/snap/clion/246/bin/cmake/linux/x64/bin/cpack",
+			"ctest" : "/snap/clion/246/bin/cmake/linux/x64/bin/ctest",
+			"root" : "/snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25"
+		},
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+	[
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+			"kind" : "codemodel",
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+		{
+			"jsonFile" : "cache-v2-6650d493702c7c7ec9e1.json",
+			"kind" : "cache",
+			"version" : 
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+		{
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+		{
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+			"kind" : "toolchains",
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+			"version" : 
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+		},
+		"cmakeFiles-v1" : 
+		{
+			"jsonFile" : "cmakeFiles-v1-2bafb8f7bcadde62b5ed.json",
+			"kind" : "cmakeFiles",
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+		"codemodel-v2" : 
+		{
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+			"kind" : "codemodel",
+			"version" : 
+			{
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+		"toolchains-v1" : 
+		{
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+			"kind" : "toolchains",
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-clean_test_results-Debug-aea19909b5ef65a6d572.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-clean_test_results-Debug-aea19909b5ef65a6d572.json
new file mode 100644
index 0000000..767f009
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-clean_test_results-Debug-aea19909b5ef65a6d572.json
@@ -0,0 +1,101 @@
+{
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+	"backtraceGraph" : 
+	{
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+		[
+			"add_custom_target",
+			"include",
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+		[
+			"/opt/ros/noetic/share/catkin/cmake/test/tests.cmake",
+			"/opt/ros/noetic/share/catkin/cmake/all.cmake",
+			"/opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake",
+			"CMakeLists.txt"
+		],
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+	"name" : "clean_test_results",
+	"paths" : 
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+		"source" : "."
+	},
+	"sourceGroups" : 
+	[
+		{
+			"name" : "",
+			"sourceIndexes" : 
+			[
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+		},
+		{
+			"name" : "CMake Rules",
+			"sourceIndexes" : 
+			[
+				1
+			]
+		}
+	],
+	"sources" : 
+	[
+		{
+			"backtrace" : 7,
+			"isGenerated" : true,
+			"path" : "cmake-build-debug/CMakeFiles/clean_test_results",
+			"sourceGroupIndex" : 0
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+		{
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-download_extra_data-Debug-26d419a6bf2b582c2a72.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-download_extra_data-Debug-26d419a6bf2b582c2a72.json
new file mode 100644
index 0000000..f4e6819
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-download_extra_data-Debug-26d419a6bf2b582c2a72.json
@@ -0,0 +1,70 @@
+{
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+	"backtraceGraph" : 
+	{
+		"commands" : 
+		[
+			"add_custom_target",
+			"include",
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+		],
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+		[
+			"/opt/ros/noetic/share/catkin/cmake/catkin_download.cmake",
+			"/opt/ros/noetic/share/catkin/cmake/all.cmake",
+			"/opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake",
+			"CMakeLists.txt"
+		],
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+		[
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+	"name" : "download_extra_data",
+	"paths" : 
+	{
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+		"source" : "."
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+}
diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-doxygen-Debug-88595cbda2a15872d775.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-doxygen-Debug-88595cbda2a15872d775.json
new file mode 100644
index 0000000..7c2195e
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-doxygen-Debug-88595cbda2a15872d775.json
@@ -0,0 +1,70 @@
+{
+	"backtrace" : 7,
+	"backtraceGraph" : 
+	{
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+			"add_custom_target",
+			"include",
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+		],
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+		[
+			"/opt/ros/noetic/share/catkin/cmake/tools/doxygen.cmake",
+			"/opt/ros/noetic/share/catkin/cmake/all.cmake",
+			"/opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake",
+			"CMakeLists.txt"
+		],
+		"nodes" : 
+		[
+			{
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+			},
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+	"name" : "doxygen",
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+	},
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-gmock-Debug-bde5b30993ebe38a91e6.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-gmock-Debug-bde5b30993ebe38a91e6.json
new file mode 100644
index 0000000..d4fb8df
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+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-gmock-Debug-bde5b30993ebe38a91e6.json
@@ -0,0 +1,261 @@
+{
+	"artifacts" : 
+	[
+		{
+			"path" : "gtest/lib/libgmockd.so"
+		}
+	],
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+	"backtraceGraph" : 
+	{
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new file mode 100644
index 0000000..cd3e0df
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_cpp-Debug-077a1367a9d7eb22294b.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_cpp-Debug-077a1367a9d7eb22294b.json
new file mode 100644
index 0000000..ed9c1d9
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_cpp-Debug-077a1367a9d7eb22294b.json
@@ -0,0 +1,58 @@
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_eus-Debug-7cb2dc85e287ba411492.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_eus-Debug-7cb2dc85e287ba411492.json
new file mode 100644
index 0000000..8bcec41
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_eus-Debug-7cb2dc85e287ba411492.json
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_lisp-Debug-02c00f412d1441a3621d.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_lisp-Debug-02c00f412d1441a3621d.json
new file mode 100644
index 0000000..4eca47d
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_lisp-Debug-02c00f412d1441a3621d.json
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_nodejs-Debug-09b014621dbe722bfe7e.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_nodejs-Debug-09b014621dbe722bfe7e.json
new file mode 100644
index 0000000..8cbcce7
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_nodejs-Debug-09b014621dbe722bfe7e.json
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_py-Debug-c6eb5c333b89d8e16e63.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-roscpp_generate_messages_py-Debug-c6eb5c333b89d8e16e63.json
new file mode 100644
index 0000000..a2f9e87
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_cpp-Debug-583093c6ef552ad80935.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_cpp-Debug-583093c6ef552ad80935.json
new file mode 100644
index 0000000..c8f2238
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_cpp-Debug-583093c6ef552ad80935.json
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_eus-Debug-deaaaa445197bdbe5562.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_eus-Debug-deaaaa445197bdbe5562.json
new file mode 100644
index 0000000..b16f67d
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_eus-Debug-deaaaa445197bdbe5562.json
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_lisp-Debug-19838c631ef8b2743acf.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_lisp-Debug-19838c631ef8b2743acf.json
new file mode 100644
index 0000000..6fa9df9
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_lisp-Debug-19838c631ef8b2743acf.json
@@ -0,0 +1,69 @@
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_nodejs-Debug-bae3102061126a164131.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_nodejs-Debug-bae3102061126a164131.json
new file mode 100644
index 0000000..d8c4c9d
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+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_nodejs-Debug-bae3102061126a164131.json
@@ -0,0 +1,69 @@
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_py-Debug-aff57b69da2dd469adba.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_py-Debug-aff57b69da2dd469adba.json
new file mode 100644
index 0000000..d7e9171
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+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-rosgraph_msgs_generate_messages_py-Debug-aff57b69da2dd469adba.json
@@ -0,0 +1,69 @@
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new file mode 100644
index 0000000..3b2f529
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+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-run_tests-Debug-8df51f7a33fa18f9de57.json
@@ -0,0 +1,70 @@
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-std_msgs_generate_messages_cpp-Debug-f4e2c0b6365a6f6a7291.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-std_msgs_generate_messages_cpp-Debug-f4e2c0b6365a6f6a7291.json
new file mode 100644
index 0000000..c1a45fe
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-std_msgs_generate_messages_cpp-Debug-f4e2c0b6365a6f6a7291.json
@@ -0,0 +1,80 @@
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diff --git a/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-std_msgs_generate_messages_eus-Debug-e882c8888713363f4570.json b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-std_msgs_generate_messages_eus-Debug-e882c8888713363f4570.json
new file mode 100644
index 0000000..7457190
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+++ b/project/projectMaster/src/cmake-build-debug/.cmake/api/v1/reply/target-std_msgs_generate_messages_eus-Debug-e882c8888713363f4570.json
@@ -0,0 +1,80 @@
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+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(1)
+# if defined(__LCC__)
+#  define COMPILER_VERSION_MINOR DEC(__LCC__- 100)
+# endif
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/project/projectMaster/src/cmake-build-debug/CMakeFiles/3.25.2/CompilerIdC/a.out b/project/projectMaster/src/cmake-build-debug/CMakeFiles/3.25.2/CompilerIdC/a.out
new file mode 100755
index 0000000..601952a
Binary files /dev/null and b/project/projectMaster/src/cmake-build-debug/CMakeFiles/3.25.2/CompilerIdC/a.out differ
diff --git a/project/projectMaster/src/cmake-build-debug/CMakeFiles/3.25.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/project/projectMaster/src/cmake-build-debug/CMakeFiles/3.25.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..c9ba632
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/CMakeFiles/3.25.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,857 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(1)
+# if defined(__LCC__)
+#  define COMPILER_VERSION_MINOR DEC(__LCC__- 100)
+# endif
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_standard_default = "INFO" ":" "standard_default["
+#if CXX_STD > 202002L
+  "23"
+#elif CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
+#elif CXX_STD >= 201402L
+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
diff --git a/project/projectMaster/src/cmake-build-debug/CMakeFiles/3.25.2/CompilerIdCXX/a.out b/project/projectMaster/src/cmake-build-debug/CMakeFiles/3.25.2/CompilerIdCXX/a.out
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index 0000000..f186b2b
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new file mode 100644
index 0000000..070fb3d
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+++ b/project/projectMaster/src/cmake-build-debug/CMakeFiles/CMakeError.log
@@ -0,0 +1,51 @@
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+
+Run Build Command(s):/snap/clion/246/bin/ninja/linux/x64/ninja cmTC_a7d13 && [1/2] Building C object CMakeFiles/cmTC_a7d13.dir/src.c.o
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+: && /usr/bin/cc  -rdynamic CMakeFiles/cmTC_a7d13.dir/src.c.o -o cmTC_a7d13   && :
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+collect2: error: ld returned 1 exit status
+ninja: build stopped: subcommand failed.
+
+
+Source file was:
+#include <pthread.h>
+
+static void* test_func(void* data)
+{
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+}
+
+int main(void)
+{
+  pthread_t thread;
+  pthread_create(&thread, NULL, test_func, NULL);
+  pthread_detach(thread);
+  pthread_cancel(thread);
+  pthread_join(thread, NULL);
+  pthread_atfork(NULL, NULL, NULL);
+  pthread_exit(NULL);
+
+  return 0;
+}
+
+
+Determining if the function pthread_create exists in the pthreads failed with the following output:
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+
+Run Build Command(s):/snap/clion/246/bin/ninja/linux/x64/ninja cmTC_df34f && [1/2] Building C object CMakeFiles/cmTC_df34f.dir/CheckFunctionExists.c.o
+[2/2] Linking C executable cmTC_df34f
+FAILED: cmTC_df34f 
+: && /usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -rdynamic CMakeFiles/cmTC_df34f.dir/CheckFunctionExists.c.o -o cmTC_df34f  -lpthreads && :
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+ninja: build stopped: subcommand failed.
+
+
+
diff --git a/project/projectMaster/src/cmake-build-debug/CMakeFiles/CMakeOutput.log b/project/projectMaster/src/cmake-build-debug/CMakeFiles/CMakeOutput.log
new file mode 100644
index 0000000..3cf7957
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+Compiler: /usr/bin/cc 
+Build flags: 
+Id flags:  
+
+The output was:
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+
+
+Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out"
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+The C compiler identification is GNU, found in "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/CMakeFiles/3.25.2/CompilerIdC/a.out"
+
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+Compiler: /usr/bin/c++ 
+Build flags: 
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+
+The output was:
+0
+
+
+Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"
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+The CXX compiler identification is GNU, found in "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/CMakeFiles/3.25.2/CompilerIdCXX/a.out"
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+Detecting C compiler ABI info compiled with the following output:
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+  command = $PRE_LINK && /usr/bin/c++ -fPIC $LANGUAGE_COMPILE_FLAGS $ARCH_FLAGS $LINK_FLAGS -shared $SONAME_FLAG$SONAME -o $TARGET_FILE $in $LINK_PATH $LINK_LIBRARIES && $POST_BUILD
+  description = Linking CXX shared library $TARGET_FILE
+  restat = $RESTAT
+
+
+#############################################
+# Rule for compiling CXX files.
+
+rule CXX_COMPILER__ros_merge_test_node_Debug
+  depfile = $DEP_FILE
+  deps = gcc
+  command = /usr/bin/c++ $DEFINES $INCLUDES $FLAGS -MD -MT $out -MF $DEP_FILE -o $out -c $in
+  description = Building CXX object $out
+
+
+#############################################
+# Rule for linking CXX executable.
+
+rule CXX_EXECUTABLE_LINKER__ros_merge_test_node_Debug
+  command = $PRE_LINK && /usr/bin/c++ $FLAGS $LINK_FLAGS $in -o $TARGET_FILE $LINK_PATH $LINK_LIBRARIES && $POST_BUILD
+  description = Linking CXX executable $TARGET_FILE
+  restat = $RESTAT
+
+
+#############################################
+# Rule for re-running cmake.
+
+rule RERUN_CMAKE
+  command = /snap/clion/246/bin/cmake/linux/x64/bin/cmake --regenerate-during-build -S/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src -B/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug
+  description = Re-running CMake...
+  generator = 1
+
+
+#############################################
+# Rule for cleaning all built files.
+
+rule CLEAN
+  command = /snap/clion/246/bin/ninja/linux/x64/ninja $FILE_ARG -t clean $TARGETS
+  description = Cleaning all built files...
+
+
+#############################################
+# Rule for printing all primary targets available.
+
+rule HELP
+  command = /snap/clion/246/bin/ninja/linux/x64/ninja -t targets
+  description = All primary targets available:
+
diff --git a/project/projectMaster/src/cmake-build-debug/CTestConfiguration.ini b/project/projectMaster/src/cmake-build-debug/CTestConfiguration.ini
new file mode 100644
index 0000000..fd4ff22
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/CTestConfiguration.ini
@@ -0,0 +1,106 @@
+# This file is configured by CMake automatically as DartConfiguration.tcl
+# If you choose not to use CMake, this file may be hand configured, by
+# filling in the required variables.
+
+
+# Configuration directories and files
+SourceDirectory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src
+BuildDirectory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug
+
+# Where to place the cost data store
+CostDataFile: 
+
+# Site is something like machine.domain, i.e. pragmatic.crd
+Site: ubuntu
+
+# Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++
+BuildName: 
+
+# Subprojects
+LabelsForSubprojects: 
+
+# Submission information
+SubmitURL: 
+SubmitInactivityTimeout: 
+
+# Dashboard start time
+NightlyStartTime: 
+
+# Commands for the build/test/submit cycle
+ConfigureCommand: "/snap/clion/246/bin/cmake/linux/x64/bin/cmake" "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src"
+MakeCommand: 
+DefaultCTestConfigurationType: 
+
+# version control
+UpdateVersionOnly: 
+
+# CVS options
+# Default is "-d -P -A"
+CVSCommand: 
+CVSUpdateOptions: 
+
+# Subversion options
+SVNCommand: 
+SVNOptions: 
+SVNUpdateOptions: 
+
+# Git options
+GITCommand: 
+GITInitSubmodules: 
+GITUpdateOptions: 
+GITUpdateCustom: 
+
+# Perforce options
+P4Command: 
+P4Client: 
+P4Options: 
+P4UpdateOptions: 
+P4UpdateCustom: 
+
+# Generic update command
+UpdateCommand: 
+UpdateOptions: 
+UpdateType: 
+
+# Compiler info
+Compiler: /usr/bin/c++
+CompilerVersion: 9.4.0
+
+# Dynamic analysis (MemCheck)
+PurifyCommand: 
+ValgrindCommand: 
+ValgrindCommandOptions: 
+DrMemoryCommand: 
+DrMemoryCommandOptions: 
+CudaSanitizerCommand: 
+CudaSanitizerCommandOptions: 
+MemoryCheckType: 
+MemoryCheckSanitizerOptions: 
+MemoryCheckCommand: 
+MemoryCheckCommandOptions: 
+MemoryCheckSuppressionFile: 
+
+# Coverage
+CoverageCommand: 
+CoverageExtraFlags: 
+
+# Testing options
+# TimeOut is the amount of time in seconds to wait for processes
+# to complete during testing.  After TimeOut seconds, the
+# process will be summarily terminated.
+# Currently set to 25 minutes
+TimeOut: 
+
+# During parallel testing CTest will not start a new test if doing
+# so would cause the system load to exceed this value.
+TestLoad: 
+
+UseLaunchers: 
+CurlOptions: 
+# warning, if you add new options here that have to do with submit,
+# you have to update cmCTestSubmitCommand.cxx
+
+# For CTest submissions that timeout, these options
+# specify behavior for retrying the submission
+CTestSubmitRetryDelay: 
+CTestSubmitRetryCount: 
diff --git a/project/projectMaster/src/cmake-build-debug/CTestCustom.cmake b/project/projectMaster/src/cmake-build-debug/CTestCustom.cmake
new file mode 100644
index 0000000..14956f3
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/CTestCustom.cmake
@@ -0,0 +1,2 @@
+set(CTEST_CUSTOM_MAXIMUM_PASSED_TEST_OUTPUT_SIZE 0)
+set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0)
diff --git a/project/projectMaster/src/cmake-build-debug/CTestTestfile.cmake b/project/projectMaster/src/cmake-build-debug/CTestTestfile.cmake
new file mode 100644
index 0000000..a660eaa
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/CTestTestfile.cmake
@@ -0,0 +1,8 @@
+# CMake generated Testfile for 
+# Source directory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src
+# Build directory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
+subdirs("gtest")
+subdirs("ros_merge_test")
diff --git a/project/projectMaster/src/cmake-build-debug/Testing/Temporary/LastTest.log b/project/projectMaster/src/cmake-build-debug/Testing/Temporary/LastTest.log
new file mode 100644
index 0000000..fda519c
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/Testing/Temporary/LastTest.log
@@ -0,0 +1,3 @@
+Start testing: Jul 24 06:15 PDT
+----------------------------------------------------------
+End testing: Jul 24 06:15 PDT
diff --git a/project/projectMaster/src/cmake-build-debug/atomic_configure/.rosinstall b/project/projectMaster/src/cmake-build-debug/atomic_configure/.rosinstall
new file mode 100644
index 0000000..c0ed6f3
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/atomic_configure/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel/setup.sh
diff --git a/project/projectMaster/src/cmake-build-debug/atomic_configure/_setup_util.py b/project/projectMaster/src/cmake-build-debug/atomic_configure/_setup_util.py
new file mode 100755
index 0000000..9ef173c
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/atomic_configure/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel;/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectMaster/src/cmake-build-debug/atomic_configure/env.sh b/project/projectMaster/src/cmake-build-debug/atomic_configure/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/atomic_configure/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectMaster/src/cmake-build-debug/atomic_configure/local_setup.bash b/project/projectMaster/src/cmake-build-debug/atomic_configure/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/atomic_configure/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectMaster/src/cmake-build-debug/atomic_configure/local_setup.sh b/project/projectMaster/src/cmake-build-debug/atomic_configure/local_setup.sh
new file mode 100644
index 0000000..759f8f1
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/atomic_configure/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectMaster/src/cmake-build-debug/atomic_configure/local_setup.zsh b/project/projectMaster/src/cmake-build-debug/atomic_configure/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/atomic_configure/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectMaster/src/cmake-build-debug/atomic_configure/setup.bash b/project/projectMaster/src/cmake-build-debug/atomic_configure/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/atomic_configure/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectMaster/src/cmake-build-debug/atomic_configure/setup.sh b/project/projectMaster/src/cmake-build-debug/atomic_configure/setup.sh
new file mode 100644
index 0000000..24284a6
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/atomic_configure/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
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+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
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+  export DYLD_LIBRARY_PATH
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+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
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+# remember type of shell if not already set
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+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
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+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
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+  _TMPDIR=/tmp
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+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
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+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
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+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
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+unset _i
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+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
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new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/atomic_configure/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
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new file mode 100644
index 0000000..163f806
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/build.ninja
@@ -0,0 +1,951 @@
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+# Generated by "Ninja" Generator, CMake Version 3.25
+
+# This file contains all the build statements describing the
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+# Write statements declared in CMakeLists.txt:
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+# =============================================================================
+
+# =============================================================================
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+# =============================================================================
+
+#############################################
+# Minimal version of Ninja required by this file
+
+ninja_required_version = 1.5
+
+
+#############################################
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+# =============================================================================
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+
+#############################################
+# Utility command for download_extra_data
+
+build download_extra_data: phony
+
+
+#############################################
+# Utility command for tests
+
+build tests: phony
+
+
+#############################################
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+
+build run_tests: phony
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+
+#############################################
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+build clean_test_results: phony CMakeFiles/clean_test_results
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+
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+build doxygen: phony
+
+
+#############################################
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+build CMakeFiles/test.util: CUSTOM_COMMAND
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+build test: phony CMakeFiles/test.util
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+  DESC = No interactive CMake dialog available...
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+build edit_cache: phony CMakeFiles/edit_cache.util
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+
+#############################################
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+build CMakeFiles/rebuild_cache.util: CUSTOM_COMMAND
+  COMMAND = cd /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug && /snap/clion/246/bin/cmake/linux/x64/bin/cmake --regenerate-during-build -S/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src -B/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug
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+  COMMAND = cd /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug && /snap/clion/246/bin/cmake/linux/x64/bin/cmake -P cmake_install.cmake
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+
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+
+
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+
+# =============================================================================
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+
+#############################################
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+  restat = 1
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+
+#############################################
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+build gtest/edit_cache: phony gtest/CMakeFiles/edit_cache.util
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+
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+
+#############################################
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+
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+
+#############################################
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+
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+
+#############################################
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+build ros_merge_test/roscpp_generate_messages_eus: phony
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+build ros_merge_test/rosgraph_msgs_generate_messages_cpp: phony
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+build ros_merge_test/rosgraph_msgs_generate_messages_eus: phony
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+build ros_merge_test/rosgraph_msgs_generate_messages_lisp: phony
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+
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+build ros_merge_test/rosgraph_msgs_generate_messages_nodejs: phony
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+build ros_merge_test/rosgraph_msgs_generate_messages_py: phony
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+build ros_merge_test/std_msgs_generate_messages_cpp: phony
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+build ros_merge_test/std_msgs_generate_messages_eus: phony
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+
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+build ros_merge_test/std_msgs_generate_messages_lisp: phony
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+
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+build ros_merge_test/std_msgs_generate_messages_nodejs: phony
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+
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+build ros_merge_test/std_msgs_generate_messages_py: phony
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+
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+
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+# =============================================================================
+# Object build statements for EXECUTABLE target ros_merge_test_node
+
+
+#############################################
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+  DEFINES = -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"ros_merge_test\"
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+
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+# Link the executable devel/lib/ros_merge_test/ros_merge_test_node
+
+build devel/lib/ros_merge_test/ros_merge_test_node: CXX_EXECUTABLE_LINKER__ros_merge_test_node_Debug ros_merge_test/CMakeFiles/ros_merge_test_node.dir/src/main.cpp.o | /opt/ros/noetic/lib/libroscpp.so /usr/lib/x86_64-linux-gnu/libpthread.so /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0 /opt/ros/noetic/lib/librosconsole.so /opt/ros/noetic/lib/librosconsole_log4cxx.so /opt/ros/noetic/lib/librosconsole_backend_interface.so /usr/lib/x86_64-linux-gnu/liblog4cxx.so /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.71.0 /opt/ros/noetic/lib/libxmlrpcpp.so /opt/ros/noetic/lib/libroscpp_serialization.so /opt/ros/noetic/lib/librostime.so /usr/lib/x86_64-linux-gnu/libboost_date_time.so.1.71.0 /opt/ros/noetic/lib/libcpp_common.so /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0 /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4 /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0 devel/lib/libros_merge_test.so /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0 || devel/lib/libros_merge_test.so
+  FLAGS = -g
+  LINK_FLAGS = -rdynamic
+  LINK_LIBRARIES = -Wl,-rpath,/opt/ros/noetic/lib:/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel/lib  /opt/ros/noetic/lib/libroscpp.so  -lpthread  /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.71.0  /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0  /opt/ros/noetic/lib/librosconsole.so  /opt/ros/noetic/lib/librosconsole_log4cxx.so  /opt/ros/noetic/lib/librosconsole_backend_interface.so  -llog4cxx  /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.71.0  /opt/ros/noetic/lib/libxmlrpcpp.so  /opt/ros/noetic/lib/libroscpp_serialization.so  /opt/ros/noetic/lib/librostime.so  /usr/lib/x86_64-linux-gnu/libboost_date_time.so.1.71.0  /opt/ros/noetic/lib/libcpp_common.so  /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0  /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0  /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.4  /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_aruco.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_bgsegm.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_bioinspired.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_ccalib.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_dnn_superres.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_dpm.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_face.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_freetype.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_fuzzy.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_hdf.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_hfs.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_img_hash.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_line_descriptor.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_quality.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_reg.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_rgbd.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_saliency.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_shape.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_stereo.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_structured_light.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_superres.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_surface_matching.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_tracking.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_videostab.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_viz.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_xobjdetect.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_xphoto.so.4.2.0  -lpthread  devel/lib/libros_merge_test.so  /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_datasets.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_plot.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_text.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_optflow.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_ximgproc.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0  /usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0
+  OBJECT_DIR = ros_merge_test/CMakeFiles/ros_merge_test_node.dir
+  POST_BUILD = :
+  PRE_LINK = :
+  TARGET_FILE = devel/lib/ros_merge_test/ros_merge_test_node
+  TARGET_PDB = ros_merge_test_node.dbg
+
+
+#############################################
+# Utility command for test
+
+build ros_merge_test/CMakeFiles/test.util: CUSTOM_COMMAND
+  COMMAND = cd /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test && /snap/clion/246/bin/cmake/linux/x64/bin/ctest --force-new-ctest-process
+  DESC = Running tests...
+  pool = console
+  restat = 1
+
+build ros_merge_test/test: phony ros_merge_test/CMakeFiles/test.util
+
+
+#############################################
+# Utility command for edit_cache
+
+build ros_merge_test/CMakeFiles/edit_cache.util: CUSTOM_COMMAND
+  COMMAND = cd /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test && /snap/clion/246/bin/cmake/linux/x64/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
+  DESC = No interactive CMake dialog available...
+  restat = 1
+
+build ros_merge_test/edit_cache: phony ros_merge_test/CMakeFiles/edit_cache.util
+
+
+#############################################
+# Utility command for rebuild_cache
+
+build ros_merge_test/CMakeFiles/rebuild_cache.util: CUSTOM_COMMAND
+  COMMAND = cd /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test && /snap/clion/246/bin/cmake/linux/x64/bin/cmake --regenerate-during-build -S/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src -B/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug
+  DESC = Running CMake to regenerate build system...
+  pool = console
+  restat = 1
+
+build ros_merge_test/rebuild_cache: phony ros_merge_test/CMakeFiles/rebuild_cache.util
+
+
+#############################################
+# Utility command for list_install_components
+
+build ros_merge_test/list_install_components: phony
+
+
+#############################################
+# Utility command for install
+
+build ros_merge_test/CMakeFiles/install.util: CUSTOM_COMMAND ros_merge_test/all
+  COMMAND = cd /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test && /snap/clion/246/bin/cmake/linux/x64/bin/cmake -P cmake_install.cmake
+  DESC = Install the project...
+  pool = console
+  restat = 1
+
+build ros_merge_test/install: phony ros_merge_test/CMakeFiles/install.util
+
+
+#############################################
+# Utility command for install/local
+
+build ros_merge_test/CMakeFiles/install/local.util: CUSTOM_COMMAND ros_merge_test/all
+  COMMAND = cd /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test && /snap/clion/246/bin/cmake/linux/x64/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+  DESC = Installing only the local directory...
+  pool = console
+  restat = 1
+
+build ros_merge_test/install/local: phony ros_merge_test/CMakeFiles/install/local.util
+
+
+#############################################
+# Utility command for install/strip
+
+build ros_merge_test/CMakeFiles/install/strip.util: CUSTOM_COMMAND ros_merge_test/all
+  COMMAND = cd /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test && /snap/clion/246/bin/cmake/linux/x64/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+  DESC = Installing the project stripped...
+  pool = console
+  restat = 1
+
+build ros_merge_test/install/strip: phony ros_merge_test/CMakeFiles/install/strip.util
+
+# =============================================================================
+# Target aliases.
+
+build gmock: phony gtest/lib/libgmockd.so
+
+build gmock_main: phony gtest/lib/libgmock_maind.so
+
+build gtest: phony gtest/lib/libgtestd.so
+
+build gtest_main: phony gtest/lib/libgtest_maind.so
+
+build libgmock_maind.so: phony gtest/lib/libgmock_maind.so
+
+build libgmockd.so: phony gtest/lib/libgmockd.so
+
+build libgtest_maind.so: phony gtest/lib/libgtest_maind.so
+
+build libgtestd.so: phony gtest/lib/libgtestd.so
+
+build libros_merge_test.so: phony devel/lib/libros_merge_test.so
+
+build ros_merge_test: phony devel/lib/libros_merge_test.so
+
+build ros_merge_test_node: phony devel/lib/ros_merge_test/ros_merge_test_node
+
+build roscpp_generate_messages_cpp: phony ros_merge_test/roscpp_generate_messages_cpp
+
+build roscpp_generate_messages_eus: phony ros_merge_test/roscpp_generate_messages_eus
+
+build roscpp_generate_messages_lisp: phony ros_merge_test/roscpp_generate_messages_lisp
+
+build roscpp_generate_messages_nodejs: phony ros_merge_test/roscpp_generate_messages_nodejs
+
+build roscpp_generate_messages_py: phony ros_merge_test/roscpp_generate_messages_py
+
+build rosgraph_msgs_generate_messages_cpp: phony ros_merge_test/rosgraph_msgs_generate_messages_cpp
+
+build rosgraph_msgs_generate_messages_eus: phony ros_merge_test/rosgraph_msgs_generate_messages_eus
+
+build rosgraph_msgs_generate_messages_lisp: phony ros_merge_test/rosgraph_msgs_generate_messages_lisp
+
+build rosgraph_msgs_generate_messages_nodejs: phony ros_merge_test/rosgraph_msgs_generate_messages_nodejs
+
+build rosgraph_msgs_generate_messages_py: phony ros_merge_test/rosgraph_msgs_generate_messages_py
+
+build std_msgs_generate_messages_cpp: phony ros_merge_test/std_msgs_generate_messages_cpp
+
+build std_msgs_generate_messages_eus: phony ros_merge_test/std_msgs_generate_messages_eus
+
+build std_msgs_generate_messages_lisp: phony ros_merge_test/std_msgs_generate_messages_lisp
+
+build std_msgs_generate_messages_nodejs: phony ros_merge_test/std_msgs_generate_messages_nodejs
+
+build std_msgs_generate_messages_py: phony ros_merge_test/std_msgs_generate_messages_py
+
+# =============================================================================
+# Folder targets.
+
+# =============================================================================
+
+#############################################
+# Folder: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug
+
+build all: phony gtest/all ros_merge_test/all
+
+# =============================================================================
+
+#############################################
+# Folder: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/gtest
+
+build gtest/all: phony gtest/googlemock/all
+
+# =============================================================================
+
+#############################################
+# Folder: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/gtest/googlemock
+
+build gtest/googlemock/all: phony gtest/googletest/all
+
+# =============================================================================
+
+#############################################
+# Folder: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/gtest/googletest
+
+build gtest/googletest/all: phony
+
+# =============================================================================
+
+#############################################
+# Folder: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test
+
+build ros_merge_test/all: phony devel/lib/libros_merge_test.so devel/lib/ros_merge_test/ros_merge_test_node
+
+# =============================================================================
+# Unknown Build Time Dependencies.
+# Tell Ninja that they may appear as side effects of build rules
+# otherwise ordered by order-only dependencies.
+
+# =============================================================================
+# Built-in targets
+
+
+#############################################
+# Re-run CMake if any of its inputs changed.
+
+build build.ninja: RERUN_CMAKE | /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/CMakeLists.txt /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/ros_merge_test/CMakeLists.txt /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/ros_merge_test/package.xml /opt/ros/noetic/share/catkin/cmake/all.cmake /opt/ros/noetic/share/catkin/cmake/assert.cmake /opt/ros/noetic/share/catkin/cmake/atomic_configure_file.cmake /opt/ros/noetic/share/catkin/cmake/catkinConfig-version.cmake /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake /opt/ros/noetic/share/catkin/cmake/catkin_add_env_hooks.cmake /opt/ros/noetic/share/catkin/cmake/catkin_destinations.cmake /opt/ros/noetic/share/catkin/cmake/catkin_download.cmake /opt/ros/noetic/share/catkin/cmake/catkin_generate_environment.cmake /opt/ros/noetic/share/catkin/cmake/catkin_install_python.cmake /opt/ros/noetic/share/catkin/cmake/catkin_libraries.cmake /opt/ros/noetic/share/catkin/cmake/catkin_metapackage.cmake /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake /opt/ros/noetic/share/catkin/cmake/catkin_package_xml.cmake /opt/ros/noetic/share/catkin/cmake/catkin_python_setup.cmake /opt/ros/noetic/share/catkin/cmake/catkin_symlink_install.cmake /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake /opt/ros/noetic/share/catkin/cmake/custom_install.cmake /opt/ros/noetic/share/catkin/cmake/debug_message.cmake /opt/ros/noetic/share/catkin/cmake/em/order_packages.cmake.em /opt/ros/noetic/share/catkin/cmake/em/pkg.pc.em /opt/ros/noetic/share/catkin/cmake/em_expand.cmake /opt/ros/noetic/share/catkin/cmake/empy.cmake /opt/ros/noetic/share/catkin/cmake/find_program_required.cmake /opt/ros/noetic/share/catkin/cmake/interrogate_setup_dot_py.py /opt/ros/noetic/share/catkin/cmake/legacy.cmake /opt/ros/noetic/share/catkin/cmake/list_append_deduplicate.cmake /opt/ros/noetic/share/catkin/cmake/list_append_unique.cmake /opt/ros/noetic/share/catkin/cmake/list_insert_in_workspace_order.cmake /opt/ros/noetic/share/catkin/cmake/platform/lsb.cmake /opt/ros/noetic/share/catkin/cmake/platform/ubuntu.cmake /opt/ros/noetic/share/catkin/cmake/platform/windows.cmake /opt/ros/noetic/share/catkin/cmake/python.cmake /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake /opt/ros/noetic/share/catkin/cmake/stamp.cmake /opt/ros/noetic/share/catkin/cmake/string_starts_with.cmake /opt/ros/noetic/share/catkin/cmake/templates/_setup_util.py.in /opt/ros/noetic/share/catkin/cmake/templates/env.sh.in /opt/ros/noetic/share/catkin/cmake/templates/generate_cached_setup.py.in /opt/ros/noetic/share/catkin/cmake/templates/local_setup.bash.in /opt/ros/noetic/share/catkin/cmake/templates/local_setup.sh.in /opt/ros/noetic/share/catkin/cmake/templates/local_setup.zsh.in /opt/ros/noetic/share/catkin/cmake/templates/order_packages.context.py.in /opt/ros/noetic/share/catkin/cmake/templates/pkg.context.pc.in /opt/ros/noetic/share/catkin/cmake/templates/pkgConfig-version.cmake.in /opt/ros/noetic/share/catkin/cmake/templates/pkgConfig.cmake.in /opt/ros/noetic/share/catkin/cmake/templates/rosinstall.in /opt/ros/noetic/share/catkin/cmake/templates/setup.bash.in /opt/ros/noetic/share/catkin/cmake/templates/setup.sh.in /opt/ros/noetic/share/catkin/cmake/templates/setup.zsh.in /opt/ros/noetic/share/catkin/cmake/test/catkin_download_test_data.cmake /opt/ros/noetic/share/catkin/cmake/test/gtest.cmake /opt/ros/noetic/share/catkin/cmake/test/nosetests.cmake /opt/ros/noetic/share/catkin/cmake/test/tests.cmake /opt/ros/noetic/share/catkin/cmake/tools/doxygen.cmake /opt/ros/noetic/share/catkin/cmake/tools/libraries.cmake /opt/ros/noetic/share/catkin/cmake/tools/rt.cmake /opt/ros/noetic/share/catkin/package.xml /opt/ros/noetic/share/cpp_common/cmake/cpp_commonConfig-version.cmake /opt/ros/noetic/share/cpp_common/cmake/cpp_commonConfig.cmake /opt/ros/noetic/share/message_runtime/cmake/message_runtimeConfig-version.cmake /opt/ros/noetic/share/message_runtime/cmake/message_runtimeConfig.cmake /opt/ros/noetic/share/rosconsole/cmake/rosconsole-extras.cmake /opt/ros/noetic/share/rosconsole/cmake/rosconsoleConfig-version.cmake /opt/ros/noetic/share/rosconsole/cmake/rosconsoleConfig.cmake /opt/ros/noetic/share/roscpp/cmake/roscpp-msg-extras.cmake /opt/ros/noetic/share/roscpp/cmake/roscppConfig-version.cmake /opt/ros/noetic/share/roscpp/cmake/roscppConfig.cmake /opt/ros/noetic/share/roscpp_serialization/cmake/roscpp_serializationConfig-version.cmake /opt/ros/noetic/share/roscpp_serialization/cmake/roscpp_serializationConfig.cmake /opt/ros/noetic/share/roscpp_traits/cmake/roscpp_traitsConfig-version.cmake /opt/ros/noetic/share/roscpp_traits/cmake/roscpp_traitsConfig.cmake /opt/ros/noetic/share/rosgraph_msgs/cmake/rosgraph_msgs-msg-extras.cmake /opt/ros/noetic/share/rosgraph_msgs/cmake/rosgraph_msgsConfig-version.cmake /opt/ros/noetic/share/rosgraph_msgs/cmake/rosgraph_msgsConfig.cmake /opt/ros/noetic/share/rospy/cmake/rospyConfig-version.cmake /opt/ros/noetic/share/rospy/cmake/rospyConfig.cmake /opt/ros/noetic/share/rostime/cmake/rostimeConfig-version.cmake /opt/ros/noetic/share/rostime/cmake/rostimeConfig.cmake /opt/ros/noetic/share/std_msgs/cmake/std_msgs-msg-extras.cmake /opt/ros/noetic/share/std_msgs/cmake/std_msgsConfig-version.cmake /opt/ros/noetic/share/std_msgs/cmake/std_msgsConfig.cmake /opt/ros/noetic/share/xmlrpcpp/cmake/xmlrpcpp-extras.cmake /opt/ros/noetic/share/xmlrpcpp/cmake/xmlrpcppConfig-version.cmake /opt/ros/noetic/share/xmlrpcpp/cmake/xmlrpcppConfig.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeCInformation.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeCXXInformation.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeCommonLanguageInclude.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeDependentOption.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeGenericSystem.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeInitializeConfigs.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeLanguageInformation.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeParseArguments.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeSystemSpecificInformation.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeSystemSpecificInitialize.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CheckCSourceCompiles.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CheckIncludeFile.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CheckLibraryExists.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Compiler/CMakeCommonCompilerMacros.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Compiler/GNU-C.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Compiler/GNU-CXX.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Compiler/GNU.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/DartConfiguration.tcl.in /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindBoost.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindGTest.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindPackageHandleStandardArgs.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindPackageMessage.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindPythonInterp.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindThreads.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/GNUInstallDirs.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/GoogleTest.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Internal/CheckSourceCompiles.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Platform/Linux-GNU-C.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Platform/Linux-GNU-CXX.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Platform/Linux-GNU.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Platform/Linux.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Platform/UnixPaths.cmake /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfigVersion.cmake /usr/lib/x86_64-linux-gnu/cmake/boost_headers-1.71.0/boost_headers-config-version.cmake /usr/lib/x86_64-linux-gnu/cmake/boost_headers-1.71.0/boost_headers-config.cmake /usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVConfig-version.cmake /usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVConfig.cmake /usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVModules-release.cmake /usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVModules.cmake /usr/src/googletest/CMakeLists.txt /usr/src/googletest/googlemock/CMakeLists.txt /usr/src/googletest/googletest/CMakeLists.txt /usr/src/googletest/googletest/cmake/internal_utils.cmake CMakeCache.txt CMakeFiles/3.25.2/CMakeCCompiler.cmake CMakeFiles/3.25.2/CMakeCXXCompiler.cmake CMakeFiles/3.25.2/CMakeSystem.cmake catkin/catkin_generated/version/package.cmake catkin_generated/installspace/_setup_util.py catkin_generated/order_packages.cmake ros_merge_test/catkin_generated/ordered_paths.cmake ros_merge_test/catkin_generated/package.cmake
+  pool = console
+
+
+#############################################
+# A missing CMake input file is not an error.
+
+build /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/CMakeLists.txt /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/ros_merge_test/CMakeLists.txt /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/ros_merge_test/package.xml /opt/ros/noetic/share/catkin/cmake/all.cmake /opt/ros/noetic/share/catkin/cmake/assert.cmake /opt/ros/noetic/share/catkin/cmake/atomic_configure_file.cmake /opt/ros/noetic/share/catkin/cmake/catkinConfig-version.cmake /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake /opt/ros/noetic/share/catkin/cmake/catkin_add_env_hooks.cmake /opt/ros/noetic/share/catkin/cmake/catkin_destinations.cmake /opt/ros/noetic/share/catkin/cmake/catkin_download.cmake /opt/ros/noetic/share/catkin/cmake/catkin_generate_environment.cmake /opt/ros/noetic/share/catkin/cmake/catkin_install_python.cmake /opt/ros/noetic/share/catkin/cmake/catkin_libraries.cmake /opt/ros/noetic/share/catkin/cmake/catkin_metapackage.cmake /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake /opt/ros/noetic/share/catkin/cmake/catkin_package_xml.cmake /opt/ros/noetic/share/catkin/cmake/catkin_python_setup.cmake /opt/ros/noetic/share/catkin/cmake/catkin_symlink_install.cmake /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake /opt/ros/noetic/share/catkin/cmake/custom_install.cmake /opt/ros/noetic/share/catkin/cmake/debug_message.cmake /opt/ros/noetic/share/catkin/cmake/em/order_packages.cmake.em /opt/ros/noetic/share/catkin/cmake/em/pkg.pc.em /opt/ros/noetic/share/catkin/cmake/em_expand.cmake /opt/ros/noetic/share/catkin/cmake/empy.cmake /opt/ros/noetic/share/catkin/cmake/find_program_required.cmake /opt/ros/noetic/share/catkin/cmake/interrogate_setup_dot_py.py /opt/ros/noetic/share/catkin/cmake/legacy.cmake /opt/ros/noetic/share/catkin/cmake/list_append_deduplicate.cmake /opt/ros/noetic/share/catkin/cmake/list_append_unique.cmake /opt/ros/noetic/share/catkin/cmake/list_insert_in_workspace_order.cmake /opt/ros/noetic/share/catkin/cmake/platform/lsb.cmake /opt/ros/noetic/share/catkin/cmake/platform/ubuntu.cmake /opt/ros/noetic/share/catkin/cmake/platform/windows.cmake /opt/ros/noetic/share/catkin/cmake/python.cmake /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake /opt/ros/noetic/share/catkin/cmake/stamp.cmake /opt/ros/noetic/share/catkin/cmake/string_starts_with.cmake /opt/ros/noetic/share/catkin/cmake/templates/_setup_util.py.in /opt/ros/noetic/share/catkin/cmake/templates/env.sh.in /opt/ros/noetic/share/catkin/cmake/templates/generate_cached_setup.py.in /opt/ros/noetic/share/catkin/cmake/templates/local_setup.bash.in /opt/ros/noetic/share/catkin/cmake/templates/local_setup.sh.in /opt/ros/noetic/share/catkin/cmake/templates/local_setup.zsh.in /opt/ros/noetic/share/catkin/cmake/templates/order_packages.context.py.in /opt/ros/noetic/share/catkin/cmake/templates/pkg.context.pc.in /opt/ros/noetic/share/catkin/cmake/templates/pkgConfig-version.cmake.in /opt/ros/noetic/share/catkin/cmake/templates/pkgConfig.cmake.in /opt/ros/noetic/share/catkin/cmake/templates/rosinstall.in /opt/ros/noetic/share/catkin/cmake/templates/setup.bash.in /opt/ros/noetic/share/catkin/cmake/templates/setup.sh.in /opt/ros/noetic/share/catkin/cmake/templates/setup.zsh.in /opt/ros/noetic/share/catkin/cmake/test/catkin_download_test_data.cmake /opt/ros/noetic/share/catkin/cmake/test/gtest.cmake /opt/ros/noetic/share/catkin/cmake/test/nosetests.cmake /opt/ros/noetic/share/catkin/cmake/test/tests.cmake /opt/ros/noetic/share/catkin/cmake/tools/doxygen.cmake /opt/ros/noetic/share/catkin/cmake/tools/libraries.cmake /opt/ros/noetic/share/catkin/cmake/tools/rt.cmake /opt/ros/noetic/share/catkin/package.xml /opt/ros/noetic/share/cpp_common/cmake/cpp_commonConfig-version.cmake /opt/ros/noetic/share/cpp_common/cmake/cpp_commonConfig.cmake /opt/ros/noetic/share/message_runtime/cmake/message_runtimeConfig-version.cmake /opt/ros/noetic/share/message_runtime/cmake/message_runtimeConfig.cmake /opt/ros/noetic/share/rosconsole/cmake/rosconsole-extras.cmake /opt/ros/noetic/share/rosconsole/cmake/rosconsoleConfig-version.cmake /opt/ros/noetic/share/rosconsole/cmake/rosconsoleConfig.cmake /opt/ros/noetic/share/roscpp/cmake/roscpp-msg-extras.cmake /opt/ros/noetic/share/roscpp/cmake/roscppConfig-version.cmake /opt/ros/noetic/share/roscpp/cmake/roscppConfig.cmake /opt/ros/noetic/share/roscpp_serialization/cmake/roscpp_serializationConfig-version.cmake /opt/ros/noetic/share/roscpp_serialization/cmake/roscpp_serializationConfig.cmake /opt/ros/noetic/share/roscpp_traits/cmake/roscpp_traitsConfig-version.cmake /opt/ros/noetic/share/roscpp_traits/cmake/roscpp_traitsConfig.cmake /opt/ros/noetic/share/rosgraph_msgs/cmake/rosgraph_msgs-msg-extras.cmake /opt/ros/noetic/share/rosgraph_msgs/cmake/rosgraph_msgsConfig-version.cmake /opt/ros/noetic/share/rosgraph_msgs/cmake/rosgraph_msgsConfig.cmake /opt/ros/noetic/share/rospy/cmake/rospyConfig-version.cmake /opt/ros/noetic/share/rospy/cmake/rospyConfig.cmake /opt/ros/noetic/share/rostime/cmake/rostimeConfig-version.cmake /opt/ros/noetic/share/rostime/cmake/rostimeConfig.cmake /opt/ros/noetic/share/std_msgs/cmake/std_msgs-msg-extras.cmake /opt/ros/noetic/share/std_msgs/cmake/std_msgsConfig-version.cmake /opt/ros/noetic/share/std_msgs/cmake/std_msgsConfig.cmake /opt/ros/noetic/share/xmlrpcpp/cmake/xmlrpcpp-extras.cmake /opt/ros/noetic/share/xmlrpcpp/cmake/xmlrpcppConfig-version.cmake /opt/ros/noetic/share/xmlrpcpp/cmake/xmlrpcppConfig.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeCInformation.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeCXXInformation.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeCommonLanguageInclude.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeDependentOption.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeGenericSystem.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeInitializeConfigs.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeLanguageInformation.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeParseArguments.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeSystemSpecificInformation.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CMakeSystemSpecificInitialize.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CheckCSourceCompiles.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CheckIncludeFile.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/CheckLibraryExists.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Compiler/CMakeCommonCompilerMacros.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Compiler/GNU-C.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Compiler/GNU-CXX.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Compiler/GNU.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/DartConfiguration.tcl.in /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindBoost.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindGTest.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindPackageHandleStandardArgs.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindPackageMessage.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindPythonInterp.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/FindThreads.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/GNUInstallDirs.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/GoogleTest.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Internal/CheckSourceCompiles.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Platform/Linux-GNU-C.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Platform/Linux-GNU-CXX.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Platform/Linux-GNU.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Platform/Linux.cmake /snap/clion/246/bin/cmake/linux/x64/share/cmake-3.25/Modules/Platform/UnixPaths.cmake /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfigVersion.cmake /usr/lib/x86_64-linux-gnu/cmake/boost_headers-1.71.0/boost_headers-config-version.cmake /usr/lib/x86_64-linux-gnu/cmake/boost_headers-1.71.0/boost_headers-config.cmake /usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVConfig-version.cmake /usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVConfig.cmake /usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVModules-release.cmake /usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVModules.cmake /usr/src/googletest/CMakeLists.txt /usr/src/googletest/googlemock/CMakeLists.txt /usr/src/googletest/googletest/CMakeLists.txt /usr/src/googletest/googletest/cmake/internal_utils.cmake CMakeCache.txt CMakeFiles/3.25.2/CMakeCCompiler.cmake CMakeFiles/3.25.2/CMakeCXXCompiler.cmake CMakeFiles/3.25.2/CMakeSystem.cmake catkin/catkin_generated/version/package.cmake catkin_generated/installspace/_setup_util.py catkin_generated/order_packages.cmake ros_merge_test/catkin_generated/ordered_paths.cmake ros_merge_test/catkin_generated/package.cmake: phony
+
+
+#############################################
+# Clean all the built files.
+
+build clean: CLEAN
+
+
+#############################################
+# Print all primary targets available.
+
+build help: HELP
+
+
+#############################################
+# Make the all target the default.
+
+default all
diff --git a/project/projectMaster/src/cmake-build-debug/catkin/catkin_generated/version/package.cmake b/project/projectMaster/src/cmake-build-debug/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 0000000..c37e287
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,24 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.8.10")
+set(catkin_MAINTAINER "Michael Carroll <michael@openrobotics.org>, Tully Foote <tfoote@openrobotics.org>")
+set(catkin_PACKAGE_FORMAT "3")
+set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools")
+set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools")
+set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
+set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
+set(catkin_TEST_DEPENDS "python-mock" "python3-mock" "python-nose" "python3-nose")
+set(catkin_DOC_DEPENDS )
+set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin")
+set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues")
+set(catkin_URL_REPOSITORY "https://github.com/ros/catkin")
+set(catkin_DEPRECATED "")
\ No newline at end of file
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/env_cached.sh b/project/projectMaster/src/cmake-build-debug/catkin_generated/env_cached.sh
new file mode 100755
index 0000000..d6be91d
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/generate_cached_setup.py b/project/projectMaster/src/cmake-build-debug/catkin_generated/generate_cached_setup.py
new file mode 100644
index 0000000..a1b4ae5
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,30 @@
+# -*- coding: utf-8 -*-
+from __future__ import print_function
+
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')):
+    sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python'))
+try:
+    from catkin.environment_cache import generate_environment_script
+except ImportError:
+    # search for catkin package in all workspaces and prepend to path
+    for workspace in '/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel;/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic'.split(';'):
+        python_path = os.path.join(workspace, 'lib/python3/dist-packages')
+        if os.path.isdir(os.path.join(python_path, 'catkin')):
+            sys.path.insert(0, python_path)
+            break
+    from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel/env.sh')
+
+output_filename = '/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+    # print('Generate script for cached setup "%s"' % output_filename)
+    f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/.rosinstall b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/.rosinstall
new file mode 100644
index 0000000..6fb13af
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /usr/local/setup.sh
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/_setup_util.py b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 0000000..9ef173c
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel;/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/env.sh b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/local_setup.bash b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/local_setup.sh b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/local_setup.sh
new file mode 100644
index 0000000..f021098
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/usr/local}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/local_setup.zsh b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/setup.bash b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/setup.sh b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/setup.sh
new file mode 100644
index 0000000..b5a330e
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/usr/local}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/setup.zsh b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/order_packages.cmake b/project/projectMaster/src/cmake-build-debug/catkin_generated/order_packages.cmake
new file mode 100644
index 0000000..776fe8c
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/order_packages.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+list(APPEND CATKIN_ORDERED_PACKAGES "ros_merge_test")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "ros_merge_test")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
+
+set(CATKIN_MESSAGE_GENERATORS )
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python3/dist-packages/catkin_pkg/templates/metapackage.cmake.in")
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/order_packages.py b/project/projectMaster/src/cmake-build-debug/catkin_generated/order_packages.py
new file mode 100644
index 0000000..bda4e59
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/order_packages.py
@@ -0,0 +1,5 @@
+# generated from catkin/cmake/template/order_packages.context.py.in
+source_root_dir = '/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src'
+whitelisted_packages = ''.split(';') if '' != '' else []
+blacklisted_packages = ''.split(';') if '' != '' else []
+underlay_workspaces = '/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel;/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic'.split(';') if '/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel;/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic' != '' else []
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/setup_cached.sh b/project/projectMaster/src/cmake-build-debug/catkin_generated/setup_cached.sh
new file mode 100755
index 0000000..500041d
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/setup_cached.sh
@@ -0,0 +1,14 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+
+# modified environment variables
+export CMAKE_PREFIX_PATH="/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel:$CMAKE_PREFIX_PATH"
+export LD_LIBRARY_PATH="/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel/lib:$LD_LIBRARY_PATH"
+export PKG_CONFIG_PATH="/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
+export ROSLISP_PACKAGE_DIRECTORIES="/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
+export ROS_PACKAGE_PATH="/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src:$ROS_PACKAGE_PATH"
\ No newline at end of file
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/_setup_util.py.stamp b/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/_setup_util.py.stamp
new file mode 100755
index 0000000..9ef173c
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/_setup_util.py.stamp
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel;/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 0000000..5e25fbf
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,255 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+
+import os
+import runpy
+import sys
+from argparse import ArgumentParser
+
+setup_modules = []
+
+try:
+    import distutils.core
+    setup_modules.append(distutils.core)
+except ImportError:
+    pass
+
+try:
+    import setuptools
+    setup_modules.append(setuptools)
+except ImportError:
+    pass
+
+assert setup_modules, 'Must have distutils or setuptools installed'
+
+
+def _get_locations(pkgs, package_dir):
+    """
+    Based on setuptools logic and the package_dir dict, builds a dict of location roots for each pkg in pkgs.
+
+    See http://docs.python.org/distutils/setupscript.html
+
+    :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+    """
+    # package_dir contains a dict {package_name: relativepath}
+    # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+    #
+    # '' means where to look for any package unless a parent package
+    # is listed so package bar.pot is expected at lib2/bar/pot,
+    # whereas package sup.dee is expected at src/sup/dee
+    #
+    # if package_dir does not state anything about a package,
+    # setuptool expects the package folder to be in the root of the
+    # project
+    locations = {}
+    allprefix = package_dir.get('', '')
+    for pkg in pkgs:
+        parent_location = None
+        splits = pkg.split('.')
+        # we iterate over compound name from parent to child
+        # so once we found parent, children just append to their parent
+        for key_len in range(len(splits)):
+            key = '.'.join(splits[:key_len + 1])
+            if key not in locations:
+                if key in package_dir:
+                    locations[key] = package_dir[key]
+                elif parent_location is not None:
+                    locations[key] = os.path.join(parent_location, splits[key_len])
+                else:
+                    locations[key] = os.path.join(allprefix, key)
+            parent_location = locations[key]
+    return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules, setup_module=None):
+    """
+    Generate lines to add to a cmake file which will set variables.
+
+    :param version: str, format 'int.int.int'
+    :param scripts: [list of str]: relative paths to scripts
+    :param package_dir: {modulename: path}
+    :param pkgs: [list of str] python_packages declared in catkin package
+    :param modules: [list of str] python modules
+    :param setup_module: str, setuptools or distutils
+    """
+    prefix = '%s_SETUP_PY' % package_name
+    result = []
+    if setup_module:
+        result.append(r'set(%s_SETUP_MODULE "%s")' % (prefix, setup_module))
+    result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+    result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+    # Remove packages with '.' separators.
+    #
+    # setuptools allows specifying submodules in other folders than
+    # their parent
+    #
+    # The symlink approach of catkin does not work with such submodules.
+    # In the common case, this does not matter as the submodule is
+    # within the containing module.  We verify this assumption, and if
+    # it passes, we remove submodule packages.
+    locations = _get_locations(pkgs, package_dir)
+    for pkgname, location in locations.items():
+        if '.' not in pkgname:
+            continue
+        splits = pkgname.split('.')
+        # hack: ignore write-combining setup.py files for msg and srv files
+        if splits[1] in ['msg', 'srv']:
+            continue
+        # check every child has the same root folder as its parent
+        root_name = splits[0]
+        root_location = location
+        for _ in range(len(splits) - 1):
+            root_location = os.path.dirname(root_location)
+        if root_location != locations[root_name]:
+            raise RuntimeError(
+                'catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s' % (pkgname, location, root_name, locations[root_name]))
+
+    # If checks pass, remove all submodules
+    pkgs = [p for p in pkgs if '.' not in p]
+
+    resolved_pkgs = []
+    for pkg in pkgs:
+        resolved_pkgs += [locations[pkg]]
+
+    result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+    result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace('\\', '/')))
+
+    # skip modules which collide with package names
+    filtered_modules = []
+    for modname in modules:
+        splits = modname.split('.')
+        # check all parents too
+        equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+        if any(equals_package):
+            continue
+        filtered_modules.append(modname)
+    module_locations = _get_locations(filtered_modules, package_dir)
+
+    result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+    result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace('\\', '/')))
+
+    return result
+
+
+def _create_mock_setup_function(setup_module, package_name, outfile):
+    """
+    Create a function to call instead of distutils.core.setup or setuptools.setup.
+
+    It just captures some args and writes them into a file that can be used from cmake.
+
+    :param package_name: name of the package
+    :param outfile: filename that cmake will use afterwards
+    :returns: a function to replace disutils.core.setup and setuptools.setup
+    """
+
+    def setup(*args, **kwargs):
+        """Check kwargs and write a scriptfile."""
+        if 'version' not in kwargs:
+            sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+            raise RuntimeError('version not found in setup.py')
+        version = kwargs['version']
+        package_dir = kwargs.get('package_dir', {})
+
+        pkgs = kwargs.get('packages', [])
+        scripts = kwargs.get('scripts', [])
+        modules = kwargs.get('py_modules', [])
+
+        unsupported_args = [
+            'entry_points',
+            'exclude_package_data',
+            'ext_modules ',
+            'ext_package',
+            'include_package_data',
+            'namespace_packages',
+            'setup_requires',
+            'use_2to3',
+            'zip_safe']
+        used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+        if used_unsupported_args:
+            sys.stderr.write('*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n' % (used_unsupported_args, package_name))
+
+        result = generate_cmake_file(package_name=package_name,
+                                     version=version,
+                                     scripts=scripts,
+                                     package_dir=package_dir,
+                                     pkgs=pkgs,
+                                     modules=modules,
+                                     setup_module=setup_module)
+        with open(outfile, 'w') as out:
+            out.write('\n'.join(result))
+
+    return setup
+
+
+def main():
+    """Script main, parses arguments and invokes Dummy.setup indirectly."""
+    parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+    parser.add_argument('package_name', help='Name of catkin package')
+    parser.add_argument('setupfile_path', help='Full path to setup.py')
+    parser.add_argument('outfile', help='Where to write result to')
+
+    args = parser.parse_args()
+
+    # print("%s" % sys.argv)
+    # PACKAGE_NAME = sys.argv[1]
+    # OUTFILE = sys.argv[3]
+    # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+    #      file=sys.stderr)
+
+    # print("executing %s" % args.setupfile_path)
+
+    # be sure you're in the directory containing
+    # setup.py so the sys.path manipulation works,
+    # so the import of __version__ works
+    os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+    # patch setup() function of distutils and setuptools for the
+    # context of evaluating setup.py
+    backup_modules = {}
+    try:
+
+        for module in setup_modules:
+            backup_modules[id(module)] = module.setup
+            module.setup = _create_mock_setup_function(
+                setup_module=module.__name__, package_name=args.package_name, outfile=args.outfile)
+
+        runpy.run_path(args.setupfile_path)
+    finally:
+        for module in setup_modules:
+            module.setup = backup_modules[id(module)]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
new file mode 100644
index 0000000..7ec7539
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
@@ -0,0 +1,70 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+@{
+import os
+try:
+    from catkin_pkg.cmake import get_metapackage_cmake_template_path
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.topological_order import topological_order
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+    from catkin_pkg.package import InvalidPackage
+except ImportError as e:
+    raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+# vars defined in order_packages.context.py.in
+try:
+    ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces)
+except InvalidPackage as e:
+    print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"'))
+    ordered_packages = []
+fatal_error = False
+}@
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+@[for path, package in ordered_packages]@
+@[if path is None]@
+message(FATAL_ERROR "Circular dependency in subset of packages:\n@package")
+@{
+fatal_error = True
+}@
+@[elif package.name != 'catkin']@
+list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))")
+@{
+package.evaluate_conditions(os.environ)
+try:
+    build_type = package.get_build_type()
+except InvalidPackage:
+    build_type = None
+}@
+@[if build_type is None]@
+message(FATAL_ERROR "Only one <build_type> element is permitted for package '@(package.name)'.")
+@{
+fatal_error = True
+}@
+@[else]@
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(package.get_build_type())")
+@[end if]@
+@{
+deprecated = [e for e in package.exports if e.tagname == 'deprecated']
+}@
+@[if deprecated]@
+message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')")
+@[end if]@
+@[end if]@
+@[end for]@
+
+@[if not fatal_error]@
+@{
+message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]]
+}@
+set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators)))
+@[end if]@
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))")
diff --git a/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/package.xml.stamp b/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/package.xml.stamp
new file mode 100644
index 0000000..61e815f
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/catkin_generated/stamps/Project/package.xml.stamp
@@ -0,0 +1,49 @@
+<?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>catkin</name>
+  <version>0.8.10</version>
+  <description>Low-level build system macros and infrastructure for ROS.</description>
+  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
+  <maintainer email="tfoote@openrobotics.org">Tully Foote</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/catkin</url>
+  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+  <url type="repository">https://github.com/ros/catkin</url>
+
+  <author>Troy Straszheim</author>
+  <author>Morten Kjaergaard</author>
+  <author>Brian Gerkey</author>
+  <author>Dirk Thomas</author>
+
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-argparse</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2" version_gt="0.4.3">python-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3" version_gt="0.4.3">python3-catkin-pkg</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-empy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <buildtool_export_depend>cmake</buildtool_export_depend>
+  <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
+
+  <build_export_depend>google-mock</build_export_depend>
+  <build_export_depend>gtest</build_export_depend>
+  <build_export_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</build_export_depend>
+  <build_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</build_export_depend>
+
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</test_depend>
+  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml"/>
+    <architecture_independent/>
+  </export>
+</package>
diff --git a/project/projectMaster/src/cmake-build-debug/cmake_install.cmake b/project/projectMaster/src/cmake-build-debug/cmake_install.cmake
new file mode 100644
index 0000000..0abe7fc
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/cmake_install.cmake
@@ -0,0 +1,152 @@
+# Install script for directory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "Debug")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+        file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+      endif()
+      if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+        file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+      endif()
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/_setup_util.py")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/catkin_generated/installspace/_setup_util.py")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/env.sh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/catkin_generated/installspace/env.sh")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/setup.bash;/usr/local/local_setup.bash")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/usr/local" TYPE FILE FILES
+    "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/catkin_generated/installspace/setup.bash"
+    "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/catkin_generated/installspace/local_setup.bash"
+    )
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/setup.sh;/usr/local/local_setup.sh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/usr/local" TYPE FILE FILES
+    "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/catkin_generated/installspace/setup.sh"
+    "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/catkin_generated/installspace/local_setup.sh"
+    )
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/setup.zsh;/usr/local/local_setup.zsh")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/usr/local" TYPE FILE FILES
+    "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/catkin_generated/installspace/setup.zsh"
+    "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/catkin_generated/installspace/local_setup.zsh"
+    )
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  list(APPEND CMAKE_ABSOLUTE_DESTINATION_FILES
+   "/usr/local/.rosinstall")
+  if(CMAKE_WARN_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(WARNING "ABSOLUTE path INSTALL DESTINATION : ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  if(CMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION)
+    message(FATAL_ERROR "ABSOLUTE path INSTALL DESTINATION forbidden (by caller): ${CMAKE_ABSOLUTE_DESTINATION_FILES}")
+  endif()
+  file(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/catkin_generated/installspace/.rosinstall")
+endif()
+
+if(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  include("/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/gtest/cmake_install.cmake")
+  include("/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test/cmake_install.cmake")
+
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/project/projectMaster/src/cmake-build-debug/devel/.catkin b/project/projectMaster/src/cmake-build-debug/devel/.catkin
new file mode 100644
index 0000000..780709a
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/.catkin
@@ -0,0 +1 @@
+/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src
\ No newline at end of file
diff --git a/project/projectMaster/src/cmake-build-debug/devel/.rosinstall b/project/projectMaster/src/cmake-build-debug/devel/.rosinstall
new file mode 100644
index 0000000..c0ed6f3
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+    local-name: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel/setup.sh
diff --git a/project/projectMaster/src/cmake-build-debug/devel/_setup_util.py b/project/projectMaster/src/cmake-build-debug/devel/_setup_util.py
new file mode 100755
index 0000000..9ef173c
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/_setup_util.py
@@ -0,0 +1,304 @@
+#!/usr/bin/python3
+# -*- coding: utf-8 -*-
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
+
+from __future__ import print_function
+
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+PATH_TO_ADD_SUFFIX = ['bin']
+if IS_WINDOWS:
+    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
+    # since Windows finds dll's via the PATH variable, prepend it with path to lib
+    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+    'CMAKE_PREFIX_PATH': '',
+    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
+    'PATH': PATH_TO_ADD_SUFFIX,
+    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
+    'PYTHONPATH': 'lib/python3/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+    """
+    Generate shell code to reset environment variables.
+
+    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+    This does not cover modifications performed by environment hooks.
+    """
+    lines = []
+    unmodified_environ = copy.copy(environ)
+    for key in sorted(env_var_subfolders.keys()):
+        subfolders = env_var_subfolders[key]
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        value = _rollback_env_variable(unmodified_environ, key, subfolders)
+        if value is not None:
+            environ[key] = value
+            lines.append(assignment(key, value))
+    if lines:
+        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+    return lines
+
+
+def _rollback_env_variable(environ, name, subfolders):
+    """
+    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+    :param subfolders: list of str '' or subfoldername that may start with '/'
+    :returns: the updated value of the environment variable.
+    """
+    value = environ[name] if name in environ else ''
+    env_paths = [path for path in value.split(os.pathsep) if path]
+    value_modified = False
+    for subfolder in subfolders:
+        if subfolder:
+            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+                subfolder = subfolder[1:]
+            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+                subfolder = subfolder[:-1]
+        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+            path_to_remove = None
+            for env_path in env_paths:
+                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+                if env_path_clean == path_to_find:
+                    path_to_remove = env_path
+                    break
+            if path_to_remove:
+                env_paths.remove(path_to_remove)
+                value_modified = True
+    new_value = os.pathsep.join(env_paths)
+    return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+    """
+    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+    """
+    # get all cmake prefix paths
+    env_name = 'CMAKE_PREFIX_PATH'
+    value = environ[env_name] if env_name in environ else ''
+    paths = [path for path in value.split(os.pathsep) if path]
+    # remove non-workspace paths
+    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+    return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+    """Generate shell code to prepend environment variables for the all workspaces."""
+    lines = []
+    lines.append(comment('prepend folders of workspaces to environment variables'))
+
+    paths = [path for path in workspaces.split(os.pathsep) if path]
+
+    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
+        subfolder = env_var_subfolders[key]
+        prefix = _prefix_env_variable(environ, key, paths, subfolder)
+        lines.append(prepend(environ, key, prefix))
+    return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolders):
+    """
+    Return the prefix to prepend to the environment variable NAME.
+
+    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+    """
+    value = environ[name] if name in environ else ''
+    environ_paths = [path for path in value.split(os.pathsep) if path]
+    checked_paths = []
+    for path in paths:
+        if not isinstance(subfolders, list):
+            subfolders = [subfolders]
+        for subfolder in subfolders:
+            path_tmp = path
+            if subfolder:
+                path_tmp = os.path.join(path_tmp, subfolder)
+            # skip nonexistent paths
+            if not os.path.exists(path_tmp):
+                continue
+            # exclude any path already in env and any path we already added
+            if path_tmp not in environ_paths and path_tmp not in checked_paths:
+                checked_paths.append(path_tmp)
+    prefix_str = os.pathsep.join(checked_paths)
+    if prefix_str != '' and environ_paths:
+        prefix_str += os.pathsep
+    return prefix_str
+
+
+def assignment(key, value):
+    if not IS_WINDOWS:
+        return 'export %s="%s"' % (key, value)
+    else:
+        return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+    if not IS_WINDOWS:
+        return '# %s' % msg
+    else:
+        return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+    if key not in environ or not environ[key]:
+        return assignment(key, prefix)
+    if not IS_WINDOWS:
+        return 'export %s="%s$%s"' % (key, prefix, key)
+    else:
+        return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+    """Generate shell code with found environment hooks for the all workspaces."""
+    lines = []
+    lines.append(comment('found environment hooks in workspaces'))
+
+    generic_env_hooks = []
+    generic_env_hooks_workspace = []
+    specific_env_hooks = []
+    specific_env_hooks_workspace = []
+    generic_env_hooks_by_filename = {}
+    specific_env_hooks_by_filename = {}
+    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+    # remove non-workspace paths
+    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+    for workspace in reversed(workspaces):
+        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+        if os.path.isdir(env_hook_dir):
+            for filename in sorted(os.listdir(env_hook_dir)):
+                if filename.endswith('.%s' % generic_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in generic_env_hooks_by_filename:
+                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+                        generic_env_hooks.pop(i)
+                        generic_env_hooks_workspace.pop(i)
+                    # append env hook
+                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    generic_env_hooks_workspace.append(workspace)
+                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+                    # remove previous env hook with same name if present
+                    if filename in specific_env_hooks_by_filename:
+                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+                        specific_env_hooks.pop(i)
+                        specific_env_hooks_workspace.pop(i)
+                    # append env hook
+                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+                    specific_env_hooks_workspace.append(workspace)
+                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+    env_hooks = generic_env_hooks + specific_env_hooks
+    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+    count = len(env_hooks)
+    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+    for i in range(count):
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+    return lines
+
+
+def _parse_arguments(args=None):
+    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
+    return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+    try:
+        try:
+            args = _parse_arguments()
+        except Exception as e:
+            print(e, file=sys.stderr)
+            sys.exit(1)
+
+        if not args.local:
+            # environment at generation time
+            CMAKE_PREFIX_PATH = r'/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel;/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic'.split(';')
+        else:
+            # don't consider any other prefix path than this one
+            CMAKE_PREFIX_PATH = []
+        # prepend current workspace if not already part of CPP
+        base_path = os.path.dirname(__file__)
+        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
+        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
+        if os.path.sep != '/':
+            base_path = base_path.replace(os.path.sep, '/')
+
+        if base_path not in CMAKE_PREFIX_PATH:
+            CMAKE_PREFIX_PATH.insert(0, base_path)
+        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+        environ = dict(os.environ)
+        lines = []
+        if not args.extend:
+            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+        print('\n'.join(lines))
+
+        # need to explicitly flush the output
+        sys.stdout.flush()
+    except IOError as e:
+        # and catch potential "broken pipe" if stdout is not writable
+        # which can happen when piping the output to a file but the disk is full
+        if e.errno == errno.EPIPE:
+            print(e, file=sys.stderr)
+            sys.exit(2)
+        raise
+
+    sys.exit(0)
diff --git a/project/projectMaster/src/cmake-build-debug/devel/cmake.lock b/project/projectMaster/src/cmake-build-debug/devel/cmake.lock
new file mode 100644
index 0000000..e69de29
diff --git a/project/projectMaster/src/cmake-build-debug/devel/env.sh b/project/projectMaster/src/cmake-build-debug/devel/env.sh
new file mode 100755
index 0000000..8aa9d24
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+  /bin/echo "Usage: env.sh COMMANDS"
+  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+  exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/project/projectMaster/src/cmake-build-debug/devel/lib/libros_merge_test.so b/project/projectMaster/src/cmake-build-debug/devel/lib/libros_merge_test.so
new file mode 100755
index 0000000..75271a4
Binary files /dev/null and b/project/projectMaster/src/cmake-build-debug/devel/lib/libros_merge_test.so differ
diff --git a/project/projectMaster/src/cmake-build-debug/devel/lib/pkgconfig/ros_merge_test.pc b/project/projectMaster/src/cmake-build-debug/devel/lib/pkgconfig/ros_merge_test.pc
new file mode 100644
index 0000000..cf90e75
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/lib/pkgconfig/ros_merge_test.pc
@@ -0,0 +1,8 @@
+prefix=/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel
+
+Name: ros_merge_test
+Description: Description of ros_merge_test
+Version: 0.0.0
+Cflags: 
+Libs: -L${prefix}/lib 
+Requires: 
diff --git a/project/projectMaster/src/cmake-build-debug/devel/lib/ros_merge_test/ros_merge_test_node b/project/projectMaster/src/cmake-build-debug/devel/lib/ros_merge_test/ros_merge_test_node
new file mode 100755
index 0000000..996717c
Binary files /dev/null and b/project/projectMaster/src/cmake-build-debug/devel/lib/ros_merge_test/ros_merge_test_node differ
diff --git a/project/projectMaster/src/cmake-build-debug/devel/local_setup.bash b/project/projectMaster/src/cmake-build-debug/devel/local_setup.bash
new file mode 100644
index 0000000..7da0d97
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/local_setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/local_setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local
diff --git a/project/projectMaster/src/cmake-build-debug/devel/local_setup.sh b/project/projectMaster/src/cmake-build-debug/devel/local_setup.sh
new file mode 100644
index 0000000..759f8f1
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/local_setup.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/local_setup.sh.in
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel}
+CATKIN_SETUP_UTIL_ARGS="--extend --local"
+. "$_CATKIN_SETUP_DIR/setup.sh"
+unset CATKIN_SETUP_UTIL_ARGS
diff --git a/project/projectMaster/src/cmake-build-debug/devel/local_setup.zsh b/project/projectMaster/src/cmake-build-debug/devel/local_setup.zsh
new file mode 100644
index 0000000..e692acc
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/local_setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/local_setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'
diff --git a/project/projectMaster/src/cmake-build-debug/devel/setup.bash b/project/projectMaster/src/cmake-build-debug/devel/setup.bash
new file mode 100644
index 0000000..ff47af8
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/project/projectMaster/src/cmake-build-debug/devel/setup.sh b/project/projectMaster/src/cmake-build-debug/devel/setup.sh
new file mode 100644
index 0000000..24284a6
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/setup.sh
@@ -0,0 +1,96 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+# --local: only considers this workspace but not the chained ones
+# In plain sh shell which doesn't support arguments for sourced scripts you can
+# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+  echo "Missing Python script: $_SETUP_UTIL"
+  return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+if [ $_IS_DARWIN -eq 0 ]; then
+  export LD_LIBRARY_PATH
+else
+  export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+  CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+# use TMPDIR if it exists, otherwise fall back to /tmp
+if [ -d "${TMPDIR:-}" ]; then
+  _TMPDIR="${TMPDIR}"
+else
+  _TMPDIR=/tmp
+fi
+_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
+unset _TMPDIR
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+  echo "Could not create temporary file: $_SETUP_TMP"
+  return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
+_RC=$?
+if [ $_RC -ne 0 ]; then
+  if [ $_RC -eq 2 ]; then
+    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+  else
+    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+  fi
+  unset _RC
+  unset _SETUP_UTIL
+  rm -f "$_SETUP_TMP"
+  unset _SETUP_TMP
+  return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. "$_SETUP_TMP"
+rm -f "$_SETUP_TMP"
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+  # set workspace for environment hook
+  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+  . "$_envfile"
+  unset CATKIN_ENV_HOOK_WORKSPACE
+  _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/project/projectMaster/src/cmake-build-debug/devel/setup.zsh b/project/projectMaster/src/cmake-build-debug/devel/setup.zsh
new file mode 100644
index 0000000..9f780b7
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'
diff --git a/project/projectMaster/src/cmake-build-debug/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake b/project/projectMaster/src/cmake-build-debug/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake
new file mode 100644
index 0000000..7fd9f99
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/share/ros_merge_test/cmake/ros_merge_testConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/project/projectMaster/src/cmake-build-debug/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake b/project/projectMaster/src/cmake-build-debug/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake
new file mode 100644
index 0000000..8fc590b
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/devel/share/ros_merge_test/cmake/ros_merge_testConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(ros_merge_test_CONFIG_INCLUDED)
+  return()
+endif()
+set(ros_merge_test_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(ros_merge_test_SOURCE_PREFIX /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/ros_merge_test)
+  set(ros_merge_test_DEVEL_PREFIX /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel)
+  set(ros_merge_test_INSTALL_PREFIX "")
+  set(ros_merge_test_PREFIX ${ros_merge_test_DEVEL_PREFIX})
+else()
+  set(ros_merge_test_SOURCE_PREFIX "")
+  set(ros_merge_test_DEVEL_PREFIX "")
+  set(ros_merge_test_INSTALL_PREFIX /usr/local)
+  set(ros_merge_test_PREFIX ${ros_merge_test_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'ros_merge_test' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(ros_merge_test_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT " " STREQUAL " ")
+  set(ros_merge_test_INCLUDE_DIRS "")
+  set(_include_dirs "")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'luoruidi <luoruidi@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${ros_merge_test_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/ros_merge_test/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(ros_merge_test_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT ros_merge_test_NUM_DUMMY_TARGETS)
+      set(ros_merge_test_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR ros_merge_test_NUM_DUMMY_TARGETS "${ros_merge_test_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND ros_merge_test_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel/lib;/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel/lib;/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(ros_merge_test_LIBRARY_DIRS ${lib_path})
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'ros_merge_test'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(ros_merge_test_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${ros_merge_test_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 ros_merge_test_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${ros_merge_test_dep}_FOUND)
+      find_package(${ros_merge_test_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${ros_merge_test_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(ros_merge_test_INCLUDE_DIRS ${${ros_merge_test_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${ros_merge_test_dep}_LIBRARIES})
+  _list_append_deduplicate(ros_merge_test_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+
+  _list_append_unique(ros_merge_test_LIBRARY_DIRS ${${ros_merge_test_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(ros_merge_test_EXPORTED_TARGETS ${${ros_merge_test_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${ros_merge_test_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/project/projectMaster/src/cmake-build-debug/gtest/CTestTestfile.cmake b/project/projectMaster/src/cmake-build-debug/gtest/CTestTestfile.cmake
new file mode 100644
index 0000000..1840d93
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/gtest/CTestTestfile.cmake
@@ -0,0 +1,7 @@
+# CMake generated Testfile for 
+# Source directory: /usr/src/googletest
+# Build directory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/gtest
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
+subdirs("googlemock")
diff --git a/project/projectMaster/src/cmake-build-debug/gtest/cmake_install.cmake b/project/projectMaster/src/cmake-build-debug/gtest/cmake_install.cmake
new file mode 100644
index 0000000..74aa0d0
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/gtest/cmake_install.cmake
@@ -0,0 +1,50 @@
+# Install script for directory: /usr/src/googletest
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "Debug")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  include("/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/gtest/googlemock/cmake_install.cmake")
+
+endif()
+
diff --git a/project/projectMaster/src/cmake-build-debug/gtest/googlemock/CTestTestfile.cmake b/project/projectMaster/src/cmake-build-debug/gtest/googlemock/CTestTestfile.cmake
new file mode 100644
index 0000000..a24f19d
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/gtest/googlemock/CTestTestfile.cmake
@@ -0,0 +1,7 @@
+# CMake generated Testfile for 
+# Source directory: /usr/src/googletest/googlemock
+# Build directory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/gtest/googlemock
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
+subdirs("../googletest")
diff --git a/project/projectMaster/src/cmake-build-debug/gtest/googlemock/cmake_install.cmake b/project/projectMaster/src/cmake-build-debug/gtest/googlemock/cmake_install.cmake
new file mode 100644
index 0000000..2a76ee5
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/gtest/googlemock/cmake_install.cmake
@@ -0,0 +1,50 @@
+# Install script for directory: /usr/src/googletest/googlemock
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "Debug")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if(NOT CMAKE_INSTALL_LOCAL_ONLY)
+  # Include the install script for each subdirectory.
+  include("/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/gtest/googletest/cmake_install.cmake")
+
+endif()
+
diff --git a/project/projectMaster/src/cmake-build-debug/gtest/googletest/CTestTestfile.cmake b/project/projectMaster/src/cmake-build-debug/gtest/googletest/CTestTestfile.cmake
new file mode 100644
index 0000000..324ac4d
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/gtest/googletest/CTestTestfile.cmake
@@ -0,0 +1,6 @@
+# CMake generated Testfile for 
+# Source directory: /usr/src/googletest/googletest
+# Build directory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/gtest/googletest
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
diff --git a/project/projectMaster/src/cmake-build-debug/gtest/googletest/cmake_install.cmake b/project/projectMaster/src/cmake-build-debug/gtest/googletest/cmake_install.cmake
new file mode 100644
index 0000000..712068c
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/gtest/googletest/cmake_install.cmake
@@ -0,0 +1,44 @@
+# Install script for directory: /usr/src/googletest/googletest
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "Debug")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
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diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/CMakeFiles/ros_merge_test_node.dir/src/main.cpp.o b/project/projectMaster/src/cmake-build-debug/ros_merge_test/CMakeFiles/ros_merge_test_node.dir/src/main.cpp.o
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diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/CTestTestfile.cmake b/project/projectMaster/src/cmake-build-debug/ros_merge_test/CTestTestfile.cmake
new file mode 100644
index 0000000..627b1d8
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/CTestTestfile.cmake
@@ -0,0 +1,6 @@
+# CMake generated Testfile for 
+# Source directory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/ros_merge_test
+# Build directory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test
+# 
+# This file includes the relevant testing commands required for 
+# testing this directory and lists subdirectories to be tested as well.
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc
new file mode 100644
index 0000000..092ff6b
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc
@@ -0,0 +1,8 @@
+prefix=/usr/local
+
+Name: ros_merge_test
+Description: Description of ros_merge_test
+Version: 0.0.0
+Cflags: 
+Libs: -L${prefix}/lib 
+Requires: 
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake
new file mode 100644
index 0000000..7fd9f99
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake
new file mode 100644
index 0000000..f29debc
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(ros_merge_test_CONFIG_INCLUDED)
+  return()
+endif()
+set(ros_merge_test_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+  set(ros_merge_test_SOURCE_PREFIX /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/ros_merge_test)
+  set(ros_merge_test_DEVEL_PREFIX /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel)
+  set(ros_merge_test_INSTALL_PREFIX "")
+  set(ros_merge_test_PREFIX ${ros_merge_test_DEVEL_PREFIX})
+else()
+  set(ros_merge_test_SOURCE_PREFIX "")
+  set(ros_merge_test_DEVEL_PREFIX "")
+  set(ros_merge_test_INSTALL_PREFIX /usr/local)
+  set(ros_merge_test_PREFIX ${ros_merge_test_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'ros_merge_test' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(ros_merge_test_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT " " STREQUAL " ")
+  set(ros_merge_test_INCLUDE_DIRS "")
+  set(_include_dirs "")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'luoruidi <luoruidi@todo.todo>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${ros_merge_test_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'ros_merge_test' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(ros_merge_test_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT ros_merge_test_NUM_DUMMY_TARGETS)
+      set(ros_merge_test_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR ros_merge_test_NUM_DUMMY_TARGETS "${ros_merge_test_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::ros_merge_test::wrapped-linker-option${ros_merge_test_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND ros_merge_test_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND ros_merge_test_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /usr/local/lib;/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel/lib;/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(ros_merge_test_LIBRARY_DIRS ${lib_path})
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'ros_merge_test'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND ros_merge_test_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(ros_merge_test_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${ros_merge_test_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 ros_merge_test_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${ros_merge_test_dep}_FOUND)
+      find_package(${ros_merge_test_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${ros_merge_test_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(ros_merge_test_INCLUDE_DIRS ${${ros_merge_test_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${ros_merge_test_dep}_LIBRARIES})
+  _list_append_deduplicate(ros_merge_test_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(ros_merge_test_LIBRARIES ${ros_merge_test_LIBRARIES})
+
+  _list_append_unique(ros_merge_test_LIBRARY_DIRS ${${ros_merge_test_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(ros_merge_test_EXPORTED_TARGETS ${${ros_merge_test_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${ros_merge_test_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/ordered_paths.cmake b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/ordered_paths.cmake
new file mode 100644
index 0000000..454cf03
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/noetic/lib")
\ No newline at end of file
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/package.cmake b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/package.cmake
new file mode 100644
index 0000000..d1c743d
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/package.cmake
@@ -0,0 +1,16 @@
+set(_CATKIN_CURRENT_PACKAGE "ros_merge_test")
+set(ros_merge_test_VERSION "0.0.0")
+set(ros_merge_test_MAINTAINER "luoruidi <luoruidi@todo.todo>")
+set(ros_merge_test_PACKAGE_FORMAT "2")
+set(ros_merge_test_BUILD_DEPENDS "roscpp" "rospy" "std_msgs")
+set(ros_merge_test_BUILD_EXPORT_DEPENDS "roscpp" "rospy" "std_msgs")
+set(ros_merge_test_BUILDTOOL_DEPENDS "catkin")
+set(ros_merge_test_BUILDTOOL_EXPORT_DEPENDS )
+set(ros_merge_test_EXEC_DEPENDS "roscpp" "rospy" "std_msgs")
+set(ros_merge_test_RUN_DEPENDS "roscpp" "rospy" "std_msgs")
+set(ros_merge_test_TEST_DEPENDS )
+set(ros_merge_test_DOC_DEPENDS )
+set(ros_merge_test_URL_WEBSITE "")
+set(ros_merge_test_URL_BUGTRACKER "")
+set(ros_merge_test_URL_REPOSITORY "")
+set(ros_merge_test_DEPRECATED "")
\ No newline at end of file
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 0000000..49e0923
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "ros_merge_test"
+PROJECT_SPACE_DIR = "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 0000000..0baeaec
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "ros_merge_test"
+PROJECT_SPACE_DIR = "/usr/local"
+PROJECT_VERSION = "0.0.0"
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/stamps/ros/package.xml.stamp b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/stamps/ros/package.xml.stamp
new file mode 100644
index 0000000..ea90ea0
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/stamps/ros/package.xml.stamp
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_merge_test</name>
+  <version>0.0.0</version>
+  <description>The ros_merge_test package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ros_merge_test</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp
new file mode 100644
index 0000000..ea90ea0
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/stamps/ros_merge_test/package.xml.stamp
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_merge_test</name>
+  <version>0.0.0</version>
+  <description>The ros_merge_test package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ros_merge_test</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp
new file mode 100644
index 0000000..549fb75
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/catkin_generated/stamps/ros_merge_test/pkg.pc.em.stamp
@@ -0,0 +1,8 @@
+prefix=@PROJECT_SPACE_DIR
+
+Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
+Description: Description of @PROJECT_NAME
+Version: @PROJECT_VERSION
+Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
+Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/project/projectMaster/src/cmake-build-debug/ros_merge_test/cmake_install.cmake b/project/projectMaster/src/cmake-build-debug/ros_merge_test/cmake_install.cmake
new file mode 100644
index 0000000..734ab9e
--- /dev/null
+++ b/project/projectMaster/src/cmake-build-debug/ros_merge_test/cmake_install.cmake
@@ -0,0 +1,59 @@
+# Install script for directory: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/ros_merge_test
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "Debug")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_test.pc")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test/cmake" TYPE FILE FILES
+    "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig.cmake"
+    "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/cmake-build-debug/ros_merge_test/catkin_generated/installspace/ros_merge_testConfig-version.cmake"
+    )
+endif()
+
+if(CMAKE_INSTALL_COMPONENT STREQUAL "Unspecified" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ros_merge_test" TYPE FILE FILES "/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src/ros_merge_test/package.xml")
+endif()
+
diff --git a/project/projectMaster/src/ros_merge_test/CMakeLists.txt b/project/projectMaster/src/ros_merge_test/CMakeLists.txt
new file mode 100644
index 0000000..f131752
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/CMakeLists.txt
@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(ros_merge_test)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+  geometry_msgs
+)
+
+# 寻找OpenCV库
+find_package(OpenCV REQUIRED)
+# 查找 Boost 库
+find_package(Boost REQUIRED)
+
+# catkin_package(
+# #  INCLUDE_DIRS include
+# #  LIBRARIES ros_merge_test
+# #  CATKIN_DEPENDS roscpp rospy std_msgs
+# #  DEPENDS system_lib
+# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
+# )
+
+
+include_directories(
+# include
+ ${OpenCV_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+        include
+)
+
+add_library(${PROJECT_NAME} SHARED
+        src/system.cpp
+        src/uwb.cpp
+        src/mapping.cpp
+        src/align.cpp
+        # src/read_sensor_data.cpp
+        include/senddata.h src/senddata.cpp)
+
+
+add_message_files(
+    DIRECTORY msg
+    FILES
+        RawImu.msg
+     
+)
+generate_messages(DEPENDENCIES std_msgs geometry_msgs)
+
+catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs)
+add_executable(${PROJECT_NAME}_node src/main.cpp)
+
+
+target_link_libraries(${PROJECT_NAME}_node  ${catkin_LIBRARIES}  ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME})
+
+
diff --git a/project/projectMaster/src/ros_merge_test/Map/01.png b/project/projectMaster/src/ros_merge_test/Map/01.png
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new file mode 100644
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index 0000000..71af52a
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diff --git a/project/projectMaster/src/ros_merge_test/Map/11.png b/project/projectMaster/src/ros_merge_test/Map/11.png
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diff --git a/project/projectMaster/src/ros_merge_test/Map/12.png b/project/projectMaster/src/ros_merge_test/Map/12.png
new file mode 100644
index 0000000..c1b634f
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diff --git a/project/projectMaster/src/ros_merge_test/Map/13.png b/project/projectMaster/src/ros_merge_test/Map/13.png
new file mode 100644
index 0000000..32adf52
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diff --git a/project/projectMaster/src/ros_merge_test/Map/output_image.png b/project/projectMaster/src/ros_merge_test/Map/output_image.png
new file mode 100644
index 0000000..2a5e92e
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diff --git a/project/projectMaster/src/ros_merge_test/include/align.h b/project/projectMaster/src/ros_merge_test/include/align.h
new file mode 100755
index 0000000..e44df09
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/include/align.h
@@ -0,0 +1,41 @@
+#include <cmath>
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+#include <utility>
+#include <queue>
+#include <fstream>
+#include "ros_merge_test/RawImu.h"
+#include "type.h"
+#include "uwb.h"
+#include <opencv2/opencv.hpp>
+
+#ifndef ALIGN_H
+#define AlIGN_H
+namespace uwb_slam{
+    class Align
+    {
+    public:
+        Align(){};
+        void Run();
+        void wheel_odomCB(const nav_msgs::Odometry& wheel_odom);
+        void imuCB(const ros_merge_test::RawImu& imu);
+        void odomCB(const nav_msgs::Odometry& odom);
+
+    public:
+        ros::NodeHandle nh_;
+        ros::Subscriber wheel_odom_sub_;
+        ros::Subscriber imu_sub_;
+        ros::Subscriber odom_sub_;
+        Imu_odom_pose_data imu_odom_;
+        Uwb_data uwb_data_;
+        ros::Time tmp ;
+
+        ros::Time odom_tmp_ ;
+        bool write_data_ = false;
+        cv::Mat img1;
+        std::queue<std::pair<Imu_odom_pose_data,Uwb_data>> data_queue;
+        std::shared_ptr<uwb_slam::Uwb> uwb_;
+
+    };
+};
+#endif
diff --git a/project/projectMaster/src/ros_merge_test/include/avoid.h b/project/projectMaster/src/ros_merge_test/include/avoid.h
new file mode 100755
index 0000000..e69de29
diff --git a/project/projectMaster/src/ros_merge_test/include/mapping.h b/project/projectMaster/src/ros_merge_test/include/mapping.h
new file mode 100755
index 0000000..55cf5eb
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/include/mapping.h
@@ -0,0 +1,34 @@
+#include <queue>
+#include <opencv2/opencv.hpp>
+#include <mutex>
+#include "uwb.h"
+
+#ifndef MAPPING_H
+#define MAPPING_H
+
+
+namespace uwb_slam{
+    class Mapping
+    {
+        public:
+        const double PIXEL_SCALE = 5.0;
+        const int    AREA_SIZE = 2000;
+        Mapping() {};
+        void Run();
+        bool check_uwb_point();
+        void feed_uwb_data(const cv::Point2d & data);
+        void process();
+        std::mutex mMutexMap;
+        std::shared_ptr<uwb_slam::Uwb> uwb_;
+
+        private:
+        std::queue<cv::Point2d> mv_uwb_point_;
+        bool read_uwb_ = false;
+        cv::Mat img;
+        cv::Point2d cur_point = {-1,-1};
+
+    };
+
+}
+
+#endif
diff --git a/project/projectMaster/src/ros_merge_test/include/read_sensor_data.h b/project/projectMaster/src/ros_merge_test/include/read_sensor_data.h
new file mode 100644
index 0000000..61a7df3
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/include/read_sensor_data.h
@@ -0,0 +1,34 @@
+#include <ros/ros.h>
+#include "nav_msgs/Odometry.h"
+#include "geometry_msgs/Twist.h"
+#include "sensor_msgs/Imu.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "geometry_msgs/PoseWithCovarianceStamped.h"
+#include <boost/thread/mutex.hpp>
+#include "type.h"
+#include "uwb.h"
+
+
+#ifndef READ_SENSOR_DATA_H
+#define READ_SENSOR_DATA_H
+
+namespace uwb_slam{
+    typedef boost::shared_ptr<nav_msgs::Odometry const> OdomConstPtr;
+    typedef boost::shared_ptr<sensor_msgs::Imu const> ImuConstPtr;
+    class Read_sensor_data
+    {
+        public:
+        Read_sensor_data();
+
+        void Run(int argc, char* argv[]);
+        //void set_uwb(Uwb * uwb);
+        void imu_call_back(const ImuConstPtr& imu);
+        void odom_call_back(const OdomConstPtr& odom);
+
+        private:
+        ros::Subscriber imu_sub_;
+        ros::Subscriber odom_sub_;
+        
+    };
+}
+#endif
\ No newline at end of file
diff --git a/project/projectMaster/src/ros_merge_test/include/senddata.h b/project/projectMaster/src/ros_merge_test/include/senddata.h
new file mode 100644
index 0000000..efef283
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/include/senddata.h
@@ -0,0 +1,37 @@
+#include <ros/ros.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/Quaternion.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <mutex>
+#include "uwb.h"
+#ifndef SENDDATA_H
+#define SENDDATA_H
+
+
+namespace uwb_slam{
+
+    class Senddata
+    {
+        public:
+        Senddata(){};
+        void publishOdometry( std::shared_ptr<uwb_slam::Uwb>uwb);
+        void Run(std::shared_ptr<uwb_slam::Uwb>uwb);
+        void odomCB(const nav_msgs::Odometry& odom);
+
+
+        std::mutex mMutexSend;
+        private:
+        ros::Publisher position_pub_;
+        ros::Subscriber odom_sub_;
+        ros::NodeHandle nh_;
+        nav_msgs::Odometry odom_;//odom的消息类型
+        nav_msgs::Odometry sub_odom_;//odom的消息类型
+
+
+      
+    };
+
+}
+
+#endif
\ No newline at end of file
diff --git a/project/projectMaster/src/ros_merge_test/include/system.h b/project/projectMaster/src/ros_merge_test/include/system.h
new file mode 100755
index 0000000..da19639
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/include/system.h
@@ -0,0 +1,31 @@
+#ifndef SYSTEM_H
+#define SYSTEM_H
+
+#include <thread>
+#include <string>
+#include "mapping.h"
+#include "uwb.h"
+#include "senddata.h"
+#include "align.h"
+#include <iostream>
+
+namespace uwb_slam{
+    class System{
+
+    public:
+        System() {
+        }
+        void Run();
+    public:
+       
+        std::shared_ptr<uwb_slam::Mapping>Mapping_;
+        std::shared_ptr<uwb_slam::Uwb>Uwb_;
+        std::shared_ptr<uwb_slam::Senddata>Sender_;
+        std::shared_ptr<uwb_slam::Align>Align_;
+
+        // Uwb* Uwb_ ;
+        // Senddata* Sender_;
+        // Mapping* Mapping_;
+    };
+}
+#endif
diff --git a/project/projectMaster/src/ros_merge_test/include/type.h b/project/projectMaster/src/ros_merge_test/include/type.h
new file mode 100644
index 0000000..8d28092
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/include/type.h
@@ -0,0 +1,62 @@
+#include <ros/ros.h>
+#include <ros/time.h>
+#ifndef TYPE_H
+#define TYPE_H
+
+namespace uwb_slam{
+struct Imu_data
+{
+    ros::Time imu_t_;
+    double a_[3];
+    double w_[3];
+    Imu_data(){};
+    Imu_data(double ax,double ay,double az, double wx, double wy, double wz)
+    :a_{ax,ay,az},w_{wz,wy,wz}{};
+};
+
+
+
+struct Imu_odom_pose_data
+{
+    Imu_data imu_data_;
+    double pose_[3];
+    double quat_[4];
+    double vxy_;
+    double angle_v_;
+    Imu_odom_pose_data(){};
+    Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){};
+};
+
+/*struct Odom_data
+{
+    Imu_data imu_data_;
+    ros::Time odom_t_;
+    double pose_[3];
+    double quat_[4];
+    double vxy_,;
+    double angle_v_;
+
+    Odom_data(double x,double y,double z,
+              double qw, double qx, double qy,double qz,
+              ros::Time odom_t,double vxy,  double angle_v)
+    :pose_{x,y,z},quat_{qw,qx,qy,qz},odom_t_(odom_t),vxy_(vxy),angle_v_(angle_v){};
+};
+*/
+
+struct  Uwb_data
+{
+    float x_,y_;
+    ros::Time uwb_t_;
+    Uwb_data(){};
+    Uwb_data(float x,float y,float t):x_(x),y_(y),uwb_t_(t){};
+};
+
+/*struct Imu_odom_pose_data
+{
+    Imu_data imu_data_;
+    Odom_data odom_data;
+    Imu_odom_pose_data(Imu_data i_data, Odom_data o_data):imu_data_(i_data),odom_data(o_data){};
+};
+*/
+}
+#endif
\ No newline at end of file
diff --git a/project/projectMaster/src/ros_merge_test/include/uwb.h b/project/projectMaster/src/ros_merge_test/include/uwb.h
new file mode 100755
index 0000000..59dd9d7
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/include/uwb.h
@@ -0,0 +1,54 @@
+#include <ros/ros.h>
+#include <mutex>
+#include <boost/asio.hpp>
+#include <iostream>
+#include <string>
+#include <cstdint>
+#include "type.h"
+#include <queue>
+#include <chrono>
+#ifndef UWB_H
+#define UWB_H
+
+
+namespace uwb_slam{
+
+    class Uwb
+    {
+    public:
+        Uwb();
+        void Run();
+        bool checknewdata();
+        void feed_imu_odom_pose_data();
+        void Serread();
+       
+
+ 
+    public:
+        int pre_seq = -1;
+        int cur_seq = -1;
+        uint8_t tmpdata[13];
+        float x, y, theta, distance;
+     
+    // std::queue<Imu_odom_pose_data> v_buffer_imu_odom_pose_data_;
+   
+       
+        Uwb_data uwb_data_;
+        // ros_merge_test::RawImu sub_imu_;
+        // std::queue<Imu_odom_pose_data > imu_odom_queue_;
+        // std::queue<Uwb_data> uwb_data_queue_;
+        std::mutex mMutexUwb;
+    //boost::asio::io_service io;
+    //boost::asio::serial_port s_port;
+
+    // Imu_odom_pose_data imu_odom_pose_data_;
+    };
+
+};
+
+
+
+
+
+
+#endif
diff --git a/project/projectMaster/src/ros_merge_test/msg/RawImu.msg b/project/projectMaster/src/ros_merge_test/msg/RawImu.msg
new file mode 100644
index 0000000..3c5ad41
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/msg/RawImu.msg
@@ -0,0 +1,7 @@
+Header header
+bool accelerometer
+bool gyroscope
+bool magnetometer
+geometry_msgs/Vector3 raw_linear_acceleration
+geometry_msgs/Vector3 raw_angular_velocity
+geometry_msgs/Vector3 raw_magnetic_field
diff --git a/project/projectMaster/src/ros_merge_test/package.xml b/project/projectMaster/src/ros_merge_test/package.xml
new file mode 100644
index 0000000..dee5884
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/package.xml
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_merge_test</name>
+  <version>0.0.0</version>
+  <description>The ros_merge_test package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="luoruidi@todo.todo">luoruidi</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ros_merge_test</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/project/projectMaster/src/ros_merge_test/src/align.cpp b/project/projectMaster/src/ros_merge_test/src/align.cpp
new file mode 100755
index 0000000..912f13e
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/src/align.cpp
@@ -0,0 +1,151 @@
+#include "align.h"
+
+namespace uwb_slam{
+    void Align::Run()
+    {
+        tmp = ros::Time::now();
+        ros::Time tmp1 = ros::Time::now();
+        ros::Time tmp2 = ros::Time::now();
+        wheel_odom_sub_= nh_.subscribe("wheel_odom",10,&Align::wheel_odomCB,this);
+        imu_sub_= nh_.subscribe("raw_imu",10,&Align::imuCB,this);
+        odom_sub_= nh_.subscribe("odom",10,&Align::odomCB,this);
+
+        std::ofstream outfile("data.txt",std::ofstream::out);
+        if(outfile.is_open())
+        {
+        img1 = cv::Mat(200, 200, CV_8UC1, cv::Scalar(255,255,255));
+        cv::imshow("Image1",img1);
+        int key2 = cv::waitKey(0);
+        // if(key2 =='w'){
+        //     bool write_data_ = true;
+        // }
+        
+    //    int count=0;
+        // while(write_data_){
+        while(1){
+
+            int key3 = cv::waitKey(1);
+            if(key3 == 'w'){
+                break;
+            }
+            if(tmp!=imu_odom_.imu_data_.imu_t_){
+                // outfile <<"imu_odom_: "<< "imu_timestamp  "<<"imu_linear_acc_x_y_z  "<<"imu_angular_x_y_z  "<<
+                // "odom_vxy  "<<"odom_angle_v_  "<<"\n";
+                // if(tmp1!=uwb_->uwb_data_.uwb_t_&& tmp2!=odom_tmp_){
+                     outfile << std::left << std::setw(12)<<"imu_odom_: "<< std::setw(10)<< imu_odom_.imu_data_.imu_t_.sec << '.' <<std::setw(11)<< imu_odom_.imu_data_.imu_t_.nsec   << std::setw(11)
+                     <<imu_odom_.imu_data_.a_[0]  << std::setw(11)<<imu_odom_.imu_data_.a_[1]  << std::setw(11)<<imu_odom_.imu_data_.a_[2]  << std::setw(12)
+                     <<imu_odom_.imu_data_.w_[0]  << std::setw(12)<<imu_odom_.imu_data_.w_[1]  << std::setw(12)<<imu_odom_.imu_data_.w_[2]  << std::setw(11)
+                     <<imu_odom_.vxy_  << std::setw(11)<<imu_odom_.angle_v_  << std::setw(7)
+                     <<"   pose: "  << std::setw(1)<<(odom_tmp_-tmp2).sec<<'.'<<std::setw(12)<<(odom_tmp_-tmp2).nsec<<std::setw(11)
+                     <<imu_odom_.pose_[0]  << std::setw(12)<<imu_odom_.pose_[1]  << std::setw(2)<<imu_odom_.pose_[2]  << std::setw(12)
+                     <<imu_odom_.quat_[0]  << std::setw(12)<<imu_odom_.quat_[1]  << std::setw(12)<<imu_odom_.quat_[2]  << std::setw(12)<<imu_odom_.quat_[3]  << std::setw(6)
+                     <<"   uwb: "  << std::setw(1)<<(uwb_->uwb_data_.uwb_t_-tmp1).sec<<'.'<<std::setw(13)<<(uwb_->uwb_data_.uwb_t_-tmp1).nsec   << std::setw(9)
+                     <<uwb_->uwb_data_.x_  << std::setw(9)<<uwb_->uwb_data_.y_<<"\n";
+                     tmp1 = uwb_->uwb_data_.uwb_t_;
+                     tmp2 = odom_tmp_;
+                // }
+            //     else if(tmp1!=uwb_->uwb_data_.uwb_t_){
+            //         outfile <<"imu_odom_: "<< imu_odom_.imu_data_.imu_t_ <<"*"
+            //          <<imu_odom_.imu_data_.a_[0]<<"*"<<imu_odom_.imu_data_.a_[1]<<"*"<<imu_odom_.imu_data_.a_[2]<<"*"
+            //          <<imu_odom_.imu_data_.w_[0]<<"*"<<imu_odom_.imu_data_.w_[1]<<"*"<<imu_odom_.imu_data_.w_[2]<<"*"
+            //          <<imu_odom_.vxy_<<"*"<<imu_odom_.angle_v_<<"*"
+            //          <<"pose: "<<"****************************"
+            //          <<"uwb: "<<uwb_->uwb_data_.uwb_t_<<"*"<<uwb_->uwb_data_.x_<<"*"<<uwb_->uwb_data_.y_<<"\n";
+            //          tmp1 = uwb_->uwb_data_.uwb_t_;
+            //     }
+            //     else if(tmp2!=odom_tmp_){
+            //         outfile <<"imu_odom_: "<< imu_odom_.imu_data_.imu_t_ <<"*"
+            //          <<imu_odom_.imu_data_.a_[0]<<"*"<<imu_odom_.imu_data_.a_[1]<<"*"<<imu_odom_.imu_data_.a_[2]<<"*"
+            //          <<imu_odom_.imu_data_.w_[0]<<"*"<<imu_odom_.imu_data_.w_[1]<<"*"<<imu_odom_.imu_data_.w_[2]<<"*"
+            //          <<imu_odom_.vxy_<<"*"<<imu_odom_.angle_v_<<"*"
+            //          <<"pose: "
+            //          <<imu_odom_.pose_[0]<<"*"<<imu_odom_.pose_[1]<<"*"<<imu_odom_.pose_[2]<<"*"
+            //          <<imu_odom_.quat_[0]<<"*"<<imu_odom_.quat_[1]<<"*"<<imu_odom_.quat_[2]<<"*"<<imu_odom_.quat_[3]<<"*"
+            //          <<"uwb: "<<"****************************"<<"\n";
+            //          tmp2 = odom_tmp_;
+
+            //    }
+            //    else {
+            //         outfile <<"imu_odom_: "<< imu_odom_.imu_data_.imu_t_ <<"*"
+            //          <<imu_odom_.imu_data_.a_[0]<<"*"<<imu_odom_.imu_data_.a_[1]<<"*"<<imu_odom_.imu_data_.a_[2]<<"*"
+            //          <<imu_odom_.imu_data_.w_[0]<<"*"<<imu_odom_.imu_data_.w_[1]<<"*"<<imu_odom_.imu_data_.w_[2]<<"*"
+            //          <<imu_odom_.vxy_<<"*"<<imu_odom_.angle_v_<<"*"
+            //          <<"pose: "<<"****************************"
+            //          <<"uwb: "<<"****************************"<<"\n";
+            //    }
+                tmp = imu_odom_.imu_data_.imu_t_;
+                    
+                // tmp1 = uwb_->uwb_data_.uwb_t_;
+                
+                // if(count>300)
+                //     break;
+            }
+            
+        }
+
+        outfile.close();
+        std::cout<< "Data written to file." << std::endl;
+        }
+        else{
+            std::cout<<"file can not open"<<std::endl;
+        }
+        
+    }
+    
+    
+    
+    void Align::wheel_odomCB(const nav_msgs::Odometry& wheel_odom)
+    {
+        imu_odom_.vxy_= wheel_odom.twist.twist.linear.x;
+        imu_odom_.angle_v_ = wheel_odom.twist.twist.angular.z;
+        // imu_odom_.pose_[0] = wheel_odom.pose.pose.position.x;
+        // imu_odom_.pose_[1] = wheel_odom.pose.pose.position.y;
+        // imu_odom_.pose_[2] = wheel_odom.pose.pose.position.z;
+        // imu_odom_.quat_[0] = wheel_odom.pose.pose.orientation.x;
+        // imu_odom_.quat_[1] = wheel_odom.pose.pose.orientation.y;
+        // imu_odom_.quat_[2] = wheel_odom.pose.pose.orientation.z;
+        // imu_odom_.quat_[3] = wheel_odom.pose.pose.orientation.w;
+
+    
+        return;
+    }
+    void Align::imuCB(const ros_merge_test::RawImu& imu)
+    {
+        imu_odom_.imu_data_.imu_t_ = imu.header.stamp;
+        imu_odom_.imu_data_.a_[0] = imu.raw_linear_acceleration.x;
+        imu_odom_.imu_data_.a_[1] = imu.raw_linear_acceleration.y;
+        imu_odom_.imu_data_.a_[2] = imu.raw_linear_acceleration.z;
+
+        imu_odom_.imu_data_.w_[0] = imu.raw_angular_velocity.x;
+        imu_odom_.imu_data_.w_[1] = imu.raw_angular_velocity.y;
+        imu_odom_.imu_data_.w_[2] = imu.raw_angular_velocity.z;
+
+        return;
+    }
+
+    void Align::odomCB(const nav_msgs::Odometry& odom)
+    {
+        odom_tmp_ = odom.header.stamp;
+        imu_odom_.pose_[0] = odom.pose.pose.position.x;
+        imu_odom_.pose_[1] = odom.pose.pose.position.y;
+        imu_odom_.pose_[2] = odom.pose.pose.position.z;
+        imu_odom_.quat_[0] = odom.pose.pose.orientation.x;
+        imu_odom_.quat_[1] = odom.pose.pose.orientation.y;
+        imu_odom_.quat_[2] = odom.pose.pose.orientation.z;
+        imu_odom_.quat_[3] = odom.pose.pose.orientation.w;
+    }
+
+
+
+
+
+
+
+
+
+
+
+};
+
+
+
diff --git a/project/projectMaster/src/ros_merge_test/src/main.cpp b/project/projectMaster/src/ros_merge_test/src/main.cpp
new file mode 100755
index 0000000..21eb5c7
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/src/main.cpp
@@ -0,0 +1,65 @@
+#include "../include/system.h"
+#include "../include/uwb.h"
+
+
+#include <iostream>
+#include <ros/ros.h>
+#include <thread>
+#include "senddata.h"
+
+
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node
+
+
+
+
+    std::shared_ptr<uwb_slam::System>system = std::make_shared<uwb_slam::System>();
+    std::shared_ptr<uwb_slam::Mapping>mp = std::make_shared<uwb_slam::Mapping>();
+    std::shared_ptr<uwb_slam::Uwb>uwb = std::make_shared<uwb_slam::Uwb>();
+    std::shared_ptr<uwb_slam::Senddata>sender = std::make_shared<uwb_slam::Senddata>();
+    std::shared_ptr<uwb_slam::Align>align = std::make_shared<uwb_slam::Align>();
+
+    // uwb_slam::System* system = new uwb_slam::System();
+    // uwb_slam::Mapping* mp = new uwb_slam::Mapping();
+    // uwb_slam::Uwb*  uwb = new uwb_slam::Uwb();
+    // uwb_slam::Senddata* sender = new uwb_slam::Senddata();
+    
+    
+    system->Mapping_ = mp;
+    system->Mapping_->uwb_ = uwb;
+    system->Uwb_  = uwb;
+    system->Sender_ = sender;
+    system->Align_ = align;
+    
+
+    mp->uwb_ = system->Uwb_;
+    align->uwb_=system->Uwb_;
+
+
+    //  control data fllow in system
+    std::thread rose_trd ([&system]() {
+        system->Run();
+    });
+    // uwb serried read
+    std::thread uwb_trd([&uwb]() {
+        uwb->Run();
+    });
+    // build map
+    /*std::thread map_trd ([&mp]() {
+        mp->Run();
+    });*/
+
+    std::thread sender_trd ([&sender, uwb]() {
+        sender->Run(uwb);
+    });
+
+    std::thread align_trd ([&align]() {
+        align->Run();
+    });
+
+    ros::spin(); // Start the ROS node's main loop
+    //System->run()
+}
diff --git a/project/projectMaster/src/ros_merge_test/src/mapping.cpp b/project/projectMaster/src/ros_merge_test/src/mapping.cpp
new file mode 100755
index 0000000..7d650dd
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/src/mapping.cpp
@@ -0,0 +1,120 @@
+#include "mapping.h"
+#include <mutex>
+#include <unistd.h>// 包含 usleep() 函数所在的头文件
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+
+namespace uwb_slam
+{
+    bool Mapping::check_uwb_point()
+    {
+        //std::unique_lock<std::mutex> lock(mMutexMap);
+        return !mv_uwb_point_.empty();
+    }
+
+    void Mapping::feed_uwb_data(const cv::Point2d & data)
+    {
+        //std::unique_lock<std::mutex> lock(mMutexMap);
+        mv_uwb_point_.push(data);
+
+    }
+    
+
+    void Mapping::process()
+    {
+        {
+            //std::unique_lock<std::mutex> lock(mMutexMap);
+            //std::cout << "SIZE:  " <<mv_uwb_point_.size() << std::endl;
+            cur_point= mv_uwb_point_.front();
+            //std::cout << "x: " <<cur_point.x << " y:" << cur_point.y << std::endl;
+            mv_uwb_point_.pop();
+        }
+        /*生成图*/
+
+        int pix_x = cur_point.x / PIXEL_SCALE + ( fmod(cur_point.x ,PIXEL_SCALE) != 0);
+        int pix_y = cur_point.y / PIXEL_SCALE + ( fmod(cur_point.y ,PIXEL_SCALE) != 0);
+
+        img.at<unsigned char>(pix_y,pix_x)= 0;
+
+        //cv::imshow("Image",img);
+    }
+
+
+    void Mapping::Run()
+    {
+        
+        //int key = cv::waitKey(0);//等待用户按下按键
+        //std::cout << key << std::endl;
+        int realWidth = AREA_SIZE / PIXEL_SCALE;
+        int realHeight = AREA_SIZE / PIXEL_SCALE;
+
+        img = cv::Mat(realHeight, realWidth, CV_8UC1, cv::Scalar(255,255,255));
+        
+        for (int j=0;j<AREA_SIZE / PIXEL_SCALE;j+=16)
+            for (int i=0;i<AREA_SIZE / PIXEL_SCALE;i+=16)
+                img.at<unsigned char>(j,i)= 128;
+        
+        for (int j=199+8;j<210;j+=1)
+            for (int i=199+8;i<210;i+=1)
+                img.at<unsigned char>(j,i)= 0;
+
+
+
+        cv::imshow("Image",img);
+
+        /*
+        std::cout << "waiting" <<std::endl;
+        int key = cv::waitKey(0);
+        if (key == 'q' || key == 27) {
+            this->feed_uwb_data(cv::Point2d(uwb_->x,uwb_->y));
+            read_uwb_ = true;
+            std::cout << "non" << key << std::endl;
+            cv::destroyAllWindows();
+         }
+        */
+        while(1){
+            int key = cv::waitKey(0);
+            if (key == 'q' ) {
+                read_uwb_ = true;
+                std::cout << "non" << key << std::endl;
+                //cv::destroyAllWindows();
+            }
+            while( read_uwb_ )//按下空格键
+            {
+                int key2 = cv::waitKey(1);
+                if (key2 == 'q' ) {
+                    //TODO: save
+                //   std::cout << << std::endl;
+                  std::string pngimage="/home/firefly/Project_Ros/src/ros_merge_test/Map/output_image.png";//保存的图片文件路径
+        	      cv::imwrite(pngimage,img);
+                  read_uwb_ = false;
+                  break;
+                }
+        
+                this->feed_uwb_data(cv::Point2d(uwb_->x ,uwb_->y));
+          
+
+                //uwb xieru
+                //std::cout << "cur_SEQ: " <<uwb_->cur_seq  << std::endl;
+
+                if(check_uwb_point())
+                {
+                    //std::cout << " start process" << std::endl;
+                    process();
+                    //std::cout << " end process" << std::endl;
+                     
+                }
+            }
+            // std::cout << "out" << key << std::endl;
+
+        }
+
+
+
+        //std::string pngimage="../Map/pngimage.png";//保存的图片文件路径
+        //cv::imwrite(pngimage,img);
+      
+        /*ros 发送图片给导航 */
+    }
+} // namespace uwb_slam
+
diff --git a/project/projectMaster/src/ros_merge_test/src/read_sensor_data.cpp b/project/projectMaster/src/ros_merge_test/src/read_sensor_data.cpp
new file mode 100644
index 0000000..e74d0cd
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/src/read_sensor_data.cpp
@@ -0,0 +1,30 @@
+#include <read_sensor_data.h>
+
+namespace uwb_slam {
+
+
+    //void Read_sensor_data::set_uwb(){}
+
+
+    void Read_sensor_data::imu_call_back(const ImuConstPtr& imu){
+        Imu_data d1= Imu_data(imu->linear_acceleration.x,imu->linear_acceleration.y,imu->linear_acceleration.z,
+                              imu->angular_velocity.x,imu->angular_velocity.y,imu->angular_velocity.z);
+
+    }
+    void Read_sensor_data::odom_call_back(const OdomConstPtr& odom){
+        Odom_data d1 = Odom_data(odom->pose.pose.position.x, odom->pose.pose.position.y, odom->pose.pose.position.z,
+                                 odom->pose.pose.orientation.w,odom->pose.pose.orientation.x, odom->pose.pose.orientation.y, odom->pose.pose.orientation.z,
+                                 odom->header.stamp,odom->twist.twist.linear.x,odom->twist.twist.linear.y,odom->twist.twist.angular.z);
+
+    }
+    void Read_sensor_data::Run(int argc, char* argv[]){
+
+        ros::init(argc, argv, "imu_odom");
+        // 创建一个节点句柄
+        ros::NodeHandle nh;
+        //imu_sub_ = nh.subscribe<std_msgs::String>("imu/data_raw", 1000, this->imu_call_back);
+        //odom_sub_ =nh.subscribe("odom", 1000,odom_call_back);
+        ros::spin();
+    }
+
+}
diff --git a/project/projectMaster/src/ros_merge_test/src/senddata.cpp b/project/projectMaster/src/ros_merge_test/src/senddata.cpp
new file mode 100644
index 0000000..86f6d37
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/src/senddata.cpp
@@ -0,0 +1,64 @@
+#include "senddata.h"
+
+
+namespace uwb_slam
+{
+    void Senddata::Run(std::shared_ptr<uwb_slam::Uwb>uwb){
+
+        ros::Rate loop_rate(10);
+        position_pub_=nh_.advertise<nav_msgs::Odometry>("uwb_odom",50);
+        odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this);
+        while(ros::ok()){
+            publishOdometry(uwb);
+            ros::spinOnce();
+            loop_rate.sleep();
+        }
+
+
+    }
+    void Senddata::odomCB(const nav_msgs::Odometry& odom){
+        sub_odom_ = odom;
+        return;
+    }
+
+    void Senddata::publishOdometry(std::shared_ptr<uwb_slam::Uwb>uwb)
+    {
+
+        std::mutex mMutexSend;
+        ros::Time current_time = ros::Time::now();
+
+        // 设置 Odometry 消息的头部信息
+        odom_.header.stamp = current_time;
+        odom_.header.frame_id = "odom";  // 设置坐标系为 "map"
+        odom_.child_frame_id = "base_link";  // 设置坐标系为 "base_link"
+        
+        // 填充 Odometry 消息的位置信息
+        odom_.pose.pose.position.x = uwb->x;
+        odom_.pose.pose.position.y = uwb->y;
+        odom_.pose.pose.position.z = 0.0;
+        
+
+        // 填充 Odometry 消息的姿态信息（使用四元数来表示姿态）
+        // tf2::Quaternion quat;
+        // quat.setRPY(0, 0, uwb->theta);  // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0
+        // odom.pose.pose.orientation.x = quat.x();
+        // odom.pose.pose.orientation.y = quat.y();
+        // odom.pose.pose.orientation.z = quat.z();
+        // odom.pose.pose.orientation.w = quat.w();
+
+        odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x;
+        odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y;
+        odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z;
+        odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w;
+
+        // 发布 Odometry 消息
+        position_pub_.publish(odom_);
+
+
+    }
+
+
+    
+
+
+} // namespace uwb_slam
\ No newline at end of file
diff --git a/project/projectMaster/src/ros_merge_test/src/system.cpp b/project/projectMaster/src/ros_merge_test/src/system.cpp
new file mode 100755
index 0000000..44f5878
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/src/system.cpp
@@ -0,0 +1,15 @@
+#include "../include/system.h"
+//#include ""
+
+
+namespace uwb_slam{
+
+    void System::Run()
+    {
+        while(1){
+
+        }
+
+    }
+    
+}
\ No newline at end of file
diff --git a/project/projectMaster/src/ros_merge_test/src/uwb.cpp b/project/projectMaster/src/ros_merge_test/src/uwb.cpp
new file mode 100755
index 0000000..bf53dc4
--- /dev/null
+++ b/project/projectMaster/src/ros_merge_test/src/uwb.cpp
@@ -0,0 +1,125 @@
+#include "uwb.h"
+#include <cmath>
+
+#define PI acos(-1)
+
+namespace uwb_slam{
+
+    //
+    Uwb::Uwb(){
+            //int pre_seq = -1;
+            
+           
+        
+    }
+
+    void Uwb::Run() {
+        
+        while(1){
+        this->Serread();
+           // std::cout<<"s"<<std::endl;
+           // std::cout<<this->x<<std::endl;
+        /*if(t_tmp!=imu_odom_.imu_data_.imu_t_){
+            imu_odom_queue_.push(imu_odom_);
+            t_tmp=imu_odom_.imu_data_.imu_t_;
+        }*/
+        }
+
+
+    }
+
+
+    void Uwb::Serread(){
+        
+      
+
+        
+        try {
+        boost::asio::io_service io;
+        boost::asio::serial_port serial(io, "/dev/ttyUSB0"); // 替换成你的串口设备路径
+
+        serial.set_option(boost::asio::serial_port_base::baud_rate(115200)); // 设置波特率
+        serial.set_option(boost::asio::serial_port_base::character_size(8)); // 设置数据位
+        serial.set_option(boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none)); // 设置校验位
+        serial.set_option(boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one)); // 设置停止位
+
+        uint8_t tmpdata[12];
+        // std::cerr << "befor read" << std::endl;
+        size_t bytesRead = boost::asio::read(serial, boost::asio::buffer(tmpdata, 12)); // 读取串口数据
+        // std::cerr << "after read" << std::endl;
+
+        // for (int i=0;i< bytesRead;i++)
+        // {
+        //     std::cout << "Received data: " << std::hex<<static_cast<int>(tmpdata[i]) ;
+        // }
+        memcpy(&this->distance, &tmpdata[3], sizeof(distance));
+        memcpy(&this->theta, &tmpdata[7], sizeof(theta));
+        /*this->x = cosf(theta/180*PI)*distance+1000;
+        this->y = sinf(theta/180*PI)*distance+1000;
+        this->theta = theta;*/
+        this->uwb_data_.x_ = cosf(theta/180*PI)*distance+1000;
+        this->uwb_data_.y_ = sinf(theta/180*PI)*distance+1000;
+        this->uwb_data_.uwb_t_ = ros::Time::now(); 
+        
+        // uwb_data_queue_.push(uwb_data_);
+      
+        //std::cout << "uwb_data_: " << uwb_data_.uwb_t_<< std::endl;
+        // cur_seq = static_cast<int>(tmpdata[3]);
+        //std::cout << "****** cur _ sequence: " <<  cur_seq << "x: " << x << " y: " << y <<std::endl;
+        // if( cur_seq  - pre_seq != 1){
+        //     std::cout << "****** cur _ sequence: " << cur_seq << "pre _ sequence: " << pre_seq << " ******\n";
+        // }
+        // pre_seq = static_cast<int>(tmpdata[3]);
+
+        std::cout << "theta: " << theta << " distance: " << distance << std::endl;
+        //std::cout std::endl;
+    } catch (const std::exception& ex) {
+        std::cerr << "Exception: " << ex.what() << std::endl;
+    }
+
+
+
+    }
+    
+ 
+    void fusion()
+    {
+
+    }
+
+    
+
+
+};
+
+// bool Uwb::checknewdata()
+// {
+//     std::unique_lock<std::mutex> lock(mMutexUwb);
+//     return !v_buffer_imu_odom_pose_data_.empty();
+// }
+
+// void Uwb::Run() {
+//     while(1)
+//     {
+//         if(checknewdata())
+//         {
+//             {
+//                 std::unique_lock<std::mutex> lock(mMutexUwb);
+//                 Imu_odom_pose_data imu_odom_pose_data = v_buffer_imu_odom_pose_data_.front();
+//                 v_buffer_imu_odom_pose_data_.pop();
+//             }
+
+
+
+//         }
+//     }
+
+
+
+// }
+
+// void Uwb::feed_imu_odom_pose_data(const Imu_odom_pose_data& imu_odom_pose_data){
+//     std::unique_lock<std::mutex> lock(mMutexUwb);
+//     v_buffer_imu_odom_pose_data_.push(imu_odom_pose_data);
+// }
+
diff --git a/project/projectPDR b/project/projectPDR
new file mode 160000
index 0000000..933e72b
--- /dev/null
+++ b/project/projectPDR
@@ -0,0 +1 @@
+Subproject commit 933e72be58017863fc94a7b979df0edb1216c113
diff --git a/project/projectSource b/project/projectSource
new file mode 160000
index 0000000..933e72b
--- /dev/null
+++ b/project/projectSource
@@ -0,0 +1 @@
+Subproject commit 933e72be58017863fc94a7b979df0edb1216c113