diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt
new file mode 100644
index 0000000..e3bde06
--- /dev/null
+++ b/build/CMakeCache.txt
@@ -0,0 +1,820 @@
+# This is the CMakeCache file.
+# For build in directory: /home/user/work/nav2_plugin/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
+########################
+
+//Generate environment files in the CMAKE_INSTALL_PREFIX
+AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF
+
+//Generate environment files in the package share folder
+AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON
+
+//Generate marker file containing the parent prefix path
+AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON
+
+//Replace the CMake install command with a custom implementation
+// using symlinks instead of copying resources
+AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF
+
+//Generate an uninstall target to revert the effects of the install
+// step
+AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON
+
+//The path where test results are generated
+AMENT_TEST_RESULTS_DIR:PATH=/home/user/work/nav2_plugin/build/test_results
+
+//Build the testing tree.
+BUILD_TESTING:BOOL=OFF
+
+//The directory containing a CMake configuration file for CAIRO.
+CAIRO_DIR:PATH=CAIRO_DIR-NOTFOUND
+
+//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-11
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
+
+//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-11
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
+
+//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
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/usr/local
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/gmake
+
+//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=nav2_free_costmap_plugin
+
+//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=OFF
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=OFF
+
+//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=OFF
+
+//The directory containing a CMake configuration file for Eigen3.
+Eigen3_DIR:PATH=/usr/share/eigen3/cmake
+
+//Path to a library.
+FastCDR_LIBRARY_DEBUG:FILEPATH=FastCDR_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+FastCDR_LIBRARY_RELEASE:FILEPATH=/opt/ros/humble/lib/libfastcdr.so
+
+//Path to a file.
+FastRTPS_INCLUDE_DIR:PATH=/opt/ros/humble/include
+
+//Path to a library.
+FastRTPS_LIBRARY_DEBUG:FILEPATH=FastRTPS_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+FastRTPS_LIBRARY_RELEASE:FILEPATH=/opt/ros/humble/lib/libfastrtps.so
+
+//Path to a library.
+OPENSSL_CRYPTO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so
+
+//Path to a file.
+OPENSSL_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+OPENSSL_SSL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so
+
+//Arguments to supply to pkg-config
+PKG_CONFIG_ARGN:STRING=
+
+//pkg-config executable
+PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config
+
+//Name of the computer/site where compile is being run
+SITE:STRING=ubuntu22
+
+//Path to a file.
+TINYXML2_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+TINYXML2_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libtinyxml2.so
+
+//The directory containing a CMake configuration file for TinyXML2.
+TinyXML2_DIR:PATH=TinyXML2_DIR-NOTFOUND
+
+//Path to a library.
+_lib:FILEPATH=/opt/ros/humble/lib/libvisualization_msgs__rosidl_typesupport_fastrtps_cpp.so
+
+//The directory containing a CMake configuration file for action_msgs.
+action_msgs_DIR:PATH=/opt/ros/humble/share/action_msgs/cmake
+
+//The directory containing a CMake configuration file for ament_cmake.
+ament_cmake_DIR:PATH=/opt/ros/humble/share/ament_cmake/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_core.
+ament_cmake_core_DIR:PATH=/opt/ros/humble/share/ament_cmake_core/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_definitions.
+ament_cmake_export_definitions_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_definitions/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_dependencies.
+ament_cmake_export_dependencies_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_dependencies/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_include_directories.
+ament_cmake_export_include_directories_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_include_directories/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_interfaces.
+ament_cmake_export_interfaces_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_interfaces/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_libraries.
+ament_cmake_export_libraries_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_libraries/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_link_flags.
+ament_cmake_export_link_flags_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_link_flags/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_targets.
+ament_cmake_export_targets_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_targets/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_gen_version_h.
+ament_cmake_gen_version_h_DIR:PATH=/opt/ros/humble/share/ament_cmake_gen_version_h/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_include_directories.
+ament_cmake_include_directories_DIR:PATH=/opt/ros/humble/share/ament_cmake_include_directories/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_libraries.
+ament_cmake_libraries_DIR:PATH=/opt/ros/humble/share/ament_cmake_libraries/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_python.
+ament_cmake_python_DIR:PATH=/opt/ros/humble/share/ament_cmake_python/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_target_dependencies.
+ament_cmake_target_dependencies_DIR:PATH=/opt/ros/humble/share/ament_cmake_target_dependencies/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_test.
+ament_cmake_test_DIR:PATH=/opt/ros/humble/share/ament_cmake_test/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_version.
+ament_cmake_version_DIR:PATH=/opt/ros/humble/share/ament_cmake_version/cmake
+
+//The directory containing a CMake configuration file for ament_index_cpp.
+ament_index_cpp_DIR:PATH=/opt/ros/humble/share/ament_index_cpp/cmake
+
+//The directory containing a CMake configuration file for angles.
+angles_DIR:PATH=/opt/ros/humble/share/angles/cmake
+
+//The directory containing a CMake configuration file for bond.
+bond_DIR:PATH=/opt/ros/humble/share/bond/cmake
+
+//The directory containing a CMake configuration file for bondcpp.
+bondcpp_DIR:PATH=/opt/ros/humble/share/bondcpp/cmake
+
+//The directory containing a CMake configuration file for builtin_interfaces.
+builtin_interfaces_DIR:PATH=/opt/ros/humble/share/builtin_interfaces/cmake
+
+//The directory containing a CMake configuration file for class_loader.
+class_loader_DIR:PATH=/opt/ros/humble/share/class_loader/cmake
+
+//The directory containing a CMake configuration file for composition_interfaces.
+composition_interfaces_DIR:PATH=/opt/ros/humble/share/composition_interfaces/cmake
+
+//The directory containing a CMake configuration file for console_bridge.
+console_bridge_DIR:PATH=/usr/lib/x86_64-linux-gnu/console_bridge/cmake
+
+//The directory containing a CMake configuration file for eigen3_cmake_module.
+eigen3_cmake_module_DIR:PATH=/opt/ros/humble/share/eigen3_cmake_module/cmake
+
+//The directory containing a CMake configuration file for fastcdr.
+fastcdr_DIR:PATH=/opt/ros/humble/lib/cmake/fastcdr
+
+//The directory containing a CMake configuration file for fastrtps.
+fastrtps_DIR:PATH=/opt/ros/humble/share/fastrtps/cmake
+
+//The directory containing a CMake configuration file for fastrtps_cmake_module.
+fastrtps_cmake_module_DIR:PATH=/opt/ros/humble/share/fastrtps_cmake_module/cmake
+
+//The directory containing a CMake configuration file for fmt.
+fmt_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/fmt
+
+//The directory containing a CMake configuration file for foonathan_memory.
+foonathan_memory_DIR:PATH=/opt/ros/humble/lib/foonathan_memory/cmake
+
+//The directory containing a CMake configuration file for geometry_msgs.
+geometry_msgs_DIR:PATH=/opt/ros/humble/share/geometry_msgs/cmake
+
+//The directory containing a CMake configuration file for laser_geometry.
+laser_geometry_DIR:PATH=/opt/ros/humble/share/laser_geometry/cmake
+
+//The directory containing a CMake configuration file for libstatistics_collector.
+libstatistics_collector_DIR:PATH=/opt/ros/humble/share/libstatistics_collector/cmake
+
+//The directory containing a CMake configuration file for libyaml_vendor.
+libyaml_vendor_DIR:PATH=/opt/ros/humble/share/libyaml_vendor/cmake
+
+//The directory containing a CMake configuration file for lifecycle_msgs.
+lifecycle_msgs_DIR:PATH=/opt/ros/humble/share/lifecycle_msgs/cmake
+
+//The directory containing a CMake configuration file for map_msgs.
+map_msgs_DIR:PATH=/opt/ros/humble/share/map_msgs/cmake
+
+//The directory containing a CMake configuration file for message_filters.
+message_filters_DIR:PATH=/opt/ros/humble/share/message_filters/cmake
+
+//The directory containing a CMake configuration file for nav2_costmap_2d.
+nav2_costmap_2d_DIR:PATH=/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake
+
+//Value Computed by CMake
+nav2_free_costmap_plugin_BINARY_DIR:STATIC=/home/user/work/nav2_plugin/build
+
+//Value Computed by CMake
+nav2_free_costmap_plugin_IS_TOP_LEVEL:STATIC=ON
+
+//Value Computed by CMake
+nav2_free_costmap_plugin_SOURCE_DIR:STATIC=/home/user/work/nav2_plugin/src
+
+//The directory containing a CMake configuration file for nav2_msgs.
+nav2_msgs_DIR:PATH=/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake
+
+//The directory containing a CMake configuration file for nav2_util.
+nav2_util_DIR:PATH=/home/user/nav2_ws/install/nav2_util/share/nav2_util/cmake
+
+//The directory containing a CMake configuration file for nav2_voxel_grid.
+nav2_voxel_grid_DIR:PATH=/home/user/nav2_ws/install/nav2_voxel_grid/share/nav2_voxel_grid/cmake
+
+//The directory containing a CMake configuration file for nav_msgs.
+nav_msgs_DIR:PATH=/opt/ros/humble/share/nav_msgs/cmake
+
+//The directory containing a CMake configuration file for orocos_kdl.
+orocos_kdl_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/orocos_kdl
+
+//Path to a library.
+orocos_kdl_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/liborocos-kdl.so
+
+//The directory containing a CMake configuration file for orocos_kdl_vendor.
+orocos_kdl_vendor_DIR:PATH=/opt/ros/humble/share/orocos_kdl_vendor/cmake
+
+//Path to a library.
+pkgcfg_lib__OPENSSL_crypto:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so
+
+//Path to a library.
+pkgcfg_lib__OPENSSL_ssl:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so
+
+//The directory containing a CMake configuration file for pluginlib.
+pluginlib_DIR:PATH=/opt/ros/humble/share/pluginlib/cmake
+
+//The directory containing a CMake configuration file for rcl.
+rcl_DIR:PATH=/opt/ros/humble/share/rcl/cmake
+
+//The directory containing a CMake configuration file for rcl_action.
+rcl_action_DIR:PATH=/opt/ros/humble/share/rcl_action/cmake
+
+//The directory containing a CMake configuration file for rcl_interfaces.
+rcl_interfaces_DIR:PATH=/opt/ros/humble/share/rcl_interfaces/cmake
+
+//The directory containing a CMake configuration file for rcl_lifecycle.
+rcl_lifecycle_DIR:PATH=/opt/ros/humble/share/rcl_lifecycle/cmake
+
+//The directory containing a CMake configuration file for rcl_logging_interface.
+rcl_logging_interface_DIR:PATH=/opt/ros/humble/share/rcl_logging_interface/cmake
+
+//The directory containing a CMake configuration file for rcl_logging_spdlog.
+rcl_logging_spdlog_DIR:PATH=/opt/ros/humble/share/rcl_logging_spdlog/cmake
+
+//The directory containing a CMake configuration file for rcl_yaml_param_parser.
+rcl_yaml_param_parser_DIR:PATH=/opt/ros/humble/share/rcl_yaml_param_parser/cmake
+
+//The directory containing a CMake configuration file for rclcpp.
+rclcpp_DIR:PATH=/opt/ros/humble/share/rclcpp/cmake
+
+//The directory containing a CMake configuration file for rclcpp_action.
+rclcpp_action_DIR:PATH=/opt/ros/humble/share/rclcpp_action/cmake
+
+//The directory containing a CMake configuration file for rclcpp_components.
+rclcpp_components_DIR:PATH=/opt/ros/humble/share/rclcpp_components/cmake
+
+//The directory containing a CMake configuration file for rclcpp_lifecycle.
+rclcpp_lifecycle_DIR:PATH=/opt/ros/humble/share/rclcpp_lifecycle/cmake
+
+//The directory containing a CMake configuration file for rcpputils.
+rcpputils_DIR:PATH=/opt/ros/humble/share/rcpputils/cmake
+
+//The directory containing a CMake configuration file for rcutils.
+rcutils_DIR:PATH=/opt/ros/humble/share/rcutils/cmake
+
+//The directory containing a CMake configuration file for rmw.
+rmw_DIR:PATH=/opt/ros/humble/share/rmw/cmake
+
+//The directory containing a CMake configuration file for rmw_dds_common.
+rmw_dds_common_DIR:PATH=/opt/ros/humble/share/rmw_dds_common/cmake
+
+//The directory containing a CMake configuration file for rmw_fastrtps_cpp.
+rmw_fastrtps_cpp_DIR:PATH=/opt/ros/humble/share/rmw_fastrtps_cpp/cmake
+
+//The directory containing a CMake configuration file for rmw_fastrtps_shared_cpp.
+rmw_fastrtps_shared_cpp_DIR:PATH=/opt/ros/humble/share/rmw_fastrtps_shared_cpp/cmake
+
+//The directory containing a CMake configuration file for rmw_implementation.
+rmw_implementation_DIR:PATH=/opt/ros/humble/share/rmw_implementation/cmake
+
+//The directory containing a CMake configuration file for rmw_implementation_cmake.
+rmw_implementation_cmake_DIR:PATH=/opt/ros/humble/share/rmw_implementation_cmake/cmake
+
+//The directory containing a CMake configuration file for rosgraph_msgs.
+rosgraph_msgs_DIR:PATH=/opt/ros/humble/share/rosgraph_msgs/cmake
+
+//The directory containing a CMake configuration file for rosidl_adapter.
+rosidl_adapter_DIR:PATH=/opt/ros/humble/share/rosidl_adapter/cmake
+
+//The directory containing a CMake configuration file for rosidl_cmake.
+rosidl_cmake_DIR:PATH=/opt/ros/humble/share/rosidl_cmake/cmake
+
+//The directory containing a CMake configuration file for rosidl_default_runtime.
+rosidl_default_runtime_DIR:PATH=/opt/ros/humble/share/rosidl_default_runtime/cmake
+
+//The directory containing a CMake configuration file for rosidl_generator_c.
+rosidl_generator_c_DIR:PATH=/opt/ros/humble/share/rosidl_generator_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_generator_cpp.
+rosidl_generator_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_generator_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_runtime_c.
+rosidl_runtime_c_DIR:PATH=/opt/ros/humble/share/rosidl_runtime_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_runtime_cpp.
+rosidl_runtime_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_runtime_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_c.
+rosidl_typesupport_c_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_cpp.
+rosidl_typesupport_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_c.
+rosidl_typesupport_fastrtps_c_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_fastrtps_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_cpp.
+rosidl_typesupport_fastrtps_cpp_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_fastrtps_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_interface.
+rosidl_typesupport_interface_DIR:PATH=/opt/ros/humble/share/rosidl_typesupport_interface/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_introspection_c.
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+# 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
+
+#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
+
+#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["
+/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
+#if (defined(__clang__) || defined(__GNUC__) ||                               \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__) && !defined(_MSC_VER)
+  "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/build/CMakeFiles/3.22.1/CompilerIdC/a.out b/build/CMakeFiles/3.22.1/CompilerIdC/a.out
new file mode 100755
index 0000000..98db476
Binary files /dev/null and b/build/CMakeFiles/3.22.1/CompilerIdC/a.out differ
diff --git a/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..25c62a8
--- /dev/null
+++ b/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,791 @@
+/* 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(__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(__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__) || 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
+
+#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
+
+#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["
+/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
+#if (defined(__clang__) || defined(__GNUC__) ||                               \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__) && !defined(_MSC_VER)
+  "ON"
+#else
+  "OFF"
+#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(__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;
+}
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+
+
+Determining if the include file pthread.h exists passed with the following output:
+Change Dir: /home/user/work/nav2_plugin/build/CMakeFiles/CMakeTmp
+
+Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_1f5d8/fast && /usr/bin/gmake  -f CMakeFiles/cmTC_1f5d8.dir/build.make CMakeFiles/cmTC_1f5d8.dir/build
+gmake[1]: Entering directory '/home/user/work/nav2_plugin/build/CMakeFiles/CMakeTmp'
+Building C object CMakeFiles/cmTC_1f5d8.dir/CheckIncludeFile.c.o
+/usr/bin/cc    -o CMakeFiles/cmTC_1f5d8.dir/CheckIncludeFile.c.o -c /home/user/work/nav2_plugin/build/CMakeFiles/CMakeTmp/CheckIncludeFile.c
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+gmake[1]: Leaving directory '/home/user/work/nav2_plugin/build/CMakeFiles/CMakeTmp'
+
+
+
+Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD succeeded with the following output:
+Change Dir: /home/user/work/nav2_plugin/build/CMakeFiles/CMakeTmp
+
+Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_8e01f/fast && /usr/bin/gmake  -f CMakeFiles/cmTC_8e01f.dir/build.make CMakeFiles/cmTC_8e01f.dir/build
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+Building C object CMakeFiles/cmTC_8e01f.dir/src.c.o
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+gmake[1]: Leaving directory '/home/user/work/nav2_plugin/build/CMakeFiles/CMakeTmp'
+
+
+Source file was:
+#include <pthread.h>
+
+static void* test_func(void* data)
+{
+  return data;
+}
+
+int main(void)
+{
+  pthread_t thread;
+  pthread_create(&thread, NULL, test_func, NULL);
+  pthread_detach(thread);
+  pthread_cancel(thread);
+  pthread_join(thread, NULL);
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+}
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diff --git a/build/CMakeFiles/cmake.check_cache b/build/CMakeFiles/cmake.check_cache
new file mode 100644
index 0000000..3dccd73
--- /dev/null
+++ b/build/CMakeFiles/cmake.check_cache
@@ -0,0 +1 @@
+# This file is generated by cmake for dependency checking of the CMakeCache.txt file
diff --git a/build/CTestConfiguration.ini b/build/CTestConfiguration.ini
new file mode 100644
index 0000000..5cd6799
--- /dev/null
+++ b/build/CTestConfiguration.ini
@@ -0,0 +1,105 @@
+# 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/user/work/nav2_plugin/src
+BuildDirectory: /home/user/work/nav2_plugin/build
+
+# Where to place the cost data store
+CostDataFile: 
+
+# Site is something like machine.domain, i.e. pragmatic.crd
+Site: ubuntu22
+
+# Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++
+BuildName: 
+
+# Subprojects
+LabelsForSubprojects: 
+
+# Submission information
+SubmitURL: 
+
+# Dashboard start time
+NightlyStartTime: 
+
+# Commands for the build/test/submit cycle
+ConfigureCommand: "/usr/bin/cmake" "/home/user/work/nav2_plugin/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: 11.3.0
+
+# Dynamic analysis (MemCheck)
+PurifyCommand: 
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+DrMemoryCommandOptions: 
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+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
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diff --git a/build/CTestCustom.cmake b/build/CTestCustom.cmake
new file mode 100644
index 0000000..14956f3
--- /dev/null
+++ b/build/CTestCustom.cmake
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+set(CTEST_CUSTOM_MAXIMUM_FAILED_TEST_OUTPUT_SIZE 0)
diff --git a/build/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/ament_cmake_core/stamps/templates_2_cmake.py.stamp
new file mode 100644
index 0000000..fb2fb47
--- /dev/null
+++ b/build/ament_cmake_core/stamps/templates_2_cmake.py.stamp
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information about templates provided by ament_package.
+
+    Call the API provided by ament_package and
+    print CMake code defining several variables containing information about
+    the available templates.
+    """
+    parser = argparse.ArgumentParser(
+        description='Extract information about templates provided by '
+                    'ament_package and print CMake code defining several '
+                    'variables',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    lines = generate_cmake_code()
+    if args.outfile:
+        basepath = os.path.dirname(args.outfile)
+        if not os.path.exists(basepath):
+            os.makedirs(basepath)
+        with open(args.outfile, 'w') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def generate_cmake_code():
+    """
+    Return a list of CMake set() commands containing the template information.
+
+    :returns: list of str
+    """
+    variables = []
+
+    if not IS_WINDOWS:
+        variables.append((
+            'ENVIRONMENT_HOOK_LIBRARY_PATH',
+            '"%s"' % get_environment_hook_template_path('library_path.sh')))
+    else:
+        variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+    ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+    variables.append((
+        'ENVIRONMENT_HOOK_PYTHONPATH',
+        '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+    templates = []
+    for name in get_package_level_template_names():
+        templates.append('"%s"' % get_package_level_template_path(name))
+    variables.append((
+        'PACKAGE_LEVEL',
+        templates))
+
+    templates = []
+    for name in get_prefix_level_template_names():
+        templates.append('"%s"' % get_prefix_level_template_path(name))
+    variables.append((
+        'PREFIX_LEVEL',
+        templates))
+
+    lines = []
+    for (k, v) in variables:
+        if isinstance(v, list):
+            lines.append('set(ament_cmake_package_templates_%s "")' % k)
+            for vv in v:
+                lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+                             % (k, vv))
+        else:
+            lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+    # Ensure backslashes are replaced with forward slashes because CMake cannot
+    # parse files with backslashes in it.
+    return [line.replace('\\', '/') for line in lines]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/build/ament_cmake_package_templates/templates.cmake b/build/ament_cmake_package_templates/templates.cmake
new file mode 100644
index 0000000..42a5a03
--- /dev/null
+++ b/build/ament_cmake_package_templates/templates.cmake
@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/_local_setup_util.py")
diff --git a/build/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
new file mode 100644
index 0000000..cec6d4d
--- /dev/null
+++ b/build/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
@@ -0,0 +1,57 @@
+# generated from
+# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in
+
+function(ament_cmake_uninstall_target_remove_empty_directories path)
+  set(install_space "/usr/local")
+  if(install_space STREQUAL "")
+    message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty")
+  endif()
+
+  string(LENGTH "${install_space}" length)
+  string(SUBSTRING "${path}" 0 ${length} path_prefix)
+  if(NOT path_prefix STREQUAL install_space)
+    message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'")
+  endif()
+  if(path STREQUAL install_space)
+    return()
+  endif()
+
+  # check if directory is empty
+  file(GLOB files "${path}/*")
+  list(LENGTH files length)
+  if(length EQUAL 0)
+    message(STATUS "Uninstalling: ${path}/")
+    execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}")
+    # recursively try to remove parent directories
+    get_filename_component(parent_path "${path}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endfunction()
+
+# uninstall files installed using the standard install() function
+set(install_manifest "/home/user/work/nav2_plugin/build/install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+  message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+    message(STATUS "Uninstalling: ${installed_file}")
+    file(REMOVE "${installed_file}")
+    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+      message(FATAL_ERROR "Failed to remove '${installed_file}'")
+    endif()
+
+    # remove empty parent folders
+    get_filename_component(parent_path "${installed_file}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endforeach()
+
+# end of template
+
+message(STATUS "Execute custom uninstall script")
+
+# begin of custom uninstall code
diff --git a/build/nav2_free_costmap_plugin/CMakeCache.txt b/build/nav2_free_costmap_plugin/CMakeCache.txt
index 8c3f8ca..ad2dd09 100644
--- a/build/nav2_free_costmap_plugin/CMakeCache.txt
+++ b/build/nav2_free_costmap_plugin/CMakeCache.txt
@@ -37,6 +37,15 @@ AMENT_TEST_RESULTS_DIR:PATH=/home/user/work/nav2_plugin/build/nav2_free_costmap_
 //Build the testing tree.
 BUILD_TESTING:BOOL=ON
 
+//The directory containing a CMake configuration file for CAIRO.
+CAIRO_DIR:PATH=CAIRO_DIR-NOTFOUND
+
+//Path to a file.
+CAIRO_INCLUDE_DIRS:PATH=CAIRO_INCLUDE_DIRS-NOTFOUND
+
+//Path to a library.
+CAIRO_LIBRARIES:FILEPATH=/usr/lib/x86_64-linux-gnu/libcairo.so
+
 //Path to a program.
 CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
 
@@ -395,7 +404,7 @@ map_msgs_DIR:PATH=/opt/ros/humble/share/map_msgs/cmake
 message_filters_DIR:PATH=/opt/ros/humble/share/message_filters/cmake
 
 //The directory containing a CMake configuration file for nav2_costmap_2d.
-nav2_costmap_2d_DIR:PATH=/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake
+nav2_costmap_2d_DIR:PATH=/opt/ros/humble/share/nav2_costmap_2d/cmake
 
 //Value Computed by CMake
 nav2_free_costmap_plugin_BINARY_DIR:STATIC=/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
@@ -407,16 +416,16 @@ nav2_free_costmap_plugin_IS_TOP_LEVEL:STATIC=ON
 nav2_free_costmap_plugin_SOURCE_DIR:STATIC=/home/user/work/nav2_plugin/src
 
 //Dependencies for the target
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 //The directory containing a CMake configuration file for nav2_util.
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 //The directory containing a CMake configuration file for nav2_voxel_grid.
-nav2_voxel_grid_DIR:PATH=/home/user/nav2_ws/install/nav2_voxel_grid/share/nav2_voxel_grid/cmake
+nav2_voxel_grid_DIR:PATH=/opt/ros/humble/share/nav2_voxel_grid/cmake
 
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 CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_DLLTOOL
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index 449857b..d313bb0 100644
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-    arg [-plugin-opt=-fresolution=/tmp/ccu0uxAj.res] ==> ignore
+    arg [-plugin-opt=-fresolution=/tmp/ccc6B5tb.res] ==> ignore
     arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
     arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
     arg [-plugin-opt=-pass-through=-lc] ==> ignore
@@ -408,7 +408,7 @@ Parsed CXX implicit link information from above output:
     arg [-znow] ==> ignore
     arg [-zrelro] ==> ignore
     arg [-o] ==> ignore
-    arg [cmTC_2180a] ==> ignore
+    arg [cmTC_637bc] ==> ignore
     arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o]
     arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o]
     arg [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o]
@@ -420,7 +420,7 @@ Parsed CXX implicit link information from above output:
     arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
     arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
     arg [-L/usr/lib/gcc/x86_64-linux-gnu/11/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/11/../../..]
-    arg [CMakeFiles/cmTC_2180a.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
+    arg [CMakeFiles/cmTC_637bc.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
     arg [-lstdc++] ==> lib [stdc++]
     arg [-lm] ==> lib [m]
     arg [-lgcc_s] ==> lib [gcc_s]
@@ -450,13 +450,13 @@ Parsed CXX implicit link information from above output:
 Determining if the include file pthread.h exists passed with the following output:
 Change Dir: /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeTmp
 
-Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_b487e/fast && /usr/bin/gmake  -f CMakeFiles/cmTC_b487e.dir/build.make CMakeFiles/cmTC_b487e.dir/build
+Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_e1d05/fast && /usr/bin/gmake  -f CMakeFiles/cmTC_e1d05.dir/build.make CMakeFiles/cmTC_e1d05.dir/build
 gmake[1]: Entering directory '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeTmp'
-Building C object CMakeFiles/cmTC_b487e.dir/CheckIncludeFile.c.o
-/usr/bin/cc    -o CMakeFiles/cmTC_b487e.dir/CheckIncludeFile.c.o -c /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeTmp/CheckIncludeFile.c
-Linking C executable cmTC_b487e
-/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_b487e.dir/link.txt --verbose=1
-/usr/bin/cc CMakeFiles/cmTC_b487e.dir/CheckIncludeFile.c.o -o cmTC_b487e 
+Building C object CMakeFiles/cmTC_e1d05.dir/CheckIncludeFile.c.o
+/usr/bin/cc    -o CMakeFiles/cmTC_e1d05.dir/CheckIncludeFile.c.o -c /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeTmp/CheckIncludeFile.c
+Linking C executable cmTC_e1d05
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_e1d05.dir/link.txt --verbose=1
+/usr/bin/cc CMakeFiles/cmTC_e1d05.dir/CheckIncludeFile.c.o -o cmTC_e1d05 
 gmake[1]: Leaving directory '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeTmp'
 
 
@@ -464,13 +464,13 @@ gmake[1]: Leaving directory '/home/user/work/nav2_plugin/build/nav2_free_costmap
 Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD succeeded with the following output:
 Change Dir: /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeTmp
 
-Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_83d0b/fast && /usr/bin/gmake  -f CMakeFiles/cmTC_83d0b.dir/build.make CMakeFiles/cmTC_83d0b.dir/build
+Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_a38b1/fast && /usr/bin/gmake  -f CMakeFiles/cmTC_a38b1.dir/build.make CMakeFiles/cmTC_a38b1.dir/build
 gmake[1]: Entering directory '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeTmp'
-Building C object CMakeFiles/cmTC_83d0b.dir/src.c.o
-/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD   -o CMakeFiles/cmTC_83d0b.dir/src.c.o -c /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeTmp/src.c
-Linking C executable cmTC_83d0b
-/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_83d0b.dir/link.txt --verbose=1
-/usr/bin/cc CMakeFiles/cmTC_83d0b.dir/src.c.o -o cmTC_83d0b 
+Building C object CMakeFiles/cmTC_a38b1.dir/src.c.o
+/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD   -o CMakeFiles/cmTC_a38b1.dir/src.c.o -c /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeTmp/src.c
+Linking C executable cmTC_a38b1
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_a38b1.dir/link.txt --verbose=1
+/usr/bin/cc CMakeFiles/cmTC_a38b1.dir/src.c.o -o cmTC_a38b1 
 gmake[1]: Leaving directory '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeTmp'
 
 
diff --git a/build/nav2_free_costmap_plugin/CMakeFiles/Makefile.cmake b/build/nav2_free_costmap_plugin/CMakeFiles/Makefile.cmake
index 5547ced..deed687 100644
--- a/build/nav2_free_costmap_plugin/CMakeFiles/Makefile.cmake
+++ b/build/nav2_free_costmap_plugin/CMakeFiles/Makefile.cmake
@@ -7,47 +7,6 @@ set(CMAKE_DEPENDS_GENERATOR "Unix Makefiles")
 # The top level Makefile was generated from the following files:
 set(CMAKE_MAKEFILE_DEPENDS
   "CMakeCache.txt"
-  "/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake/ament_cmake_export_dependencies-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake/ament_cmake_export_include_directories-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake/ament_cmake_export_libraries-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake/nav2_costmap_2dConfig-version.cmake"
-  "/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake/nav2_costmap_2dConfig.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/ament_cmake_export_dependencies-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/ament_cmake_export_include_directories-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/ament_cmake_export_libraries-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/ament_cmake_export_targets-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_generator_cExport-release.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_generator_cExport.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_generator_cppExport.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_generator_pyExport-release.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_generator_pyExport.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_typesupport_fastrtps_cExport-release.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_typesupport_fastrtps_cExport.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_typesupport_fastrtps_cppExport-release.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_typesupport_fastrtps_cppExport.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/nav2_msgsConfig-version.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/nav2_msgsConfig.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_cExport-release.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_cExport.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_cppExport-release.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_cppExport.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_introspection_cExport-release.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_introspection_cExport.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_introspection_cppExport-release.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_introspection_cppExport.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/rosidl_cmake-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_msgs/share/nav2_msgs/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_util/share/nav2_util/cmake/ament_cmake_export_dependencies-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_util/share/nav2_util/cmake/ament_cmake_export_include_directories-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_util/share/nav2_util/cmake/ament_cmake_export_libraries-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_util/share/nav2_util/cmake/nav2_utilConfig-version.cmake"
-  "/home/user/nav2_ws/install/nav2_util/share/nav2_util/cmake/nav2_utilConfig.cmake"
-  "/home/user/nav2_ws/install/nav2_voxel_grid/share/nav2_voxel_grid/cmake/ament_cmake_export_dependencies-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_voxel_grid/share/nav2_voxel_grid/cmake/ament_cmake_export_include_directories-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_voxel_grid/share/nav2_voxel_grid/cmake/ament_cmake_export_libraries-extras.cmake"
-  "/home/user/nav2_ws/install/nav2_voxel_grid/share/nav2_voxel_grid/cmake/nav2_voxel_gridConfig-version.cmake"
-  "/home/user/nav2_ws/install/nav2_voxel_grid/share/nav2_voxel_grid/cmake/nav2_voxel_gridConfig.cmake"
   "CMakeFiles/3.22.1/CMakeCCompiler.cmake"
   "CMakeFiles/3.22.1/CMakeCXXCompiler.cmake"
   "CMakeFiles/3.22.1/CMakeSystem.cmake"
@@ -427,6 +386,47 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/opt/ros/humble/share/message_filters/cmake/message_filtersConfig.cmake"
   "/opt/ros/humble/share/message_filters/cmake/message_filtersExport-none.cmake"
   "/opt/ros/humble/share/message_filters/cmake/message_filtersExport.cmake"
+  "/opt/ros/humble/share/nav2_costmap_2d/cmake/ament_cmake_export_dependencies-extras.cmake"
+  "/opt/ros/humble/share/nav2_costmap_2d/cmake/ament_cmake_export_include_directories-extras.cmake"
+  "/opt/ros/humble/share/nav2_costmap_2d/cmake/ament_cmake_export_libraries-extras.cmake"
+  "/opt/ros/humble/share/nav2_costmap_2d/cmake/nav2_costmap_2dConfig-version.cmake"
+  "/opt/ros/humble/share/nav2_costmap_2d/cmake/nav2_costmap_2dConfig.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/ament_cmake_export_dependencies-extras.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/ament_cmake_export_include_directories-extras.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/ament_cmake_export_libraries-extras.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/ament_cmake_export_targets-extras.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_generator_cExport-none.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_generator_cExport.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_generator_cppExport.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_generator_pyExport-none.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_generator_pyExport.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_typesupport_fastrtps_cExport-none.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_typesupport_fastrtps_cExport.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_typesupport_fastrtps_cppExport-none.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/export_nav2_msgs__rosidl_typesupport_fastrtps_cppExport.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/nav2_msgsConfig-version.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/nav2_msgsConfig.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_cExport-none.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_cExport.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_cppExport-none.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_cppExport.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_introspection_cExport-none.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_introspection_cExport.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_introspection_cppExport-none.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/nav2_msgs__rosidl_typesupport_introspection_cppExport.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/rosidl_cmake-extras.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake"
+  "/opt/ros/humble/share/nav2_msgs/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake"
+  "/opt/ros/humble/share/nav2_util/cmake/ament_cmake_export_dependencies-extras.cmake"
+  "/opt/ros/humble/share/nav2_util/cmake/ament_cmake_export_include_directories-extras.cmake"
+  "/opt/ros/humble/share/nav2_util/cmake/ament_cmake_export_libraries-extras.cmake"
+  "/opt/ros/humble/share/nav2_util/cmake/nav2_utilConfig-version.cmake"
+  "/opt/ros/humble/share/nav2_util/cmake/nav2_utilConfig.cmake"
+  "/opt/ros/humble/share/nav2_voxel_grid/cmake/ament_cmake_export_dependencies-extras.cmake"
+  "/opt/ros/humble/share/nav2_voxel_grid/cmake/ament_cmake_export_include_directories-extras.cmake"
+  "/opt/ros/humble/share/nav2_voxel_grid/cmake/ament_cmake_export_libraries-extras.cmake"
+  "/opt/ros/humble/share/nav2_voxel_grid/cmake/nav2_voxel_gridConfig-version.cmake"
+  "/opt/ros/humble/share/nav2_voxel_grid/cmake/nav2_voxel_gridConfig.cmake"
   "/opt/ros/humble/share/nav_msgs/cmake/ament_cmake_export_dependencies-extras.cmake"
   "/opt/ros/humble/share/nav_msgs/cmake/ament_cmake_export_include_directories-extras.cmake"
   "/opt/ros/humble/share/nav_msgs/cmake/ament_cmake_export_libraries-extras.cmake"
diff --git a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/build.make b/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/build.make
index cceb4fd..0493b3e 100644
--- a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/build.make
+++ b/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/build.make
@@ -92,10 +92,10 @@ nav2_free_costmap_plugin_core_EXTERNAL_OBJECTS =
 
 libnav2_free_costmap_plugin_core.so: CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o
 libnav2_free_costmap_plugin_core.so: CMakeFiles/nav2_free_costmap_plugin_core.dir/build.make
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_costmap_2d/lib/liblayers.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_costmap_2d/lib/libfilters.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_costmap_2d/lib/libnav2_costmap_2d_core.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_costmap_2d/lib/libnav2_costmap_2d_client.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/liblayers.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libfilters.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_costmap_2d_core.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_costmap_2d_client.so
 libnav2_free_costmap_plugin_core.so: /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.1.0
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/liblaser_geometry.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libmap_msgs__rosidl_generator_c.so
@@ -116,21 +116,21 @@ libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libunique_identifier_ms
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_cpp.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_cpp.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_generator_py.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_util/lib/libnav2_util_core.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_generator_c.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_typesupport_fastrtps_c.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_util_core.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_msgs__rosidl_generator_c.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_fastrtps_c.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_fastrtps_c.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_typesupport_fastrtps_cpp.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_fastrtps_cpp.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_fastrtps_cpp.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_typesupport_introspection_c.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_introspection_c.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_introspection_c.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_typesupport_c.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_typesupport_introspection_cpp.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_c.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_introspection_cpp.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_introspection_cpp.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_typesupport_cpp.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_cpp.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_cpp.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_generator_py.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_typesupport_c.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_msgs__rosidl_generator_py.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_c.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav_msgs__rosidl_generator_py.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libtf2_msgs__rosidl_generator_c.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libtf2_msgs__rosidl_typesupport_fastrtps_c.so
@@ -170,7 +170,7 @@ libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libaction_msgs__rosidl_
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_introspection_cpp.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_cpp.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libaction_msgs__rosidl_generator_py.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_voxel_grid/lib/libvoxel_grid.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libvoxel_grid.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav_msgs__rosidl_generator_c.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_fastrtps_c.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_fastrtps_cpp.so
@@ -272,7 +272,7 @@ libnav2_free_costmap_plugin_core.so: /usr/lib/x86_64-linux-gnu/libpython3.10.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libvisualization_msgs__rosidl_typesupport_c.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libsensor_msgs__rosidl_generator_py.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libmap_msgs__rosidl_generator_c.so
-libnav2_free_costmap_plugin_core.so: /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_generator_c.so
+libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav2_msgs__rosidl_generator_c.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libnav_msgs__rosidl_generator_c.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/libbond__rosidl_generator_c.so
 libnav2_free_costmap_plugin_core.so: /opt/ros/humble/lib/liblifecycle_msgs__rosidl_typesupport_c.so
diff --git a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/compiler_depend.internal b/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/compiler_depend.internal
deleted file mode 100644
index 27e0ba4..0000000
--- a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/compiler_depend.internal
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+# Empty compiler generated dependencies file for nav2_free_costmap_plugin_core.
+# This may be replaced when dependencies are built.
diff --git a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/flags.make b/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/flags.make
index d76a6d6..5291627 100644
--- a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/flags.make
+++ b/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/flags.make
@@ -4,7 +4,7 @@
 # compile CXX with /usr/bin/c++
 CXX_DEFINES = -DDEFAULT_RMW_IMPLEMENTATION=rmw_fastrtps_cpp -DRCUTILS_ENABLE_FAULT_INJECTION -Dnav2_free_costmap_plugin_core_EXPORTS
 
-CXX_INCLUDES = -I/home/user/work/nav2_plugin/src/include -I/home/user/nav2_ws/install/nav2_costmap_2d/include -I/home/user/nav2_ws/install/nav2_voxel_grid/include -I/home/user/nav2_ws/install/nav2_util/include -I/opt/ros/humble/include/laser_geometry -I/opt/ros/humble/include -I/opt/ros/humble/include/tf2_geometry_msgs -I/opt/ros/humble/include/rclcpp_lifecycle -I/opt/ros/humble/include/angles -isystem /opt/ros/humble/include/rclcpp -isystem /opt/ros/humble/include/pluginlib -isystem /home/user/nav2_ws/install/nav2_msgs/include/nav2_msgs -isystem /opt/ros/humble/include/geometry_msgs -isystem /opt/ros/humble/include/map_msgs -isystem /opt/ros/humble/include/message_filters -isystem /opt/ros/humble/include/tf2_ros -isystem /opt/ros/humble/include/tf2 -isystem /opt/ros/humble/include/nav_msgs -isystem /opt/ros/humble/include/lifecycle_msgs -isystem /opt/ros/humble/include/rclcpp_action -isystem /opt/ros/humble/include/bond -isystem /opt/ros/humble/include/action_msgs -isystem /opt/ros/humble/include/sensor_msgs -isystem /opt/ros/humble/include/std_msgs -isystem /opt/ros/humble/include/std_srvs -isystem /opt/ros/humble/include/visualization_msgs -isystem /usr/include/eigen3 -isystem /opt/ros/humble/include/ament_index_cpp -isystem /opt/ros/humble/include/libstatistics_collector -isystem /opt/ros/humble/include/builtin_interfaces -isystem /opt/ros/humble/include/rosidl_runtime_c -isystem /opt/ros/humble/include/rcutils -isystem /opt/ros/humble/include/rosidl_typesupport_interface -isystem /opt/ros/humble/include/fastcdr -isystem /opt/ros/humble/include/rosidl_runtime_cpp -isystem /opt/ros/humble/include/rosidl_typesupport_fastrtps_cpp -isystem /opt/ros/humble/include/rmw -isystem /opt/ros/humble/include/rosidl_typesupport_fastrtps_c -isystem /opt/ros/humble/include/rosidl_typesupport_introspection_c -isystem /opt/ros/humble/include/rosidl_typesupport_introspection_cpp -isystem /opt/ros/humble/include/rcl -isystem /opt/ros/humble/include/rcl_interfaces -isystem /opt/ros/humble/include/rcl_logging_interface -isystem /opt/ros/humble/include/rcl_yaml_param_parser -isystem /opt/ros/humble/include/libyaml_vendor -isystem /opt/ros/humble/include/tracetools -isystem /opt/ros/humble/include/rcpputils -isystem /opt/ros/humble/include/statistics_msgs -isystem /opt/ros/humble/include/rosgraph_msgs -isystem /opt/ros/humble/include/rosidl_typesupport_cpp -isystem /opt/ros/humble/include/rosidl_typesupport_c -isystem /opt/ros/humble/include/class_loader -isystem /opt/ros/humble/include/unique_identifier_msgs -isystem /opt/ros/humble/include/rcl_action -isystem /opt/ros/humble/include/rcl_lifecycle -isystem /opt/ros/humble/include/tf2_msgs
+CXX_INCLUDES = -I/home/user/work/nav2_plugin/src/include -I/opt/ros/humble/include -I/opt/ros/humble/include/laser_geometry -I/opt/ros/humble/include/tf2_geometry_msgs -I/opt/ros/humble/include/rclcpp_lifecycle -I/opt/ros/humble/include/angles -isystem /opt/ros/humble/include/rclcpp -isystem /opt/ros/humble/include/pluginlib -isystem /opt/ros/humble/include/geometry_msgs -isystem /opt/ros/humble/include/map_msgs -isystem /opt/ros/humble/include/message_filters -isystem /opt/ros/humble/include/nav2_msgs -isystem /opt/ros/humble/include/tf2_ros -isystem /opt/ros/humble/include/tf2 -isystem /opt/ros/humble/include/nav_msgs -isystem /opt/ros/humble/include/lifecycle_msgs -isystem /opt/ros/humble/include/rclcpp_action -isystem /opt/ros/humble/include/bond -isystem /opt/ros/humble/include/action_msgs -isystem /opt/ros/humble/include/sensor_msgs -isystem /opt/ros/humble/include/std_msgs -isystem /opt/ros/humble/include/std_srvs -isystem /opt/ros/humble/include/visualization_msgs -isystem /usr/include/eigen3 -isystem /opt/ros/humble/include/ament_index_cpp -isystem /opt/ros/humble/include/libstatistics_collector -isystem /opt/ros/humble/include/builtin_interfaces -isystem /opt/ros/humble/include/rosidl_runtime_c -isystem /opt/ros/humble/include/rcutils -isystem /opt/ros/humble/include/rosidl_typesupport_interface -isystem /opt/ros/humble/include/fastcdr -isystem /opt/ros/humble/include/rosidl_runtime_cpp -isystem /opt/ros/humble/include/rosidl_typesupport_fastrtps_cpp -isystem /opt/ros/humble/include/rmw -isystem /opt/ros/humble/include/rosidl_typesupport_fastrtps_c -isystem /opt/ros/humble/include/rosidl_typesupport_introspection_c -isystem /opt/ros/humble/include/rosidl_typesupport_introspection_cpp -isystem /opt/ros/humble/include/rcl -isystem /opt/ros/humble/include/rcl_interfaces -isystem /opt/ros/humble/include/rcl_logging_interface -isystem /opt/ros/humble/include/rcl_yaml_param_parser -isystem /opt/ros/humble/include/libyaml_vendor -isystem /opt/ros/humble/include/tracetools -isystem /opt/ros/humble/include/rcpputils -isystem /opt/ros/humble/include/statistics_msgs -isystem /opt/ros/humble/include/rosgraph_msgs -isystem /opt/ros/humble/include/rosidl_typesupport_cpp -isystem /opt/ros/humble/include/rosidl_typesupport_c -isystem /opt/ros/humble/include/class_loader -isystem /opt/ros/humble/include/unique_identifier_msgs -isystem /opt/ros/humble/include/rcl_action -isystem /opt/ros/humble/include/rcl_lifecycle -isystem /opt/ros/humble/include/tf2_msgs
 
 CXX_FLAGS = -fPIC -Wall -Wextra -Wpedantic
 
diff --git a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/link.txt b/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/link.txt
index b5a59c5..6aa9eb9 100644
--- a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/link.txt
+++ b/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/link.txt
@@ -1 +1 @@
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/opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libsensor_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libsensor_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libstd_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libstd_msgs__rosidl_generator_py.so /opt/ros/humble/lib/librosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/librmw.so /opt/ros/humble/lib/librosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/librcutils.so -ldl /opt/ros/humble/lib/librcpputils.so /opt/ros/humble/lib/librosidl_typesupport_c.so /opt/ros/humble/lib/librosidl_typesupport_cpp.so /opt/ros/humble/lib/librosidl_runtime_c.so /opt/ros/humble/lib/librosidl_typesupport_introspection_c.so /opt/ros/humble/lib/librosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libvisualization_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libvisualization_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libvisualization_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libvisualization_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libvisualization_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libvisualization_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libvisualization_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libvisualization_msgs__rosidl_generator_py.so /usr/lib/x86_64-linux-gnu/libpython3.10.so /opt/ros/humble/lib/libvisualization_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libsensor_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libmap_msgs__rosidl_generator_c.so /home/user/nav2_ws/install/nav2_msgs/lib/libnav2_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libnav_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libbond__rosidl_generator_c.so /opt/ros/humble/lib/liblifecycle_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/liblifecycle_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libstd_srvs__rosidl_generator_c.so /opt/ros/humble/lib/libmessage_filters.so /opt/ros/humble/lib/librclcpp_action.so /opt/ros/humble/lib/librclcpp.so /opt/ros/humble/lib/liblibstatistics_collector.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_generator_py.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_generator_c.so /opt/ros/humble/lib/librcl_action.so /opt/ros/humble/lib/librcl.so /opt/ros/humble/lib/librmw_implementation.so /opt/ros/humble/lib/libament_index_cpp.so /opt/ros/humble/lib/librcl_logging_spdlog.so /opt/ros/humble/lib/librcl_logging_interface.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_cpp.so /opt/ros/humble/lib/librcl_interfaces__rosidl_generator_py.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_c.so /opt/ros/humble/lib/librcl_interfaces__rosidl_generator_c.so /opt/ros/humble/lib/librcl_yaml_param_parser.so /opt/ros/humble/lib/libyaml.so /opt/ros/humble/lib/libtracetools.so /opt/ros/humble/lib/libtf2.so /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.1.0 /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libaction_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libtf2_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libtf2_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libaction_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_cpp.so /opt/ros/humble/lib/librosidl_typesupport_cpp.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/librosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/librosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libfastcdr.so.1.0.24 /opt/ros/humble/lib/librmw.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/librosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/librosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libvisualization_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libsensor_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libsensor_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libgeometry_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libstd_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libstd_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libstd_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_generator_py.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_c.so /opt/ros/humble/lib/librosidl_typesupport_c.so /opt/ros/humble/lib/librcpputils.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_generator_c.so /opt/ros/humble/lib/librosidl_runtime_c.so /opt/ros/humble/lib/librcutils.so -ldl /usr/lib/x86_64-linux-gnu/libpython3.10.so 
+/usr/bin/c++ -fPIC -shared -Wl,-soname,libnav2_free_costmap_plugin_core.so -o libnav2_free_costmap_plugin_core.so CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o  -Wl,-rpath,/opt/ros/humble/lib: /opt/ros/humble/lib/liblayers.so /opt/ros/humble/lib/libfilters.so /opt/ros/humble/lib/libnav2_costmap_2d_core.so /opt/ros/humble/lib/libnav2_costmap_2d_client.so /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.1.0 /opt/ros/humble/lib/liblaser_geometry.so /opt/ros/humble/lib/libmap_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libmap_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libmap_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libmap_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libmap_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libmap_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libmap_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libmap_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libmap_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libmessage_filters.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libunique_identifier_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libnav2_util_core.so /opt/ros/humble/lib/libnav2_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libnav_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libnav2_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libnav2_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libnav_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libtf2_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libtf2_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libtf2_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libtf2_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libtf2_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libtf2_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libtf2_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libtf2_msgs__rosidl_generator_py.so /opt/ros/humble/lib/librclcpp_action.so /opt/ros/humble/lib/librcl.so /opt/ros/humble/lib/libtracetools.so /opt/ros/humble/lib/librcl_lifecycle.so /opt/ros/humble/lib/liblifecycle_msgs__rosidl_generator_c.so /opt/ros/humble/lib/liblifecycle_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/liblifecycle_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/liblifecycle_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/liblifecycle_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/liblifecycle_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/liblifecycle_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/liblifecycle_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libbondcpp.so /opt/ros/humble/lib/libbond__rosidl_generator_c.so /opt/ros/humble/lib/libbond__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libbond__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libbond__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libbond__rosidl_typesupport_c.so /opt/ros/humble/lib/libbond__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libbond__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libbond__rosidl_generator_py.so /opt/ros/humble/lib/libbond__rosidl_typesupport_c.so /opt/ros/humble/lib/libaction_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libaction_msgs__rosidl_typesupport_c.so 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diff --git a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o b/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o
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diff --git a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o.d b/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o.d
index aff5591..45a8674 100644
--- a/build/nav2_free_costmap_plugin/CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o.d
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- /home/user/nav2_ws/install/nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp \
+ /opt/ros/humble/include/nav2_costmap_2d/layer.hpp \
  /opt/ros/humble/include/tf2_ros/tf2_ros/buffer.h \
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- /home/user/nav2_ws/install/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp \
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- /home/user/nav2_ws/install/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.hpp \
- /home/user/nav2_ws/install/nav2_util/include/nav2_util/lifecycle_node.hpp \
- /home/user/nav2_ws/install/nav2_util/include/nav2_util/node_thread.hpp \
+ /opt/ros/humble/include/nav2_costmap_2d/layered_costmap.hpp \
+ /opt/ros/humble/include/nav2_costmap_2d/cost_values.hpp \
+ /opt/ros/humble/include/nav2_util/lifecycle_node.hpp \
+ /opt/ros/humble/include/nav2_util/node_thread.hpp \
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-/opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:
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-/opt/ros/humble/include/rclcpp/rclcpp/node_interfaces/node_base_interface.hpp:
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-
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-
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-
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-
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-
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-
-/opt/ros/humble/include/rclcpp/rclcpp/clock.hpp:
-
-/opt/ros/humble/include/rclcpp/rclcpp/experimental/subscription_intra_process_buffer.hpp:
-
-/opt/ros/humble/include/rclcpp/rclcpp/experimental/create_intra_process_buffer.hpp:
-
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-
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-
-/opt/ros/humble/include/rclcpp/rclcpp/detail/resolve_use_intra_process.hpp:
-
-/opt/ros/humble/include/builtin_interfaces/builtin_interfaces/msg/detail/time__builder.hpp:
-
-/opt/ros/humble/include/rclcpp/rclcpp/intra_process_setting.hpp:
-
-/opt/ros/humble/include/rclcpp/rclcpp/generic_publisher.hpp:
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-/usr/include/c++/11/thread:
-
-/opt/ros/humble/include/rclcpp/rclcpp/message_memory_strategy.hpp:
-
-/opt/ros/humble/include/rclcpp/rclcpp/detail/rmw_implementation_specific_payload.hpp:
-
-/opt/ros/humble/include/rcl_interfaces/rcl_interfaces/msg/detail/set_parameters_result__builder.hpp:
-
-/opt/ros/humble/include/rcl_interfaces/rcl_interfaces/msg/detail/parameter_value__struct.hpp:
-
-/opt/ros/humble/include/rmw/rmw/qos_profiles.h:
-
-/opt/ros/humble/include/libstatistics_collector/libstatistics_collector/collector/generate_statistics_message.hpp:
-
-/opt/ros/humble/include/statistics_msgs/statistics_msgs/msg/detail/metrics_message__struct.hpp:
-
-/opt/ros/humble/include/statistics_msgs/statistics_msgs/msg/detail/metrics_message__traits.hpp:
-
-/opt/ros/humble/include/rmw/rmw/time.h:
-
-/opt/ros/humble/include/statistics_msgs/statistics_msgs/msg/detail/statistic_data_point__traits.hpp:
-
-/usr/include/x86_64-linux-gnu/bits/flt-eval-method.h:
-
-/usr/include/x86_64-linux-gnu/bits/fp-logb.h:
-
-/usr/include/x86_64-linux-gnu/bits/mathcalls-helper-functions.h:
-
-/usr/include/x86_64-linux-gnu/bits/endian.h:
-
-/usr/include/x86_64-linux-gnu/bits/mathcalls.h:
-
-/usr/include/c++/11/bits/specfun.h:
-
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-
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-
-/opt/ros/humble/include/rcl/rcl/error_handling.h:
-
-/usr/include/c++/11/tr1/exp_integral.tcc:
-
-/usr/include/c++/11/tr1/modified_bessel_func.tcc:
-
-/opt/ros/humble/include/rclcpp/rclcpp/typesupport_helpers.hpp:
-
-/usr/include/c++/11/tr1/poly_hermite.tcc:
-
-/opt/ros/humble/include/builtin_interfaces/builtin_interfaces/msg/time.hpp:
-
-/usr/include/c++/11/tr1/riemann_zeta.tcc:
-
-/opt/ros/humble/include/libstatistics_collector/libstatistics_collector/collector/metric_details_interface.hpp:
-
-/opt/ros/humble/include/libstatistics_collector/libstatistics_collector/topic_statistics_collector/constants.hpp:
-
-/opt/ros/humble/include/std_msgs/std_msgs/msg/string.hpp:
-
-/opt/ros/humble/include/rmw/rmw/ret_types.h:
-
-/opt/ros/humble/include/libstatistics_collector/libstatistics_collector/moving_average_statistics/moving_average.hpp:
-
-/opt/ros/humble/include/builtin_interfaces/builtin_interfaces/msg/detail/duration__traits.hpp:
-
-/usr/include/c++/11/numeric:
-
-/usr/include/linux/close_range.h:
-
-/usr/include/c++/11/bits/stl_numeric.h:
+# Empty compiler generated dependencies file for talker.
+# This may be replaced when dependencies are built.
diff --git a/build/nav2_free_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin b/build/nav2_free_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
index e6110c0..6350bc1 100644
--- a/build/nav2_free_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
+++ b/build/nav2_free_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
@@ -1 +1 @@
-/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_simple_commander:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/opt/ros/humble
\ No newline at end of file
+/opt/ros/humble
\ No newline at end of file
diff --git a/build/nav2_free_costmap_plugin/cmake_install.cmake b/build/nav2_free_costmap_plugin/cmake_install.cmake
index 595e56a..7702315 100644
--- a/build/nav2_free_costmap_plugin/cmake_install.cmake
+++ b/build/nav2_free_costmap_plugin/cmake_install.cmake
@@ -54,7 +54,7 @@ if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_
      NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_free_costmap_plugin_core.so")
     file(RPATH_CHANGE
          FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_free_costmap_plugin_core.so"
-         OLD_RPATH "/home/user/nav2_ws/install/nav2_costmap_2d/lib:/home/user/nav2_ws/install/nav2_util/lib:/home/user/nav2_ws/install/nav2_msgs/lib:/home/user/nav2_ws/install/nav2_voxel_grid/lib:/opt/ros/humble/lib:"
+         OLD_RPATH "/opt/ros/humble/lib:"
          NEW_RPATH "")
     if(CMAKE_INSTALL_DO_STRIP)
       execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_free_costmap_plugin_core.so")
diff --git a/build/nav2_free_costmap_plugin/colcon_build.rc b/build/nav2_free_costmap_plugin/colcon_build.rc
index 573541a..0cfbf08 100644
--- a/build/nav2_free_costmap_plugin/colcon_build.rc
+++ b/build/nav2_free_costmap_plugin/colcon_build.rc
@@ -1 +1 @@
-0
+2
diff --git a/build/nav2_free_costmap_plugin/colcon_command_prefix_build.sh.env b/build/nav2_free_costmap_plugin/colcon_command_prefix_build.sh.env
index 5a79c4a..a856f23 100644
--- a/build/nav2_free_costmap_plugin/colcon_command_prefix_build.sh.env
+++ b/build/nav2_free_costmap_plugin/colcon_command_prefix_build.sh.env
@@ -1,7 +1,7 @@
-AMENT_PREFIX_PATH=/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_simple_commander:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/opt/ros/humble
-CMAKE_PREFIX_PATH=/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
+AMENT_PREFIX_PATH=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/opt/ros/humble
+CMAKE_PREFIX_PATH=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
 COLCON=1
-COLCON_PREFIX_PATH=/home/user/work/nav2_plugin/install:/home/user/nav2_ws/install:/home/user/work/navigation2_tutorials/install
+COLCON_PREFIX_PATH=/home/user/work/nav2_plugin/install
 COLORTERM=truecolor
 DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
 DESKTOP_SESSION=ubuntu
@@ -11,8 +11,8 @@ GDMSESSION=ubuntu
 GNOME_DESKTOP_SESSION_ID=this-is-deprecated
 GNOME_SETUP_DISPLAY=:1
 GNOME_SHELL_SESSION_MODE=ubuntu
-GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/e4820334_c59c_468e_a7c2_ab49434aa518
-GNOME_TERMINAL_SERVICE=:1.1224
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/310a9b8e_4cf9_4516_ac7f_5422a58fb732
+GNOME_TERMINAL_SERVICE=:1.3484
 GTK_MODULES=gail:atk-bridge
 HOME=/home/user
 IM_CONFIG_PHASE=1
@@ -28,15 +28,14 @@ LC_NUMERIC=zh_CN.UTF-8
 LC_PAPER=zh_CN.UTF-8
 LC_TELEPHONE=zh_CN.UTF-8
 LC_TIME=zh_CN.UTF-8
-LD_LIBRARY_PATH=/home/user/work/navigation2_tutorials/install/nav2_straightline_planner/lib:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior/lib:/home/user/nav2_ws/install/nav2_smoother/lib:/home/user/nav2_ws/install/nav2_controller/lib:/home/user/nav2_ws/install/dwb_plugins/lib:/home/user/nav2_ws/install/dwb_critics/lib:/home/user/nav2_ws/install/dwb_core/lib:/home/user/nav2_ws/install/nav_2d_utils/lib:/home/user/nav2_ws/install/dwb_msgs/lib:/home/user/nav2_ws/install/nav_2d_msgs/lib:/home/user/nav2_ws/install/nav2_waypoint_follower/lib:/home/user/nav2_ws/install/nav2_theta_star_planner/lib:/home/user/nav2_ws/install/nav2_smac_planner/lib:/home/user/nav2_ws/install/nav2_rotation_shim_controller/lib:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller/lib:/home/user/nav2_ws/install/nav2_planner/lib:/home/user/nav2_ws/install/nav2_navfn_planner/lib:/home/user/nav2_ws/install/nav2_mppi_controller/lib:/home/user/nav2_ws/install/nav2_constrained_smoother/lib:/home/user/nav2_ws/install/nav2_bt_navigator/lib:/home/user/nav2_ws/install/nav2_behaviors/lib:/home/user/nav2_ws/install/nav2_collision_monitor/lib:/home/user/nav2_ws/install/costmap_queue/lib:/home/user/nav2_ws/install/nav2_costmap_2d/lib:/home/user/nav2_ws/install/nav2_voxel_grid/lib:/home/user/nav2_ws/install/nav2_velocity_smoother/lib:/home/user/nav2_ws/install/nav2_rviz_plugins/lib:/home/user/nav2_ws/install/nav2_map_server/lib:/home/user/nav2_ws/install/nav2_lifecycle_manager/lib:/home/user/nav2_ws/install/nav2_behavior_tree/lib:/home/user/nav2_ws/install/nav2_amcl/lib:/home/user/nav2_ws/install/nav2_util/lib:/home/user/nav2_ws/install/nav2_msgs/lib:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin/lib:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LD_LIBRARY_PATH=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
 LESSCLOSE=/usr/bin/lesspipe %s %s
 LESSOPEN=| /usr/bin/lesspipe %s
 LOGNAME=user
 LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
-OLDPWD=/home/user
 PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
 PWD=/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-PYTHONPATH=/home/user/work/navigation2_tutorials/install/nav2_sms_behavior/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/dwb_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/nav_2d_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/build/nav2_simple_commander:/home/user/nav2_ws/install/nav2_simple_commander/lib/python3.10/site-packages:/home/user/nav2_ws/install/nav2_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/nav2_common/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
 QT_ACCESSIBILITY=1
 QT_IM_MODULE=ibus
 ROS_DISTRO=humble
@@ -48,7 +47,7 @@ SHELL=/bin/bash
 SHLVL=1
 SSH_AGENT_LAUNCHER=gnome-keyring
 SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
-SYSTEMD_EXEC_PID=2033
+SYSTEMD_EXEC_PID=29583
 TERM=xterm-256color
 TURTLEBOT3_MODEL=waffle
 USER=user
diff --git a/build/nav2_free_costmap_plugin/libnav2_free_costmap_plugin_core.so b/build/nav2_free_costmap_plugin/libnav2_free_costmap_plugin_core.so
index b949f1a..1379878 100755
Binary files a/build/nav2_free_costmap_plugin/libnav2_free_costmap_plugin_core.so and b/build/nav2_free_costmap_plugin/libnav2_free_costmap_plugin_core.so differ
diff --git a/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so b/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so
index ba1dd53..a839a3a 100644
Binary files a/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so and b/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so differ
diff --git a/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin b/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
index e6110c0..6350bc1 100644
--- a/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
+++ b/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
@@ -1 +1 @@
-/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_simple_commander:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/opt/ros/humble
\ No newline at end of file
+/opt/ros/humble
\ No newline at end of file
diff --git a/install/setup.bash b/install/setup.bash
index 7679505..4c55244 100644
--- a/install/setup.bash
+++ b/install/setup.bash
@@ -21,12 +21,6 @@ _colcon_prefix_chain_bash_source_script() {
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
 COLCON_CURRENT_PREFIX="/opt/ros/humble"
 _colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/home/user/work/navigation2_tutorials/install"
-_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/home/user/nav2_ws/install"
-_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
 
 # source this prefix
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
diff --git a/install/setup.ps1 b/install/setup.ps1
index f5f924b..558e9b9 100644
--- a/install/setup.ps1
+++ b/install/setup.ps1
@@ -23,8 +23,6 @@ function _colcon_prefix_chain_powershell_source_script {
 
 # source chained prefixes
 _colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
-_colcon_prefix_chain_powershell_source_script "/home/user/work/navigation2_tutorials/install\local_setup.ps1"
-_colcon_prefix_chain_powershell_source_script "/home/user/nav2_ws/install\local_setup.ps1"
 
 # source this prefix
 $env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
diff --git a/install/setup.sh b/install/setup.sh
index 9bef2ac..5aa6fcc 100644
--- a/install/setup.sh
+++ b/install/setup.sh
@@ -34,14 +34,6 @@ _colcon_prefix_chain_sh_source_script() {
 COLCON_CURRENT_PREFIX="/opt/ros/humble"
 _colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
 
-# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
-COLCON_CURRENT_PREFIX="/home/user/work/navigation2_tutorials/install"
-_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
-
-# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
-COLCON_CURRENT_PREFIX="/home/user/nav2_ws/install"
-_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
-
 
 # source this prefix
 # setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
diff --git a/install/setup.zsh b/install/setup.zsh
index 59b2b1a..990d171 100644
--- a/install/setup.zsh
+++ b/install/setup.zsh
@@ -21,12 +21,6 @@ _colcon_prefix_chain_zsh_source_script() {
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
 COLCON_CURRENT_PREFIX="/opt/ros/humble"
 _colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/home/user/work/navigation2_tutorials/install"
-_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
-# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
-COLCON_CURRENT_PREFIX="/home/user/nav2_ws/install"
-_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
 
 # source this prefix
 # setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
diff --git a/log/build_2023-04-13_09-59-47/events.log b/log/build_2023-04-13_09-59-47/events.log
deleted file mode 100644
index 5c00f2d..0000000
--- a/log/build_2023-04-13_09-59-47/events.log
+++ /dev/null
@@ -1,155 +0,0 @@
-[0.000000] (-) TimerEvent: {}
-[0.000628] (nav2_free_costmap_plugin) JobQueued: {'identifier': 'nav2_free_costmap_plugin', 'dependencies': OrderedDict()}
-[0.000653] (nav2_free_costmap_plugin) JobStarted: {'identifier': 'nav2_free_costmap_plugin'}
-[0.008515] (nav2_free_costmap_plugin) JobProgress: {'identifier': 'nav2_free_costmap_plugin', 'progress': 'cmake'}
-[0.008672] (nav2_free_costmap_plugin) Command: {'cmd': ['/usr/bin/cmake', '/home/user/work/nav2_plugin/src', '-DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin'], 'cwd': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('LANGUAGE', 'en_US:'), ('USER', 'user'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/home/user/work/navigation2_tutorials/install/nav2_straightline_planner/lib:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior/lib:/home/user/nav2_ws/install/nav2_smoother/lib:/home/user/nav2_ws/install/nav2_controller/lib:/home/user/nav2_ws/install/dwb_plugins/lib:/home/user/nav2_ws/install/dwb_critics/lib:/home/user/nav2_ws/install/dwb_core/lib:/home/user/nav2_ws/install/nav_2d_utils/lib:/home/user/nav2_ws/install/dwb_msgs/lib:/home/user/nav2_ws/install/nav_2d_msgs/lib:/home/user/nav2_ws/install/nav2_waypoint_follower/lib:/home/user/nav2_ws/install/nav2_theta_star_planner/lib:/home/user/nav2_ws/install/nav2_smac_planner/lib:/home/user/nav2_ws/install/nav2_rotation_shim_controller/lib:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller/lib:/home/user/nav2_ws/install/nav2_planner/lib:/home/user/nav2_ws/install/nav2_navfn_planner/lib:/home/user/nav2_ws/install/nav2_mppi_controller/lib:/home/user/nav2_ws/install/nav2_constrained_smoother/lib:/home/user/nav2_ws/install/nav2_bt_navigator/lib:/home/user/nav2_ws/install/nav2_behaviors/lib:/home/user/nav2_ws/install/nav2_collision_monitor/lib:/home/user/nav2_ws/install/costmap_queue/lib:/home/user/nav2_ws/install/nav2_costmap_2d/lib:/home/user/nav2_ws/install/nav2_voxel_grid/lib:/home/user/nav2_ws/install/nav2_velocity_smoother/lib:/home/user/nav2_ws/install/nav2_rviz_plugins/lib:/home/user/nav2_ws/install/nav2_map_server/lib:/home/user/nav2_ws/install/nav2_lifecycle_manager/lib:/home/user/nav2_ws/install/nav2_behavior_tree/lib:/home/user/nav2_ws/install/nav2_amcl/lib:/home/user/nav2_ws/install/nav2_util/lib:/home/user/nav2_ws/install/nav2_msgs/lib:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin/lib:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/user'), ('OLDPWD', '/home/user'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('SYSTEMD_EXEC_PID', '2033'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('WAYLAND_DISPLAY', 'wayland-0'), ('COLCON_PREFIX_PATH', '/home/user/work/nav2_plugin/install:/home/user/nav2_ws/install:/home/user/work/navigation2_tutorials/install'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'user'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'user'), ('TERM', 'xterm-256color'), ('GAZEBO_MODEL_PATH', ':/opt/ros/humble/share/turtlebot3_gazebo/models'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('PATH', '/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin'), ('SESSION_MANAGER', 'local/ubuntu22:@/tmp/.ICE-unix/2005,unix/ubuntu22:/tmp/.ICE-unix/2005'), ('XDG_MENU_PREFIX', 'gnome-'), ('LC_ADDRESS', 'zh_CN.UTF-8'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/e4820334_c59c_468e_a7c2_ab49434aa518'), ('GNOME_SETUP_DISPLAY', ':1'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/.mutter-Xwaylandauth.7T0I31'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('GNOME_TERMINAL_SERVICE', ':1.1224'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('AMENT_PREFIX_PATH', '/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_simple_commander:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/opt/ros/humble'), ('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin'), ('TURTLEBOT3_MODEL', 'waffle'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/home/user/work/navigation2_tutorials/install/nav2_sms_behavior/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/dwb_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/nav_2d_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/build/nav2_simple_commander:/home/user/nav2_ws/install/nav2_simple_commander/lib/python3.10/site-packages:/home/user/nav2_ws/install/nav2_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/nav2_common/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble')]), 'shell': False}
-[0.042948] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- The C compiler identification is GNU 11.3.0\n'}
-[0.071646] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- The CXX compiler identification is GNU 11.3.0\n'}
-[0.075459] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'}
-[0.100126] (-) TimerEvent: {}
-[0.114319] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'}
-[0.117887] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Check for working C compiler: /usr/bin/cc - skipped\n'}
-[0.118032] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compile features\n'}
-[0.118237] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
-[0.119690] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'}
-[0.165165] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
-[0.168552] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ - skipped\n'}
-[0.168722] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
-[0.168986] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
-[0.171791] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)\n'}
-[0.200417] (-) TimerEvent: {}
-[0.260904] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter \n'}
-[0.300686] (-) TimerEvent: {}
-[0.326596] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)\n'}
-[0.364061] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)\n'}
-[0.369287] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)\n'}
-[0.376230] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)\n'}
-[0.386520] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
-[0.400997] (-) TimerEvent: {}
-[0.401158] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
-[0.449061] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)\n'}
-[0.452217] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)\n'}
-[0.501494] (-) TimerEvent: {}
-[0.512173] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  \n'}
-[0.528230] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found FastRTPS: /opt/ros/humble/include  \n'}
-[0.555354] (nav2_free_costmap_plugin) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"}
-[0.564576] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Looking for pthread.h\n'}
-[0.601827] (-) TimerEvent: {}
-[0.603926] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Looking for pthread.h - found\n'}
-[0.604220] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD\n'}
-[0.640574] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success\n'}
-[0.641161] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found Threads: TRUE  \n'}
-[0.702178] (-) TimerEvent: {}
-[0.722510] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found nav2_costmap_2d: 1.1.6 (/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake)\n'}
-[0.802526] (-) TimerEvent: {}
-[0.902877] (-) TimerEvent: {}
-[1.003226] (-) TimerEvent: {}
-[1.103564] (-) TimerEvent: {}
-[1.203936] (-) TimerEvent: {}
-[1.232602] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found Eigen3: TRUE (found version "3.4.0") \n'}
-[1.232729] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target\n'}
-[1.304220] (-) TimerEvent: {}
-[1.404586] (-) TimerEvent: {}
-[1.504926] (-) TimerEvent: {}
-[1.605290] (-) TimerEvent: {}
-[1.705625] (-) TimerEvent: {}
-[1.805966] (-) TimerEvent: {}
-[1.906281] (-) TimerEvent: {}
-[1.971524] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Configuring done\n'}
-[1.988787] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Generating done\n'}
-[1.989825] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Build files have been written to: /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin\n'}
-[1.997152] (nav2_free_costmap_plugin) CommandEnded: {'returncode': 0}
-[1.997539] (nav2_free_costmap_plugin) JobProgress: {'identifier': 'nav2_free_costmap_plugin', 'progress': 'build'}
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-[7.763057] (nav2_free_costmap_plugin) Command: {'cmd': ['/usr/bin/cmake', '--install', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin'], 'cwd': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('LANGUAGE', 'en_US:'), ('USER', 'user'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', 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'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('GNOME_TERMINAL_SERVICE', ':1.1224'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('AMENT_PREFIX_PATH', '/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_simple_commander:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/opt/ros/humble'), ('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin'), ('TURTLEBOT3_MODEL', 'waffle'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/home/user/work/navigation2_tutorials/install/nav2_sms_behavior/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/dwb_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/nav_2d_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/build/nav2_simple_commander:/home/user/nav2_ws/install/nav2_simple_commander/lib/python3.10/site-packages:/home/user/nav2_ws/install/nav2_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/nav2_common/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble')]), 'shell': False}
-[7.767285] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Install configuration: ""\n'}
-[7.767408] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so\n'}
-[7.771186] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so" to ""\n'}
-[7.771302] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/nav2_free_costmap_plugin/talker\n'}
-[7.771876] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/nav2_free_costmap_plugin/talker" to ""\n'}
-[7.771987] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/free_layer.xml\n'}
-[7.772068] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_free_costmap_plugin\n'}
-[7.772151] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin\n'}
-[7.772264] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.sh\n'}
-[7.772303] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.dsv\n'}
-[7.772364] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.sh\n'}
-[7.772454] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.dsv\n'}
-[7.772534] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.bash\n'}
-[7.772606] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.sh\n'}
-[7.772694] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.zsh\n'}
-[7.772721] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.dsv\n'}
-[7.772783] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv\n'}
-[7.772811] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/packages/nav2_free_costmap_plugin\n'}
-[7.772891] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_free_costmap_plugin\n'}
-[7.772944] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig.cmake\n'}
-[7.773018] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig-version.cmake\n'}
-[7.773055] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.xml\n'}
-[7.773898] (nav2_free_costmap_plugin) CommandEnded: {'returncode': 0}
-[7.809130] (nav2_free_costmap_plugin) JobEnded: {'identifier': 'nav2_free_costmap_plugin', 'rc': 0}
-[7.809575] (-) EventReactorShutdown: {}
diff --git a/log/build_2023-04-13_09-59-47/logger_all.log b/log/build_2023-04-13_09-59-47/logger_all.log
deleted file mode 100644
index 6f67fef..0000000
--- a/log/build_2023-04-13_09-59-47/logger_all.log
+++ /dev/null
@@ -1,141 +0,0 @@
-[0.137s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
-[0.137s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7f882dbd8580>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7f882e51eb90>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7f882e51eb90>>)
-[0.153s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
-[0.153s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
-[0.153s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
-[0.153s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
-[0.153s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
-[0.153s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
-[0.153s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/user/work/nav2_plugin'
-[0.154s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
-[0.154s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
-[0.154s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
-[0.154s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
-[0.154s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
-[0.154s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
-[0.154s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
-[0.154s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
-[0.154s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
-[0.159s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
-[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
-[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
-[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
-[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
-[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
-[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
-[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
-[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
-[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
-[0.161s] DEBUG:colcon.colcon_core.package_identification:Package 'src' with type 'ros.ament_cmake' and name 'nav2_free_costmap_plugin'
-[0.161s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
-[0.161s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
-[0.161s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
-[0.161s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
-[0.161s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
-[0.171s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
-[0.172s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
-[0.173s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' in the environment variable AMENT_PREFIX_PATH doesn't exist
-[0.173s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' in the environment variable CMAKE_PREFIX_PATH doesn't exist
-[0.173s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 0 installed packages in /home/user/work/nav2_plugin/install
-[0.174s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 38 installed packages in /home/user/nav2_ws/install
-[0.175s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 5 installed packages in /home/user/work/navigation2_tutorials/install
-[0.176s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 341 installed packages in /opt/ros/humble
-[0.177s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
-[0.206s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_args' from command line to 'None'
-[0.206s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_target' from command line to 'None'
-[0.206s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_target_skip_unavailable' from command line to 'False'
-[0.206s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_clean_cache' from command line to 'False'
-[0.206s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_clean_first' from command line to 'False'
-[0.206s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_force_configure' from command line to 'False'
-[0.206s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'ament_cmake_args' from command line to 'None'
-[0.206s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'catkin_cmake_args' from command line to 'None'
-[0.206s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'catkin_skip_building_tests' from command line to 'False'
-[0.206s] DEBUG:colcon.colcon_core.verb:Building package 'nav2_free_costmap_plugin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin', 'merge_install': False, 'path': '/home/user/work/nav2_plugin/src', 'symlink_install': False, 'test_result_base': None}
-[0.206s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
-[0.208s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
-[0.208s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/user/work/nav2_plugin/src' with build type 'ament_cmake'
-[0.208s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/user/work/nav2_plugin/src'
-[0.210s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
-[0.210s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
-[0.210s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
-[0.218s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
-[2.205s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
-[2.206s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-[7.947s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-[7.971s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-[7.981s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_free_costmap_plugin)
-[7.981s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-[7.984s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake module files
-[7.984s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake config files
-[7.984s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'cmake_prefix_path')
-[7.985s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.ps1'
-[7.985s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.dsv'
-[7.985s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.sh'
-[7.986s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib'
-[7.986s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'ld_library_path_lib')
-[7.986s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.ps1'
-[7.987s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.dsv'
-[7.987s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.sh'
-[7.987s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
-[7.987s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/pkgconfig/nav2_free_costmap_plugin.pc'
-[7.987s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/python3.10/site-packages'
-[7.987s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
-[7.987s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.ps1'
-[7.988s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv'
-[7.988s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.sh'
-[7.988s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.bash'
-[7.989s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.zsh'
-[7.989s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/colcon-core/packages/nav2_free_costmap_plugin)
-[8.010s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_free_costmap_plugin)
-[8.011s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake module files
-[8.011s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake config files
-[8.012s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'cmake_prefix_path')
-[8.012s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.ps1'
-[8.013s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.dsv'
-[8.013s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.sh'
-[8.013s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib'
-[8.013s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'ld_library_path_lib')
-[8.014s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.ps1'
-[8.014s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.dsv'
-[8.014s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.sh'
-[8.014s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
-[8.014s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/pkgconfig/nav2_free_costmap_plugin.pc'
-[8.014s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/python3.10/site-packages'
-[8.014s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
-[8.015s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.ps1'
-[8.015s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv'
-[8.016s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.sh'
-[8.016s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.bash'
-[8.016s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.zsh'
-[8.016s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/colcon-core/packages/nav2_free_costmap_plugin)
-[8.016s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
-[8.017s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
-[8.017s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
-[8.017s] DEBUG:colcon.colcon_core.event_reactor:joining thread
-[8.020s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
-[8.020s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
-[8.020s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
-[8.026s] DEBUG:colcon.colcon_core.event_reactor:joined thread
-[8.026s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.ps1'
-[8.027s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_ps1.py'
-[8.027s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.ps1'
-[8.029s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.sh'
-[8.029s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_sh.py'
-[8.029s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.sh'
-[8.030s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.bash'
-[8.030s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.bash'
-[8.031s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.zsh'
-[8.032s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.zsh'
diff --git a/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/command.log b/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/command.log
deleted file mode 100644
index 8fba381..0000000
--- a/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/command.log
+++ /dev/null
@@ -1,6 +0,0 @@
-Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
-Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
-Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
diff --git a/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/stderr.log b/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/stderr.log
deleted file mode 100644
index e69de29..0000000
diff --git a/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/streams.log b/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/streams.log
deleted file mode 100644
index 95022a6..0000000
--- a/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/streams.log
+++ /dev/null
@@ -1,70 +0,0 @@
-[0.010s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
-[0.042s] -- The C compiler identification is GNU 11.3.0
-[0.071s] -- The CXX compiler identification is GNU 11.3.0
-[0.075s] -- Detecting C compiler ABI info
-[0.114s] -- Detecting C compiler ABI info - done
-[0.117s] -- Check for working C compiler: /usr/bin/cc - skipped
-[0.117s] -- Detecting C compile features
-[0.118s] -- Detecting C compile features - done
-[0.119s] -- Detecting CXX compiler ABI info
-[0.165s] -- Detecting CXX compiler ABI info - done
-[0.168s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
-[0.168s] -- Detecting CXX compile features
-[0.168s] -- Detecting CXX compile features - done
-[0.171s] -- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)
-[0.260s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter 
-[0.326s] -- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)
-[0.364s] -- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)
-[0.369s] -- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)
-[0.376s] -- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
-[0.386s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-[0.401s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-[0.448s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
-[0.452s] -- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
-[0.512s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
-[0.528s] -- Found FastRTPS: /opt/ros/humble/include  
-[0.555s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
-[0.564s] -- Looking for pthread.h
-[0.603s] -- Looking for pthread.h - found
-[0.604s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-[0.640s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-[0.641s] -- Found Threads: TRUE  
-[0.722s] -- Found nav2_costmap_2d: 1.1.6 (/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake)
-[1.232s] -- Found Eigen3: TRUE (found version "3.4.0") 
-[1.232s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
-[1.971s] -- Configuring done
-[1.988s] -- Generating done
-[1.989s] -- Build files have been written to: /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-[1.997s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
-[1.998s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-[2.027s] [ 25%] Building CXX object CMakeFiles/talker.dir/src/publisher_function.cpp.o
-[2.028s] [ 50%] Building CXX object CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o
-[4.830s] [ 75%] Linking CXX executable talker
-[4.920s] [ 75%] Built target talker
-[7.433s] [100%] Linking CXX shared library libnav2_free_costmap_plugin_core.so
-[7.733s] [100%] Built target nav2_free_costmap_plugin_core
-[7.739s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-[7.763s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-[7.767s] -- Install configuration: ""
-[7.767s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so
-[7.771s] -- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so" to ""
-[7.771s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/nav2_free_costmap_plugin/talker
-[7.771s] -- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/nav2_free_costmap_plugin/talker" to ""
-[7.771s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/free_layer.xml
-[7.771s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_free_costmap_plugin
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.sh
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.dsv
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.sh
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.dsv
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.bash
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.sh
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.zsh
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.dsv
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/packages/nav2_free_costmap_plugin
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_free_costmap_plugin
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig.cmake
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig-version.cmake
-[7.772s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.xml
-[7.773s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
diff --git a/log/build_2023-04-13_10-09-21/events.log b/log/build_2023-04-13_10-09-21/events.log
deleted file mode 100644
index d955843..0000000
--- a/log/build_2023-04-13_10-09-21/events.log
+++ /dev/null
@@ -1,88 +0,0 @@
-[0.000000] (-) TimerEvent: {}
-[0.000326] (nav2_free_costmap_plugin) JobQueued: {'identifier': 'nav2_free_costmap_plugin', 'dependencies': OrderedDict()}
-[0.000353] (nav2_free_costmap_plugin) JobStarted: {'identifier': 'nav2_free_costmap_plugin'}
-[0.008265] (nav2_free_costmap_plugin) JobProgress: {'identifier': 'nav2_free_costmap_plugin', 'progress': 'cmake'}
-[0.008663] (nav2_free_costmap_plugin) JobProgress: {'identifier': 'nav2_free_costmap_plugin', 'progress': 'build'}
-[0.009081] (nav2_free_costmap_plugin) Command: {'cmd': ['/usr/bin/cmake', '--build', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', '--', '-j8', '-l8'], 'cwd': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('LANGUAGE', 'en_US:'), ('USER', 'user'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', 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'shell': False}
-[0.037687] (nav2_free_costmap_plugin) StdoutLine: {'line': b'\x1b[35m\x1b[1mConsolidate compiler generated dependencies of target talker\x1b[0m\n'}
-[0.037844] (nav2_free_costmap_plugin) StdoutLine: {'line': b'\x1b[35m\x1b[1mConsolidate compiler generated dependencies of target nav2_free_costmap_plugin_core\x1b[0m\n'}
-[0.047881] (nav2_free_costmap_plugin) StdoutLine: {'line': b'[ 50%] Built target talker\n'}
-[0.048898] (nav2_free_costmap_plugin) StdoutLine: {'line': b'[ 75%] \x1b[32mBuilding CXX object CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o\x1b[0m\n'}
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-[4.561314] (nav2_free_costmap_plugin) StdoutLine: {'line': b'[100%] \x1b[32m\x1b[1mLinking CXX shared library libnav2_free_costmap_plugin_core.so\x1b[0m\n'}
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-[4.883217] (nav2_free_costmap_plugin) StdoutLine: {'line': b'[100%] Built target nav2_free_costmap_plugin_core\n'}
-[4.888757] (nav2_free_costmap_plugin) CommandEnded: {'returncode': 0}
-[4.906624] (nav2_free_costmap_plugin) JobProgress: {'identifier': 'nav2_free_costmap_plugin', 'progress': 'install'}
-[4.911055] (nav2_free_costmap_plugin) Command: {'cmd': ['/usr/bin/cmake', '--install', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin'], 'cwd': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('LANGUAGE', 'en_US:'), ('USER', 'user'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/home/user/work/navigation2_tutorials/install/nav2_straightline_planner/lib:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior/lib:/home/user/nav2_ws/install/nav2_smoother/lib:/home/user/nav2_ws/install/nav2_controller/lib:/home/user/nav2_ws/install/dwb_plugins/lib:/home/user/nav2_ws/install/dwb_critics/lib:/home/user/nav2_ws/install/dwb_core/lib:/home/user/nav2_ws/install/nav_2d_utils/lib:/home/user/nav2_ws/install/dwb_msgs/lib:/home/user/nav2_ws/install/nav_2d_msgs/lib:/home/user/nav2_ws/install/nav2_waypoint_follower/lib:/home/user/nav2_ws/install/nav2_theta_star_planner/lib:/home/user/nav2_ws/install/nav2_smac_planner/lib:/home/user/nav2_ws/install/nav2_rotation_shim_controller/lib:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller/lib:/home/user/nav2_ws/install/nav2_planner/lib:/home/user/nav2_ws/install/nav2_navfn_planner/lib:/home/user/nav2_ws/install/nav2_mppi_controller/lib:/home/user/nav2_ws/install/nav2_constrained_smoother/lib:/home/user/nav2_ws/install/nav2_bt_navigator/lib:/home/user/nav2_ws/install/nav2_behaviors/lib:/home/user/nav2_ws/install/nav2_collision_monitor/lib:/home/user/nav2_ws/install/costmap_queue/lib:/home/user/nav2_ws/install/nav2_costmap_2d/lib:/home/user/nav2_ws/install/nav2_voxel_grid/lib:/home/user/nav2_ws/install/nav2_velocity_smoother/lib:/home/user/nav2_ws/install/nav2_rviz_plugins/lib:/home/user/nav2_ws/install/nav2_map_server/lib:/home/user/nav2_ws/install/nav2_lifecycle_manager/lib:/home/user/nav2_ws/install/nav2_behavior_tree/lib:/home/user/nav2_ws/install/nav2_amcl/lib:/home/user/nav2_ws/install/nav2_util/lib:/home/user/nav2_ws/install/nav2_msgs/lib:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin/lib:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/user'), ('OLDPWD', '/home/user'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('SYSTEMD_EXEC_PID', '2033'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('WAYLAND_DISPLAY', 'wayland-0'), ('COLCON_PREFIX_PATH', '/home/user/work/nav2_plugin/install:/home/user/nav2_ws/install:/home/user/work/navigation2_tutorials/install'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'user'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'user'), ('TERM', 'xterm-256color'), ('GAZEBO_MODEL_PATH', ':/opt/ros/humble/share/turtlebot3_gazebo/models'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('PATH', '/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin'), ('SESSION_MANAGER', 'local/ubuntu22:@/tmp/.ICE-unix/2005,unix/ubuntu22:/tmp/.ICE-unix/2005'), ('XDG_MENU_PREFIX', 'gnome-'), ('LC_ADDRESS', 'zh_CN.UTF-8'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/e4820334_c59c_468e_a7c2_ab49434aa518'), ('GNOME_SETUP_DISPLAY', ':1'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/.mutter-Xwaylandauth.7T0I31'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('GNOME_TERMINAL_SERVICE', ':1.1224'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('AMENT_PREFIX_PATH', '/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_simple_commander:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/opt/ros/humble'), ('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin'), ('TURTLEBOT3_MODEL', 'waffle'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/home/user/work/navigation2_tutorials/install/nav2_sms_behavior/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/dwb_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/nav_2d_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/build/nav2_simple_commander:/home/user/nav2_ws/install/nav2_simple_commander/lib/python3.10/site-packages:/home/user/nav2_ws/install/nav2_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/nav2_common/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble')]), 'shell': False}
-[4.915364] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Install configuration: ""\n'}
-[4.915697] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so\n'}
-[4.917648] (-) TimerEvent: {}
-[4.919873] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so" to ""\n'}
-[4.920114] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/nav2_free_costmap_plugin/talker\n'}
-[4.920220] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/free_layer.xml\n'}
-[4.920277] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_free_costmap_plugin\n'}
-[4.920322] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin\n'}
-[4.920363] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.sh\n'}
-[4.920402] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.dsv\n'}
-[4.920440] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.sh\n'}
-[4.920479] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.dsv\n'}
-[4.920954] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.bash\n'}
-[4.921002] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.sh\n'}
-[4.921029] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.zsh\n'}
-[4.921052] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.dsv\n'}
-[4.921073] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv\n'}
-[4.921096] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/packages/nav2_free_costmap_plugin\n'}
-[4.921117] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_free_costmap_plugin\n'}
-[4.921150] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig.cmake\n'}
-[4.921178] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig-version.cmake\n'}
-[4.921202] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.xml\n'}
-[4.921618] (nav2_free_costmap_plugin) CommandEnded: {'returncode': 0}
-[4.955801] (nav2_free_costmap_plugin) JobEnded: {'identifier': 'nav2_free_costmap_plugin', 'rc': 0}
-[4.956388] (-) EventReactorShutdown: {}
diff --git a/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/command.log b/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/command.log
deleted file mode 100644
index 157bef5..0000000
--- a/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/command.log
+++ /dev/null
@@ -1,4 +0,0 @@
-Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
diff --git a/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/stderr.log b/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/stderr.log
deleted file mode 100644
index e69de29..0000000
diff --git a/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/stdout.log b/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/stdout.log
deleted file mode 100644
index ab3ee56..0000000
--- a/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/stdout.log
+++ /dev/null
@@ -1,27 +0,0 @@
-Consolidate compiler generated dependencies of target talker
-Consolidate compiler generated dependencies of target nav2_free_costmap_plugin_core
-[ 50%] Built target talker
-[ 75%] Building CXX object CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o
-[100%] Linking CXX shared library libnav2_free_costmap_plugin_core.so
-[100%] Built target nav2_free_costmap_plugin_core
--- Install configuration: ""
--- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so
--- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so" to ""
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/nav2_free_costmap_plugin/talker
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/free_layer.xml
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_free_costmap_plugin
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.sh
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.dsv
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.sh
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.dsv
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.bash
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.sh
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.zsh
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.dsv
--- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/packages/nav2_free_costmap_plugin
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_free_costmap_plugin
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig.cmake
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig-version.cmake
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.xml
diff --git a/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/stdout_stderr.log b/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/stdout_stderr.log
deleted file mode 100644
index ab3ee56..0000000
--- a/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/stdout_stderr.log
+++ /dev/null
@@ -1,27 +0,0 @@
-Consolidate compiler generated dependencies of target talker
-Consolidate compiler generated dependencies of target nav2_free_costmap_plugin_core
-[ 50%] Built target talker
-[ 75%] Building CXX object CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o
-[100%] Linking CXX shared library libnav2_free_costmap_plugin_core.so
-[100%] Built target nav2_free_costmap_plugin_core
--- Install configuration: ""
--- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so
--- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so" to ""
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/nav2_free_costmap_plugin/talker
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/free_layer.xml
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_free_costmap_plugin
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.sh
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.dsv
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.sh
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.dsv
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.bash
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.sh
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.zsh
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.dsv
--- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/packages/nav2_free_costmap_plugin
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_free_costmap_plugin
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig.cmake
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig-version.cmake
--- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.xml
diff --git a/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/streams.log b/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/streams.log
deleted file mode 100644
index 1c41b85..0000000
--- a/log/build_2023-04-13_10-09-21/nav2_free_costmap_plugin/streams.log
+++ /dev/null
@@ -1,31 +0,0 @@
-[0.010s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-[0.037s] Consolidate compiler generated dependencies of target talker
-[0.038s] Consolidate compiler generated dependencies of target nav2_free_costmap_plugin_core
-[0.048s] [ 50%] Built target talker
-[0.049s] [ 75%] Building CXX object CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o
-[4.561s] [100%] Linking CXX shared library libnav2_free_costmap_plugin_core.so
-[4.883s] [100%] Built target nav2_free_costmap_plugin_core
-[4.889s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-[4.911s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-[4.915s] -- Install configuration: ""
-[4.915s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so
-[4.920s] -- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so" to ""
-[4.920s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/nav2_free_costmap_plugin/talker
-[4.920s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/free_layer.xml
-[4.920s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_free_costmap_plugin
-[4.920s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
-[4.920s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.sh
-[4.920s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.dsv
-[4.920s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.sh
-[4.920s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.dsv
-[4.921s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.bash
-[4.921s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.sh
-[4.921s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.zsh
-[4.921s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.dsv
-[4.921s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv
-[4.921s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/packages/nav2_free_costmap_plugin
-[4.921s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_free_costmap_plugin
-[4.921s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig.cmake
-[4.921s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig-version.cmake
-[4.921s] -- Up-to-date: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.xml
-[4.921s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
diff --git a/log/build_2023-04-13_11-01-54/events.log b/log/build_2023-04-13_11-01-54/events.log
new file mode 100644
index 0000000..7d71c50
--- /dev/null
+++ b/log/build_2023-04-13_11-01-54/events.log
@@ -0,0 +1,149 @@
+[0.000000] (-) TimerEvent: {}
+[0.000218] (nav2_free_costmap_plugin) JobQueued: {'identifier': 'nav2_free_costmap_plugin', 'dependencies': OrderedDict()}
+[0.000713] (nav2_free_costmap_plugin) JobStarted: {'identifier': 'nav2_free_costmap_plugin'}
+[0.005327] (nav2_free_costmap_plugin) JobProgress: {'identifier': 'nav2_free_costmap_plugin', 'progress': 'cmake'}
+[0.005489] (nav2_free_costmap_plugin) Command: {'cmd': ['/usr/bin/cmake', '/home/user/work/nav2_plugin/src', '-DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin'], 'cwd': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('LANGUAGE', 'en_US:'), ('USER', 'user'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/user'), ('OLDPWD', '/home/user/work'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('SYSTEMD_EXEC_PID', '2033'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('WAYLAND_DISPLAY', 'wayland-0'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'user'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'user'), ('TERM', 'xterm-256color'), ('GAZEBO_MODEL_PATH', ':/opt/ros/humble/share/turtlebot3_gazebo/models'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('PATH', '/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin'), ('SESSION_MANAGER', 'local/ubuntu22:@/tmp/.ICE-unix/2005,unix/ubuntu22:/tmp/.ICE-unix/2005'), ('XDG_MENU_PREFIX', 'gnome-'), ('LC_ADDRESS', 'zh_CN.UTF-8'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/6095314b_c0c0_4508_87ca_ce29c220336f'), ('GNOME_SETUP_DISPLAY', ':1'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/.mutter-Xwaylandauth.7T0I31'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('GNOME_TERMINAL_SERVICE', ':1.3484'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('AMENT_PREFIX_PATH', '/opt/ros/humble'), ('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin'), ('TURTLEBOT3_MODEL', 'waffle'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/opt/ros/humble')]), 'shell': False}
+[0.033312] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- The C compiler identification is GNU 11.3.0\n'}
+[0.059647] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- The CXX compiler identification is GNU 11.3.0\n'}
+[0.062910] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'}
+[0.094520] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'}
+[0.097966] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Check for working C compiler: /usr/bin/cc - skipped\n'}
+[0.098118] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compile features\n'}
+[0.098316] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
+[0.099802] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'}
+[0.099847] (-) TimerEvent: {}
+[0.136549] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
+[0.140318] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ - skipped\n'}
+[0.140467] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
+[0.140698] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
+[0.141836] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)\n'}
+[0.200454] (-) TimerEvent: {}
+[0.215790] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter \n'}
+[0.254943] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)\n'}
+[0.274415] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)\n'}
+[0.276549] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)\n'}
+[0.280430] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)\n'}
+[0.286656] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[0.295497] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[0.300745] (-) TimerEvent: {}
+[0.327670] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)\n'}
+[0.328804] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)\n'}
+[0.369978] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  \n'}
+[0.383407] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found FastRTPS: /opt/ros/humble/include  \n'}
+[0.401087] (-) TimerEvent: {}
+[0.404985] (nav2_free_costmap_plugin) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"}
+[0.409261] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Looking for pthread.h\n'}
+[0.442158] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Looking for pthread.h - found\n'}
+[0.442418] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD\n'}
+[0.474389] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success\n'}
+[0.474958] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found Threads: TRUE  \n'}
+[0.501429] (-) TimerEvent: {}
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+[6.745968] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.zsh\n'}
+[6.745991] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.dsv\n'}
+[6.746052] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv\n'}
+[6.746132] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/packages/nav2_free_costmap_plugin\n'}
+[6.746222] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_free_costmap_plugin\n'}
+[6.746262] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig.cmake\n'}
+[6.746284] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig-version.cmake\n'}
+[6.746346] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.xml\n'}
+[6.747031] (nav2_free_costmap_plugin) CommandEnded: {'returncode': 0}
+[6.772401] (nav2_free_costmap_plugin) JobEnded: {'identifier': 'nav2_free_costmap_plugin', 'rc': 0}
+[6.772968] (-) EventReactorShutdown: {}
diff --git a/log/build_2023-04-13_10-09-21/logger_all.log b/log/build_2023-04-13_11-01-54/logger_all.log
similarity index 59%
rename from log/build_2023-04-13_10-09-21/logger_all.log
rename to log/build_2023-04-13_11-01-54/logger_all.log
index 1810d7e..f984246 100644
--- a/log/build_2023-04-13_10-09-21/logger_all.log
+++ b/log/build_2023-04-13_11-01-54/logger_all.log
@@ -1,6 +1,6 @@
-[0.137s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
-[0.137s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7f9c670186a0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7f9c6798dba0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7f9c6798dba0>>)
-[0.151s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.136s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.136s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7f13d18d2050>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7f13d2073dc0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7f13d2073dc0>>)
+[0.152s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
 [0.152s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
 [0.152s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
 [0.152s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
@@ -16,17 +16,17 @@
 [0.152s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
 [0.152s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
 [0.152s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
-[0.157s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.158s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
 [0.158s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
 [0.158s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
 [0.158s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
@@ -41,97 +41,96 @@
 [0.158s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
 [0.159s] DEBUG:colcon.colcon_core.package_identification:Package 'src' with type 'ros.ament_cmake' and name 'nav2_free_costmap_plugin'
 [0.159s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
-[0.159s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
-[0.159s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
-[0.159s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
-[0.159s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.160s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.160s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.160s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.160s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
 [0.170s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
 [0.170s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
-[0.171s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/user/work/nav2_plugin/install
-[0.172s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 38 installed packages in /home/user/nav2_ws/install
-[0.173s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 5 installed packages in /home/user/work/navigation2_tutorials/install
-[0.174s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 341 installed packages in /opt/ros/humble
-[0.175s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
-[0.204s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_args' from command line to 'None'
-[0.204s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_target' from command line to 'None'
-[0.204s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_target_skip_unavailable' from command line to 'False'
-[0.204s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_clean_cache' from command line to 'False'
-[0.204s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_clean_first' from command line to 'False'
-[0.204s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_force_configure' from command line to 'False'
-[0.204s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'ament_cmake_args' from command line to 'None'
-[0.204s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'catkin_cmake_args' from command line to 'None'
-[0.204s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'catkin_skip_building_tests' from command line to 'False'
-[0.204s] DEBUG:colcon.colcon_core.verb:Building package 'nav2_free_costmap_plugin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin', 'merge_install': False, 'path': '/home/user/work/nav2_plugin/src', 'symlink_install': False, 'test_result_base': None}
-[0.205s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
-[0.206s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
-[0.206s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/user/work/nav2_plugin/src' with build type 'ament_cmake'
-[0.206s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/user/work/nav2_plugin/src'
-[0.208s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
-[0.208s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
-[0.208s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
-[0.217s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-[5.095s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
-[5.117s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-[5.128s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_free_costmap_plugin)
-[5.128s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-[5.130s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake module files
-[5.130s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake config files
-[5.130s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'cmake_prefix_path')
-[5.131s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.ps1'
-[5.131s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.dsv'
-[5.132s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.sh'
-[5.132s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib'
-[5.132s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'ld_library_path_lib')
-[5.133s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.ps1'
-[5.133s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.dsv'
-[5.133s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.sh'
-[5.133s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
-[5.133s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/pkgconfig/nav2_free_costmap_plugin.pc'
-[5.133s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/python3.10/site-packages'
-[5.134s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
-[5.134s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.ps1'
-[5.135s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv'
-[5.135s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.sh'
-[5.136s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.bash'
-[5.136s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.zsh'
-[5.136s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/colcon-core/packages/nav2_free_costmap_plugin)
-[5.156s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_free_costmap_plugin)
-[5.157s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake module files
-[5.157s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake config files
-[5.157s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'cmake_prefix_path')
-[5.157s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.ps1'
-[5.158s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.dsv'
-[5.158s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.sh'
-[5.158s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib'
-[5.158s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'ld_library_path_lib')
-[5.159s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.ps1'
-[5.159s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.dsv'
-[5.159s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.sh'
-[5.160s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
-[5.160s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/pkgconfig/nav2_free_costmap_plugin.pc'
-[5.160s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/python3.10/site-packages'
-[5.160s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
-[5.160s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.ps1'
-[5.161s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv'
-[5.161s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.sh'
-[5.161s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.bash'
-[5.161s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.zsh'
-[5.162s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/colcon-core/packages/nav2_free_costmap_plugin)
-[5.162s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
-[5.162s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
-[5.162s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
-[5.162s] DEBUG:colcon.colcon_core.event_reactor:joining thread
-[5.165s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
-[5.165s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
-[5.165s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
-[5.171s] DEBUG:colcon.colcon_core.event_reactor:joined thread
-[5.172s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.ps1'
-[5.172s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_ps1.py'
-[5.173s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.ps1'
-[5.174s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.sh'
-[5.174s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_sh.py'
-[5.175s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.sh'
-[5.176s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.bash'
-[5.176s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.bash'
-[5.177s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.zsh'
-[5.178s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.zsh'
+[0.171s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 341 installed packages in /opt/ros/humble
+[0.172s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.201s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_args' from command line to 'None'
+[0.201s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_target' from command line to 'None'
+[0.201s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.201s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_clean_cache' from command line to 'False'
+[0.201s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_clean_first' from command line to 'False'
+[0.201s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_force_configure' from command line to 'False'
+[0.201s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'ament_cmake_args' from command line to 'None'
+[0.201s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'catkin_cmake_args' from command line to 'None'
+[0.201s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.201s] DEBUG:colcon.colcon_core.verb:Building package 'nav2_free_costmap_plugin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin', 'merge_install': False, 'path': '/home/user/work/nav2_plugin/src', 'symlink_install': False, 'test_result_base': None}
+[0.201s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.202s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.203s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/user/work/nav2_plugin/src' with build type 'ament_cmake'
+[0.203s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/user/work/nav2_plugin/src'
+[0.205s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.205s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.205s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.208s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
+[1.932s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
+[1.934s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+[6.927s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+[6.940s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
+[6.949s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_free_costmap_plugin)
+[6.950s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
+[6.952s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake module files
+[6.952s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake config files
+[6.952s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'cmake_prefix_path')
+[6.953s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.ps1'
+[6.953s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.dsv'
+[6.953s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.sh'
+[6.953s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib'
+[6.954s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'ld_library_path_lib')
+[6.954s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.ps1'
+[6.954s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.dsv'
+[6.954s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.sh'
+[6.955s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
+[6.955s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/pkgconfig/nav2_free_costmap_plugin.pc'
+[6.955s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/python3.10/site-packages'
+[6.955s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
+[6.955s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.ps1'
+[6.956s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv'
+[6.956s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.sh'
+[6.956s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.bash'
+[6.956s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.zsh'
+[6.957s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/colcon-core/packages/nav2_free_costmap_plugin)
+[6.969s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_free_costmap_plugin)
+[6.970s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake module files
+[6.970s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake config files
+[6.970s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'cmake_prefix_path')
+[6.971s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.ps1'
+[6.971s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.dsv'
+[6.971s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.sh'
+[6.971s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib'
+[6.972s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'ld_library_path_lib')
+[6.972s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.ps1'
+[6.972s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.dsv'
+[6.972s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.sh'
+[6.973s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
+[6.973s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/pkgconfig/nav2_free_costmap_plugin.pc'
+[6.973s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/python3.10/site-packages'
+[6.973s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
+[6.973s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.ps1'
+[6.974s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv'
+[6.974s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.sh'
+[6.974s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.bash'
+[6.974s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.zsh'
+[6.975s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/colcon-core/packages/nav2_free_costmap_plugin)
+[6.975s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[6.975s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[6.975s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[6.975s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[6.978s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[6.978s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[6.978s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[6.984s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[6.984s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.ps1'
+[6.985s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_ps1.py'
+[6.985s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.ps1'
+[6.986s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.sh'
+[6.986s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_sh.py'
+[6.986s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.sh'
+[6.987s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.bash'
+[6.987s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.bash'
+[6.988s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.zsh'
+[6.988s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.zsh'
diff --git a/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/command.log b/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/command.log
new file mode 100644
index 0000000..87db59b
--- /dev/null
+++ b/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/command.log
@@ -0,0 +1,6 @@
+Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
+Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
+Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
+Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
diff --git a/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/stderr.log b/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/stderr.log
new file mode 100644
index 0000000..740d83c
--- /dev/null
+++ b/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/stderr.log
@@ -0,0 +1,4 @@
+/home/user/work/nav2_plugin/src/src/free_layer.cpp: In member function ‘void nav2_free_costmap_plugin::FreeLayer::topic_callback(geometry_msgs::msg::Point_<std::allocator<void> >::SharedPtr)’:
+/home/user/work/nav2_plugin/src/src/free_layer.cpp:57:14: warning: variable ‘cr’ set but not used []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-but-set-variable-Wunused-but-set-variable]8;;]
+   57 |     cairo_t *cr;
+      |              ^~
diff --git a/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/stdout.log b/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/stdout.log
similarity index 96%
rename from log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/stdout.log
rename to log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/stdout.log
index 7468109..3f38371 100644
--- a/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/stdout.log
+++ b/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/stdout.log
@@ -28,13 +28,13 @@
 -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
 -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
 -- Found Threads: TRUE  
--- Found nav2_costmap_2d: 1.1.6 (/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake)
+-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
 -- Found Eigen3: TRUE (found version "3.4.0") 
 -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
 -- Configuring done
 -- Generating done
 -- Build files have been written to: /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-[ 25%] Building CXX object CMakeFiles/talker.dir/src/publisher_function.cpp.o
+[ 50%] Building CXX object CMakeFiles/talker.dir/src/publisher_function.cpp.o
 [ 50%] Building CXX object CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o
 [ 75%] Linking CXX executable talker
 [ 75%] Built target talker
diff --git a/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/stdout_stderr.log b/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/stdout_stderr.log
similarity index 87%
rename from log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/stdout_stderr.log
rename to log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/stdout_stderr.log
index 7468109..b438bab 100644
--- a/log/build_2023-04-13_09-59-47/nav2_free_costmap_plugin/stdout_stderr.log
+++ b/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/stdout_stderr.log
@@ -28,14 +28,18 @@
 -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
 -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
 -- Found Threads: TRUE  
--- Found nav2_costmap_2d: 1.1.6 (/home/user/nav2_ws/install/nav2_costmap_2d/share/nav2_costmap_2d/cmake)
+-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
 -- Found Eigen3: TRUE (found version "3.4.0") 
 -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
 -- Configuring done
 -- Generating done
 -- Build files have been written to: /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
-[ 25%] Building CXX object CMakeFiles/talker.dir/src/publisher_function.cpp.o
+[ 50%] Building CXX object CMakeFiles/talker.dir/src/publisher_function.cpp.o
 [ 50%] Building CXX object CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o
+/home/user/work/nav2_plugin/src/src/free_layer.cpp: In member function ‘void nav2_free_costmap_plugin::FreeLayer::topic_callback(geometry_msgs::msg::Point_<std::allocator<void> >::SharedPtr)’:
+/home/user/work/nav2_plugin/src/src/free_layer.cpp:57:14: warning: variable ‘cr’ set but not used []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-but-set-variable-Wunused-but-set-variable]8;;]
+   57 |     cairo_t *cr;
+      |              ^~
 [ 75%] Linking CXX executable talker
 [ 75%] Built target talker
 [100%] Linking CXX shared library libnav2_free_costmap_plugin_core.so
diff --git a/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/streams.log b/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/streams.log
new file mode 100644
index 0000000..d3d53fc
--- /dev/null
+++ b/log/build_2023-04-13_11-01-54/nav2_free_costmap_plugin/streams.log
@@ -0,0 +1,74 @@
+[0.005s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
+[0.033s] -- The C compiler identification is GNU 11.3.0
+[0.059s] -- The CXX compiler identification is GNU 11.3.0
+[0.062s] -- Detecting C compiler ABI info
+[0.094s] -- Detecting C compiler ABI info - done
+[0.097s] -- Check for working C compiler: /usr/bin/cc - skipped
+[0.097s] -- Detecting C compile features
+[0.098s] -- Detecting C compile features - done
+[0.099s] -- Detecting CXX compiler ABI info
+[0.136s] -- Detecting CXX compiler ABI info - done
+[0.140s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
+[0.140s] -- Detecting CXX compile features
+[0.140s] -- Detecting CXX compile features - done
+[0.141s] -- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)
+[0.215s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter 
+[0.254s] -- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)
+[0.274s] -- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+[0.276s] -- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)
+[0.280s] -- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+[0.286s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[0.295s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[0.327s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+[0.328s] -- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+[0.369s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")  
+[0.383s] -- Found FastRTPS: /opt/ros/humble/include  
+[0.404s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[0.409s] -- Looking for pthread.h
+[0.442s] -- Looking for pthread.h - found
+[0.442s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+[0.474s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
+[0.474s] -- Found Threads: TRUE  
+[0.549s] -- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
+[1.017s] -- Found Eigen3: TRUE (found version "3.4.0") 
+[1.017s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
+[1.702s] -- Configuring done
+[1.719s] -- Generating done
+[1.721s] -- Build files have been written to: /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
+[1.729s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin/src -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin
+[1.731s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+[1.756s] [ 50%] Building CXX object CMakeFiles/talker.dir/src/publisher_function.cpp.o
+[1.756s] [ 50%] Building CXX object CMakeFiles/nav2_free_costmap_plugin_core.dir/src/free_layer.cpp.o
+[3.189s] /home/user/work/nav2_plugin/src/src/free_layer.cpp: In member function ‘void nav2_free_costmap_plugin::FreeLayer::topic_callback(geometry_msgs::msg::Point_<std::allocator<void> >::SharedPtr)’:
+[3.189s] /home/user/work/nav2_plugin/src/src/free_layer.cpp:57:14: warning: variable ‘cr’ set but not used []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-but-set-variable-Wunused-but-set-variable]8;;]
+[3.189s]    57 |     cairo_t *cr;
+[3.189s]       |              ^~
+[4.005s] [ 75%] Linking CXX executable talker
+[4.093s] [ 75%] Built target talker
+[6.433s] [100%] Linking CXX shared library libnav2_free_costmap_plugin_core.so
+[6.719s] [100%] Built target nav2_free_costmap_plugin_core
+[6.723s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+[6.737s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
+[6.740s] -- Install configuration: ""
+[6.740s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so
+[6.744s] -- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/libnav2_free_costmap_plugin_core.so" to ""
+[6.744s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/nav2_free_costmap_plugin/talker
+[6.745s] -- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/nav2_free_costmap_plugin/talker" to ""
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/free_layer.xml
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_free_costmap_plugin
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_free_costmap_plugin
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.sh
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/ament_prefix_path.dsv
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.sh
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/environment/path.dsv
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.bash
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.sh
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.zsh
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/local_setup.dsv
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv
+[6.745s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/packages/nav2_free_costmap_plugin
+[6.746s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_free_costmap_plugin
+[6.746s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig.cmake
+[6.746s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/cmake/nav2_free_costmap_pluginConfig-version.cmake
+[6.746s] -- Installing: /home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.xml
+[6.746s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin
diff --git a/log/build_2023-04-13_11-15-50/events.log b/log/build_2023-04-13_11-15-50/events.log
new file mode 100644
index 0000000..3ee9c18
--- /dev/null
+++ b/log/build_2023-04-13_11-15-50/events.log
@@ -0,0 +1,52 @@
+[0.000000] (-) TimerEvent: {}
+[0.000354] (nav2_free_costmap_plugin) JobQueued: {'identifier': 'nav2_free_costmap_plugin', 'dependencies': OrderedDict()}
+[0.000382] (nav2_free_costmap_plugin) JobStarted: {'identifier': 'nav2_free_costmap_plugin'}
+[0.008338] (nav2_free_costmap_plugin) JobProgress: {'identifier': 'nav2_free_costmap_plugin', 'progress': 'cmake'}
+[0.008754] (nav2_free_costmap_plugin) JobProgress: {'identifier': 'nav2_free_costmap_plugin', 'progress': 'build'}
+[0.009274] (nav2_free_costmap_plugin) Command: {'cmd': ['/usr/bin/cmake', '--build', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', '--', '-j8', '-l8'], 'cwd': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('LANGUAGE', 'en_US:'), ('USER', 'user'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/home/user/nav2_ws/install/nav2_smoother/lib:/home/user/nav2_ws/install/nav2_controller/lib:/home/user/nav2_ws/install/dwb_plugins/lib:/home/user/nav2_ws/install/dwb_critics/lib:/home/user/nav2_ws/install/dwb_core/lib:/home/user/nav2_ws/install/nav_2d_utils/lib:/home/user/nav2_ws/install/dwb_msgs/lib:/home/user/nav2_ws/install/nav_2d_msgs/lib:/home/user/nav2_ws/install/nav2_waypoint_follower/lib:/home/user/nav2_ws/install/nav2_theta_star_planner/lib:/home/user/nav2_ws/install/nav2_smac_planner/lib:/home/user/nav2_ws/install/nav2_rotation_shim_controller/lib:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller/lib:/home/user/nav2_ws/install/nav2_planner/lib:/home/user/nav2_ws/install/nav2_navfn_planner/lib:/home/user/nav2_ws/install/nav2_mppi_controller/lib:/home/user/nav2_ws/install/nav2_constrained_smoother/lib:/home/user/nav2_ws/install/nav2_bt_navigator/lib:/home/user/nav2_ws/install/nav2_behaviors/lib:/home/user/nav2_ws/install/nav2_collision_monitor/lib:/home/user/nav2_ws/install/costmap_queue/lib:/home/user/nav2_ws/install/nav2_costmap_2d/lib:/home/user/nav2_ws/install/nav2_voxel_grid/lib:/home/user/nav2_ws/install/nav2_velocity_smoother/lib:/home/user/nav2_ws/install/nav2_rviz_plugins/lib:/home/user/nav2_ws/install/nav2_map_server/lib:/home/user/nav2_ws/install/nav2_lifecycle_manager/lib:/home/user/nav2_ws/install/nav2_behavior_tree/lib:/home/user/nav2_ws/install/nav2_amcl/lib:/home/user/nav2_ws/install/nav2_util/lib:/home/user/nav2_ws/install/nav2_msgs/lib:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner/lib:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior/lib:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin/lib:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/user'), ('OLDPWD', '/home/user/work'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('SYSTEMD_EXEC_PID', '2033'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('WAYLAND_DISPLAY', 'wayland-0'), ('COLCON_PREFIX_PATH', '/home/user/work/nav2_plugin/install:/home/user/nav2_ws/install:/home/user/work/navigation2_tutorials/install'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'user'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'user'), ('TERM', 'xterm-256color'), ('GAZEBO_MODEL_PATH', ':/opt/ros/humble/share/turtlebot3_gazebo/models'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('PATH', 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('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin'), ('TURTLEBOT3_MODEL', 'waffle'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/home/user/nav2_ws/install/dwb_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/nav_2d_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/build/nav2_simple_commander:/home/user/nav2_ws/install/nav2_simple_commander/lib/python3.10/site-packages:/home/user/nav2_ws/install/nav2_msgs/local/lib/python3.10/dist-packages:/home/user/nav2_ws/install/nav2_common/local/lib/python3.10/dist-packages:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/user/nav2_ws/install/nav2_system_tests:/home/user/nav2_ws/install/nav2_bringup:/home/user/nav2_ws/install/navigation2:/home/user/nav2_ws/install/nav2_smoother:/home/user/nav2_ws/install/nav2_dwb_controller:/home/user/nav2_ws/install/nav2_controller:/home/user/nav2_ws/install/dwb_plugins:/home/user/nav2_ws/install/dwb_critics:/home/user/nav2_ws/install/dwb_core:/home/user/nav2_ws/install/nav_2d_utils:/home/user/nav2_ws/install/dwb_msgs:/home/user/nav2_ws/install/nav_2d_msgs:/home/user/nav2_ws/install/nav2_waypoint_follower:/home/user/nav2_ws/install/nav2_theta_star_planner:/home/user/nav2_ws/install/nav2_smac_planner:/home/user/nav2_ws/install/nav2_rotation_shim_controller:/home/user/nav2_ws/install/nav2_regulated_pure_pursuit_controller:/home/user/nav2_ws/install/nav2_planner:/home/user/nav2_ws/install/nav2_navfn_planner:/home/user/nav2_ws/install/nav2_mppi_controller:/home/user/nav2_ws/install/nav2_constrained_smoother:/home/user/nav2_ws/install/nav2_bt_navigator:/home/user/nav2_ws/install/nav2_behaviors:/home/user/nav2_ws/install/nav2_core:/home/user/nav2_ws/install/nav2_collision_monitor:/home/user/nav2_ws/install/costmap_queue:/home/user/nav2_ws/install/nav2_costmap_2d:/home/user/nav2_ws/install/nav2_voxel_grid:/home/user/nav2_ws/install/nav2_velocity_smoother:/home/user/nav2_ws/install/nav2_rviz_plugins:/home/user/nav2_ws/install/nav2_map_server:/home/user/nav2_ws/install/nav2_lifecycle_manager:/home/user/nav2_ws/install/nav2_behavior_tree:/home/user/nav2_ws/install/nav2_amcl:/home/user/nav2_ws/install/nav2_util:/home/user/nav2_ws/install/nav2_msgs:/home/user/nav2_ws/install/nav2_common:/home/user/work/navigation2_tutorials/install/sam_bot_description:/home/user/work/navigation2_tutorials/install/nav2_straightline_planner:/home/user/work/navigation2_tutorials/install/nav2_sms_behavior:/home/user/work/navigation2_tutorials/install/nav2_gradient_costmap_plugin:/home/user/work/navigation2_tutorials/install/nav2_costmap_filters_demo:/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble')]), 'shell': False}
+[0.027547] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)\n'}
+[0.098340] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)\n'}
+[0.099979] (-) TimerEvent: {}
+[0.112565] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)\n'}
+[0.113684] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)\n'}
+[0.116478] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)\n'}
+[0.122386] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[0.130122] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[0.158472] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)\n'}
+[0.159769] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)\n'}
+[0.200364] (-) TimerEvent: {}
+[0.224217] (nav2_free_costmap_plugin) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"}
+[0.300710] (-) TimerEvent: {}
+[0.303223] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)\n'}
+[0.401052] (-) TimerEvent: {}
+[0.501390] (-) TimerEvent: {}
+[0.601743] (-) TimerEvent: {}
+[0.702149] (-) TimerEvent: {}
+[0.753935] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target\n'}
+[0.802413] (-) TimerEvent: {}
+[0.902796] (-) TimerEvent: {}
+[1.003144] (-) TimerEvent: {}
+[1.103487] (-) TimerEvent: {}
+[1.165540] (nav2_free_costmap_plugin) StderrLine: {'line': b'\x1b[31mCMake Error at CMakeLists.txt:32 (find_package):\n'}
+[1.165765] (nav2_free_costmap_plugin) StderrLine: {'line': b'  By not providing "FindCAIRO.cmake" in CMAKE_MODULE_PATH this project has\n'}
+[1.165799] (nav2_free_costmap_plugin) StderrLine: {'line': b'  asked CMake to find a package configuration file provided by "CAIRO", but\n'}
+[1.165825] (nav2_free_costmap_plugin) StderrLine: {'line': b'  CMake did not find one.\n'}
+[1.165848] (nav2_free_costmap_plugin) StderrLine: {'line': b'\n'}
+[1.165870] (nav2_free_costmap_plugin) StderrLine: {'line': b'  Could not find a package configuration file provided by "CAIRO" with any of\n'}
+[1.165893] (nav2_free_costmap_plugin) StderrLine: {'line': b'  the following names:\n'}
+[1.165914] (nav2_free_costmap_plugin) StderrLine: {'line': b'\n'}
+[1.165935] (nav2_free_costmap_plugin) StderrLine: {'line': b'    CAIROConfig.cmake\n'}
+[1.165955] (nav2_free_costmap_plugin) StderrLine: {'line': b'    cairo-config.cmake\n'}
+[1.165975] (nav2_free_costmap_plugin) StderrLine: {'line': b'\n'}
+[1.165996] (nav2_free_costmap_plugin) StderrLine: {'line': b'  Add the installation prefix of "CAIRO" to CMAKE_PREFIX_PATH or set\n'}
+[1.166017] (nav2_free_costmap_plugin) StderrLine: {'line': b'  "CAIRO_DIR" to a directory containing one of the above files.  If "CAIRO"\n'}
+[1.166037] (nav2_free_costmap_plugin) StderrLine: {'line': b'  provides a separate development package or SDK, be sure it has been\n'}
+[1.166058] (nav2_free_costmap_plugin) StderrLine: {'line': b'  installed.\n'}
+[1.166079] (nav2_free_costmap_plugin) StderrLine: {'line': b'\n'}
+[1.166100] (nav2_free_costmap_plugin) StderrLine: {'line': b'\x1b[0m\n'}
+[1.166134] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Configuring incomplete, errors occurred!\n'}
+[1.166164] (nav2_free_costmap_plugin) StdoutLine: {'line': b'See also "/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeOutput.log".\n'}
+[1.172032] (nav2_free_costmap_plugin) StderrLine: {'line': b'gmake: *** [Makefile:308: cmake_check_build_system] Error 1\n'}
+[1.173186] (nav2_free_costmap_plugin) CommandEnded: {'returncode': 2}
+[1.201538] (nav2_free_costmap_plugin) JobEnded: {'identifier': 'nav2_free_costmap_plugin', 'rc': 2}
+[1.202193] (-) EventReactorShutdown: {}
diff --git a/log/build_2023-04-13_11-15-50/logger_all.log b/log/build_2023-04-13_11-15-50/logger_all.log
new file mode 100644
index 0000000..f88d6bd
--- /dev/null
+++ b/log/build_2023-04-13_11-15-50/logger_all.log
@@ -0,0 +1,113 @@
+[0.139s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.139s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7f3ca4d10640>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7f3ca568ab00>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7f3ca568ab00>>)
+[0.155s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.155s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.155s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.155s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.155s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.155s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.155s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/user/work/nav2_plugin'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.160s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.161s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.162s] DEBUG:colcon.colcon_core.package_identification:Package 'src' with type 'ros.ament_cmake' and name 'nav2_free_costmap_plugin'
+[0.162s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.162s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.162s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.162s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.162s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.173s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.173s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.175s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/user/work/nav2_plugin/install
+[0.176s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 38 installed packages in /home/user/nav2_ws/install
+[0.176s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 5 installed packages in /home/user/work/navigation2_tutorials/install
+[0.177s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 341 installed packages in /opt/ros/humble
+[0.179s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.208s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_args' from command line to 'None'
+[0.208s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_target' from command line to 'None'
+[0.208s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.208s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_clean_cache' from command line to 'False'
+[0.208s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_clean_first' from command line to 'False'
+[0.208s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_force_configure' from command line to 'False'
+[0.208s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'ament_cmake_args' from command line to 'None'
+[0.208s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'catkin_cmake_args' from command line to 'None'
+[0.208s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.208s] DEBUG:colcon.colcon_core.verb:Building package 'nav2_free_costmap_plugin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin', 'merge_install': False, 'path': '/home/user/work/nav2_plugin/src', 'symlink_install': False, 'test_result_base': None}
+[0.208s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.210s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.210s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/user/work/nav2_plugin/src' with build type 'ament_cmake'
+[0.210s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/user/work/nav2_plugin/src'
+[0.212s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.212s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.212s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.221s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+[1.384s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+[1.403s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_free_costmap_plugin)
+[1.405s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake module files
+[1.406s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake config files
+[1.406s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'cmake_prefix_path')
+[1.406s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.ps1'
+[1.407s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.dsv'
+[1.407s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.sh'
+[1.408s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib'
+[1.408s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'ld_library_path_lib')
+[1.408s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.ps1'
+[1.408s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.dsv'
+[1.409s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.sh'
+[1.409s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
+[1.409s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/pkgconfig/nav2_free_costmap_plugin.pc'
+[1.409s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/python3.10/site-packages'
+[1.409s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
+[1.410s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.ps1'
+[1.410s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv'
+[1.410s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.sh'
+[1.411s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.bash'
+[1.411s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.zsh'
+[1.411s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/colcon-core/packages/nav2_free_costmap_plugin)
+[1.411s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[1.412s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[1.412s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '2'
+[1.412s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[1.415s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[1.415s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[1.415s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[1.421s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[1.422s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.ps1'
+[1.422s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_ps1.py'
+[1.423s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.ps1'
+[1.424s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.sh'
+[1.425s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_sh.py'
+[1.425s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.sh'
+[1.426s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.bash'
+[1.426s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.bash'
+[1.427s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.zsh'
+[1.428s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.zsh'
diff --git a/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/command.log b/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/command.log
new file mode 100644
index 0000000..28826b9
--- /dev/null
+++ b/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
diff --git a/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/stderr.log b/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/stderr.log
new file mode 100644
index 0000000..705c7cc
--- /dev/null
+++ b/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/stderr.log
@@ -0,0 +1,18 @@
+CMake Error at CMakeLists.txt:32 (find_package):
+  By not providing "FindCAIRO.cmake" in CMAKE_MODULE_PATH this project has
+  asked CMake to find a package configuration file provided by "CAIRO", but
+  CMake did not find one.
+
+  Could not find a package configuration file provided by "CAIRO" with any of
+  the following names:
+
+    CAIROConfig.cmake
+    cairo-config.cmake
+
+  Add the installation prefix of "CAIRO" to CMAKE_PREFIX_PATH or set
+  "CAIRO_DIR" to a directory containing one of the above files.  If "CAIRO"
+  provides a separate development package or SDK, be sure it has been
+  installed.
+
+
+gmake: *** [Makefile:308: cmake_check_build_system] Error 1
diff --git a/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/stdout.log b/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/stdout.log
new file mode 100644
index 0000000..40c90dd
--- /dev/null
+++ b/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/stdout.log
@@ -0,0 +1,14 @@
+-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
+-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
+-- Configuring incomplete, errors occurred!
+See also "/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeOutput.log".
diff --git a/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/stdout_stderr.log b/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/stdout_stderr.log
new file mode 100644
index 0000000..7cb37cc
--- /dev/null
+++ b/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/stdout_stderr.log
@@ -0,0 +1,32 @@
+-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
+-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
+CMake Error at CMakeLists.txt:32 (find_package):
+  By not providing "FindCAIRO.cmake" in CMAKE_MODULE_PATH this project has
+  asked CMake to find a package configuration file provided by "CAIRO", but
+  CMake did not find one.
+
+  Could not find a package configuration file provided by "CAIRO" with any of
+  the following names:
+
+    CAIROConfig.cmake
+    cairo-config.cmake
+
+  Add the installation prefix of "CAIRO" to CMAKE_PREFIX_PATH or set
+  "CAIRO_DIR" to a directory containing one of the above files.  If "CAIRO"
+  provides a separate development package or SDK, be sure it has been
+  installed.
+
+
+-- Configuring incomplete, errors occurred!
+See also "/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeOutput.log".
+gmake: *** [Makefile:308: cmake_check_build_system] Error 1
diff --git a/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/streams.log b/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/streams.log
new file mode 100644
index 0000000..c532da9
--- /dev/null
+++ b/log/build_2023-04-13_11-15-50/nav2_free_costmap_plugin/streams.log
@@ -0,0 +1,34 @@
+[0.011s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+[0.027s] -- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)
+[0.098s] -- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)
+[0.112s] -- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+[0.113s] -- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)
+[0.116s] -- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+[0.122s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[0.130s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[0.158s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+[0.159s] -- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+[0.224s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[0.303s] -- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
+[0.754s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
+[1.165s] CMake Error at CMakeLists.txt:32 (find_package):
+[1.165s]   By not providing "FindCAIRO.cmake" in CMAKE_MODULE_PATH this project has
+[1.165s]   asked CMake to find a package configuration file provided by "CAIRO", but
+[1.165s]   CMake did not find one.
+[1.165s] 
+[1.165s]   Could not find a package configuration file provided by "CAIRO" with any of
+[1.166s]   the following names:
+[1.166s] 
+[1.166s]     CAIROConfig.cmake
+[1.166s]     cairo-config.cmake
+[1.166s] 
+[1.166s]   Add the installation prefix of "CAIRO" to CMAKE_PREFIX_PATH or set
+[1.166s]   "CAIRO_DIR" to a directory containing one of the above files.  If "CAIRO"
+[1.166s]   provides a separate development package or SDK, be sure it has been
+[1.166s]   installed.
+[1.166s] 
+[1.166s] 
+[1.166s] -- Configuring incomplete, errors occurred!
+[1.166s] See also "/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeOutput.log".
+[1.172s] gmake: *** [Makefile:308: cmake_check_build_system] Error 1
+[1.173s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/user/nav2_ws/install/nav2_simple_commander:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
diff --git a/log/build_2023-04-13_11-29-01/events.log b/log/build_2023-04-13_11-29-01/events.log
new file mode 100644
index 0000000..156d30f
--- /dev/null
+++ b/log/build_2023-04-13_11-29-01/events.log
@@ -0,0 +1,43 @@
+[0.000000] (-) TimerEvent: {}
+[0.000294] (nav2_free_costmap_plugin) JobQueued: {'identifier': 'nav2_free_costmap_plugin', 'dependencies': OrderedDict()}
+[0.000334] (nav2_free_costmap_plugin) JobStarted: {'identifier': 'nav2_free_costmap_plugin'}
+[0.005694] (nav2_free_costmap_plugin) JobProgress: {'identifier': 'nav2_free_costmap_plugin', 'progress': 'cmake'}
+[0.006643] (nav2_free_costmap_plugin) JobProgress: {'identifier': 'nav2_free_costmap_plugin', 'progress': 'build'}
+[0.006679] (nav2_free_costmap_plugin) Command: {'cmd': ['/usr/bin/cmake', '--build', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', '--', '-j8', '-l8'], 'cwd': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('LANGUAGE', 'en_US:'), ('USER', 'user'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/user'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('SYSTEMD_EXEC_PID', '29583'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('WAYLAND_DISPLAY', 'wayland-0'), ('COLCON_PREFIX_PATH', '/home/user/work/nav2_plugin/install'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'user'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'user'), ('TERM', 'xterm-256color'), ('GAZEBO_MODEL_PATH', ':/opt/ros/humble/share/turtlebot3_gazebo/models'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('PATH', '/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin'), ('SESSION_MANAGER', 'local/ubuntu22:@/tmp/.ICE-unix/2005,unix/ubuntu22:/tmp/.ICE-unix/2005'), ('XDG_MENU_PREFIX', 'gnome-'), ('LC_ADDRESS', 'zh_CN.UTF-8'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/310a9b8e_4cf9_4516_ac7f_5422a58fb732'), ('GNOME_SETUP_DISPLAY', ':1'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/.mutter-Xwaylandauth.7T0I31'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('GNOME_TERMINAL_SERVICE', ':1.3484'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('AMENT_PREFIX_PATH', '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/opt/ros/humble'), ('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin'), ('TURTLEBOT3_MODEL', 'waffle'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin:/opt/ros/humble')]), 'shell': False}
+[0.021660] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)\n'}
+[0.086106] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)\n'}
+[0.099880] (-) TimerEvent: {}
+[0.100962] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)\n'}
+[0.102052] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)\n'}
+[0.104875] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)\n'}
+[0.109927] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[0.117012] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[0.144319] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)\n'}
+[0.145006] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)\n'}
+[0.200229] (-) TimerEvent: {}
+[0.201103] (nav2_free_costmap_plugin) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"}
+[0.276323] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)\n'}
+[0.300547] (-) TimerEvent: {}
+[0.400910] (-) TimerEvent: {}
+[0.501264] (-) TimerEvent: {}
+[0.601626] (-) TimerEvent: {}
+[0.701967] (-) TimerEvent: {}
+[0.730227] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target\n'}
+[0.802301] (-) TimerEvent: {}
+[0.902658] (-) TimerEvent: {}
+[1.003011] (-) TimerEvent: {}
+[1.103342] (-) TimerEvent: {}
+[1.115130] (nav2_free_costmap_plugin) StderrLine: {'line': b'\x1b[31mCMake Error at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:230 (message):\n'}
+[1.115344] (nav2_free_costmap_plugin) StderrLine: {'line': b'  CAIRO_LIBRARIES (missing: CAIRO_INCLUDE_DIRS)\n'}
+[1.115407] (nav2_free_costmap_plugin) StderrLine: {'line': b'Call Stack (most recent call first):\n'}
+[1.115451] (nav2_free_costmap_plugin) StderrLine: {'line': b'  /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE)\n'}
+[1.115491] (nav2_free_costmap_plugin) StderrLine: {'line': b'  cmake_modules/FindCAIRO.cmake:31 (find_package_handle_standard_args)\n'}
+[1.115530] (nav2_free_costmap_plugin) StderrLine: {'line': b'  CMakeLists.txt:32 (find_package)\n'}
+[1.115567] (nav2_free_costmap_plugin) StderrLine: {'line': b'\n'}
+[1.115603] (nav2_free_costmap_plugin) StderrLine: {'line': b'\x1b[0m\n'}
+[1.115645] (nav2_free_costmap_plugin) StdoutLine: {'line': b'-- Configuring incomplete, errors occurred!\n'}
+[1.115692] (nav2_free_costmap_plugin) StdoutLine: {'line': b'See also "/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeOutput.log".\n'}
+[1.120870] (nav2_free_costmap_plugin) StderrLine: {'line': b'gmake: *** [Makefile:308: cmake_check_build_system] Error 1\n'}
+[1.122236] (nav2_free_costmap_plugin) CommandEnded: {'returncode': 2}
+[1.149004] (nav2_free_costmap_plugin) JobEnded: {'identifier': 'nav2_free_costmap_plugin', 'rc': 2}
+[1.159528] (-) EventReactorShutdown: {}
diff --git a/log/build_2023-04-13_11-29-01/logger_all.log b/log/build_2023-04-13_11-29-01/logger_all.log
new file mode 100644
index 0000000..119ea41
--- /dev/null
+++ b/log/build_2023-04-13_11-29-01/logger_all.log
@@ -0,0 +1,111 @@
+[0.135s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.135s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7ff31d4d5db0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7ff31dce7730>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7ff31dce7730>>)
+[0.149s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.149s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.149s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.149s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.149s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.149s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.149s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/user/work/nav2_plugin'
+[0.149s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.149s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.150s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.155s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.156s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.157s] DEBUG:colcon.colcon_core.package_identification:Package 'src' with type 'ros.ament_cmake' and name 'nav2_free_costmap_plugin'
+[0.157s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.157s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.157s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.157s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.157s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.167s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.167s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.168s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/user/work/nav2_plugin/install
+[0.169s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 341 installed packages in /opt/ros/humble
+[0.170s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.197s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_args' from command line to 'None'
+[0.198s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_target' from command line to 'None'
+[0.198s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.198s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_clean_cache' from command line to 'False'
+[0.198s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_clean_first' from command line to 'False'
+[0.198s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'cmake_force_configure' from command line to 'False'
+[0.198s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'ament_cmake_args' from command line to 'None'
+[0.198s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'catkin_cmake_args' from command line to 'None'
+[0.198s] Level 5:colcon.colcon_core.verb:set package 'nav2_free_costmap_plugin' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.198s] DEBUG:colcon.colcon_core.verb:Building package 'nav2_free_costmap_plugin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin', 'merge_install': False, 'path': '/home/user/work/nav2_plugin/src', 'symlink_install': False, 'test_result_base': None}
+[0.198s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.199s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.199s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/user/work/nav2_plugin/src' with build type 'ament_cmake'
+[0.200s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/user/work/nav2_plugin/src'
+[0.202s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.202s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.202s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.207s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+[1.322s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+[1.334s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_free_costmap_plugin)
+[1.337s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake module files
+[1.337s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin' for CMake config files
+[1.337s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'cmake_prefix_path')
+[1.338s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.ps1'
+[1.338s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.dsv'
+[1.339s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/cmake_prefix_path.sh'
+[1.339s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib'
+[1.339s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_free_costmap_plugin', 'ld_library_path_lib')
+[1.340s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.ps1'
+[1.340s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.dsv'
+[1.341s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/hook/ld_library_path_lib.sh'
+[1.341s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
+[1.341s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/pkgconfig/nav2_free_costmap_plugin.pc'
+[1.341s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/lib/python3.10/site-packages'
+[1.341s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/bin'
+[1.342s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.ps1'
+[1.343s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.dsv'
+[1.343s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.sh'
+[1.344s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.bash'
+[1.348s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/nav2_free_costmap_plugin/package.zsh'
+[1.348s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/user/work/nav2_plugin/install/nav2_free_costmap_plugin/share/colcon-core/packages/nav2_free_costmap_plugin)
+[1.358s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[1.359s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[1.359s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '2'
+[1.359s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[1.362s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[1.362s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[1.362s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[1.370s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[1.371s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.ps1'
+[1.371s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_ps1.py'
+[1.372s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.ps1'
+[1.373s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.sh'
+[1.373s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_sh.py'
+[1.373s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.sh'
+[1.374s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.bash'
+[1.374s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.bash'
+[1.375s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.zsh'
+[1.375s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.zsh'
diff --git a/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/command.log b/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/command.log
new file mode 100644
index 0000000..8c97ea8
--- /dev/null
+++ b/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
diff --git a/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/stderr.log b/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/stderr.log
new file mode 100644
index 0000000..7ebfc3c
--- /dev/null
+++ b/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/stderr.log
@@ -0,0 +1,9 @@
+CMake Error at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
+  CAIRO_LIBRARIES (missing: CAIRO_INCLUDE_DIRS)
+Call Stack (most recent call first):
+  /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE)
+  cmake_modules/FindCAIRO.cmake:31 (find_package_handle_standard_args)
+  CMakeLists.txt:32 (find_package)
+
+
+gmake: *** [Makefile:308: cmake_check_build_system] Error 1
diff --git a/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/stdout.log b/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/stdout.log
new file mode 100644
index 0000000..40c90dd
--- /dev/null
+++ b/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/stdout.log
@@ -0,0 +1,14 @@
+-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
+-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
+-- Configuring incomplete, errors occurred!
+See also "/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeOutput.log".
diff --git a/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/stdout_stderr.log b/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/stdout_stderr.log
new file mode 100644
index 0000000..0a018df
--- /dev/null
+++ b/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/stdout_stderr.log
@@ -0,0 +1,23 @@
+-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)
+-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)
+-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)
+-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
+-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
+CMake Error at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
+  CAIRO_LIBRARIES (missing: CAIRO_INCLUDE_DIRS)
+Call Stack (most recent call first):
+  /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE)
+  cmake_modules/FindCAIRO.cmake:31 (find_package_handle_standard_args)
+  CMakeLists.txt:32 (find_package)
+
+
+-- Configuring incomplete, errors occurred!
+See also "/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeOutput.log".
+gmake: *** [Makefile:308: cmake_check_build_system] Error 1
diff --git a/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/streams.log b/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/streams.log
new file mode 100644
index 0000000..5e6740c
--- /dev/null
+++ b/log/build_2023-04-13_11-29-01/nav2_free_costmap_plugin/streams.log
@@ -0,0 +1,25 @@
+[0.007s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
+[0.021s] -- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)
+[0.086s] -- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)
+[0.101s] -- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)
+[0.102s] -- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)
+[0.105s] -- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
+[0.110s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[0.117s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[0.144s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
+[0.145s] -- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
+[0.201s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[0.276s] -- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)
+[0.730s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
+[1.115s] CMake Error at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
+[1.115s]   CAIRO_LIBRARIES (missing: CAIRO_INCLUDE_DIRS)
+[1.115s] Call Stack (most recent call first):
+[1.115s]   /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE)
+[1.115s]   cmake_modules/FindCAIRO.cmake:31 (find_package_handle_standard_args)
+[1.115s]   CMakeLists.txt:32 (find_package)
+[1.115s] 
+[1.115s] 
+[1.115s] -- Configuring incomplete, errors occurred!
+[1.115s] See also "/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin/CMakeFiles/CMakeOutput.log".
+[1.121s] gmake: *** [Makefile:308: cmake_check_build_system] Error 1
+[1.123s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_free_costmap_plugin' returned '2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_free_costmap_plugin -- -j8 -l8
diff --git a/log/latest_build b/log/latest_build
index ab71ab0..53d7b68 120000
--- a/log/latest_build
+++ b/log/latest_build
@@ -1 +1 @@
-build_2023-04-13_10-09-21
\ No newline at end of file
+build_2023-04-13_11-29-01
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 4a17ceb..ade69cd 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -29,6 +29,7 @@ find_package(nav2_costmap_2d REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(CAIRO REQUIRED)
 
 add_executable(talker src/publisher_function.cpp)
 ament_target_dependencies(talker rclcpp geometry_msgs)
diff --git a/src/cmake_modules/FindGRAPHICSMAGICKCPP.cmake b/src/cmake_modules/FindCAIRO.cmake
similarity index 92%
rename from src/cmake_modules/FindGRAPHICSMAGICKCPP.cmake
rename to src/cmake_modules/FindCAIRO.cmake
index 3d55bc1..6404b7a 100644
--- a/src/cmake_modules/FindGRAPHICSMAGICKCPP.cmake
+++ b/src/cmake_modules/FindCAIRO.cmake
@@ -19,11 +19,11 @@
 #  GRAPHICSMAGICKCPP_FOUND        - system has GraphicsMagick Magick++
 #  GRAPHICSMAGICKCPP_INCLUDE_DIRS - include directories for Magick++
 #  GRAPHICSMAGICKCPP_LIBRARIES    - libraries you need to link to
-include(FindPackageCairo)
+include(FindPackageHandleStandardArgs)
 
 find_path(CAIRO_INCLUDE_DIRS
   NAMES "cairo.h"
-  PATH_SUFFIXES GraphicsMagick)
+  PATH_SUFFIXES CAIRO)
 
 find_library(CAIRO_LIBRARIES
   NAMES "cairo" "cairo")
diff --git a/src/include/nav2_free_costmap_plugin/free_layer.hpp b/src/include/nav2_free_costmap_plugin/free_layer.hpp
index eae51d6..d367e9f 100644
--- a/src/include/nav2_free_costmap_plugin/free_layer.hpp
+++ b/src/include/nav2_free_costmap_plugin/free_layer.hpp
@@ -56,11 +56,27 @@ namespace nav2_free_costmap_plugin
 {
 
 struct PointInt {
-int x;
-int y;
-PointInt(int x_, int y_):x(x_), y(y_){}
+double x;
+double y;
+PointInt(double x_, double y_):x(x_), y(y_){}
 };
 
+struct fill_line
+{
+    int start_x, start_y;
+    int end_x, end_y;
+};
+
+double *add(double v1[], double v2[]);
+
+double *sub(double v1[], double v2[]);
+
+double *scale(double v[], double s);
+
+double dot(double v1[], double v2[]);
+
+double distance(double v1[], double v2[]);
+
 class FreeLayer : public nav2_costmap_2d::CostmapLayer
 {
 public:
@@ -82,9 +98,9 @@ public:
 
 
   std::vector<PointInt> PointVector;
+  std::vector<fill_line> line_datas;
   std::vector<geometry_msgs::msg::Point> transformed_footprint_;
 
-
   void incomingData();
 
   void updateFootprint(
diff --git a/src/src/free_layer.cpp b/src/src/free_layer.cpp
index cd2fd0b..acde389 100644
--- a/src/src/free_layer.cpp
+++ b/src/src/free_layer.cpp
@@ -7,6 +7,7 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
 
 #include "rclcpp/parameter_events_filter.hpp"
+#include "cairo/cairo.h"
 
 using nav2_costmap_2d::LETHAL_OBSTACLE;
 using nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
@@ -16,6 +17,8 @@ using std::placeholders::_1;
 namespace nav2_free_costmap_plugin
 {
 
+
+
 FreeLayer::FreeLayer()
 : last_min_x_(-std::numeric_limits<float>::max()),
   last_min_y_(-std::numeric_limits<float>::max()),
@@ -27,7 +30,6 @@ FreeLayer::FreeLayer()
 void
 FreeLayer::onInitialize()
 {
-  RCLCPP_INFO(logger_, "Free init");
   auto node = node_.lock();
   declareParameter("enabled", rclcpp::ParameterValue(true));
   node->get_parameter(name_ + "." + "enabled", enabled_);
@@ -46,11 +48,115 @@ FreeLayer::onInitialize()
 void FreeLayer::topic_callback(const geometry_msgs::msg::Point::SharedPtr msg)
 {
   RCLCPP_INFO(logger_, "Free: I heard: '(%f ,%f, %f)'", msg->x ,msg->y, msg->z);
-  for(int i = 0; i < msg->z; i ++ )
+ 
+  PointVector.push_back(PointInt(msg->x, msg->y));
+
+  if(PointVector.size() == 3)
   {
-    PointVector.push_back(PointInt(int(msg->x + i), int(msg->y)));
-    // RCLCPP_INFO(logger_, "Free Point size = %d", int(PointVector.size()));
+    RCLCPP_INFO(logger_, "FREE CAIRO start");
+    fill_line line_data;
+    cairo_surface_t *surface;
+    cairo_t *cr;
+    // int dx = 30;
+    int height = last_max_y_;
+    int width = last_max_x_;
+    height = width = 500;
+    RCLCPP_INFO(logger_, "FREE CAIRO start h = %d, w = %d", height, width);
+    surface = cairo_image_surface_create(CAIRO_FORMAT_ARGB32, height, width);
+    cr = cairo_create(surface);
+
+    // cairo_new_path(cr);
+    // cairo_set_line_width(cr, 1.0);
+    // cairo_set_source_rgb(cr, 0, 0, 0);
+    // cairo_paint(cr);
+    // cairo_set_source_rgb(cr, 1, 1, 1);
+
+    // cairo_move_to(cr, PointVector[0].x, PointVector[0].y);
+    // cairo_line_to(cr, PointVector[1].x, PointVector[1].y);
+    // cairo_line_to(cr, PointVector[2].x, PointVector[2].y);
+    // cairo_line_to(cr, PointVector[2].x + 30, PointVector[2].y);
+    // cairo_line_to(cr, PointVector[1].x + 30, PointVector[1].y);
+    // cairo_close_path(cr);
+    // cairo_fill(cr);
+    RCLCPP_INFO(logger_, "CAIRO final paint");
+  
+    line_data.start_x = msg->x;
+    line_data.end_x = (msg->x + msg->z);
+    line_data.start_y = msg->y;
+    line_data.end_y = msg->y;
+    
+    line_datas.push_back(line_data);
+    PointVector.erase(PointVector.begin());
   }
+
+  // if(PointVector.size() == 3)
+  // {
+  //   RCLCPP_INFO(logger_, "FREE CAIRO start");
+  //   cairo_surface_t *surface;
+  //   cairo_t *cr;
+  //   // int dx = 30;
+  //   int height = last_max_y_;
+  //   int width = last_max_x_;
+  //   RCLCPP_INFO(logger_, "FREE CAIRO start h = %d, w = %d", height, width);
+  //   surface = cairo_image_surface_create(CAIRO_FORMAT_ARGB32, height, width);
+  //   cr = cairo_create(surface);
+
+  //   cairo_new_path(cr);
+  //   cairo_set_line_width(cr, 1.0);
+  //   cairo_set_source_rgb(cr, 0, 0, 0);
+  //   cairo_paint(cr);
+  //   cairo_set_source_rgb(cr, 1, 1, 1);
+
+  //   cairo_move_to(cr, PointVector[0].x, PointVector[0].y);
+  //   cairo_line_to(cr, PointVector[1].x, PointVector[1].y);
+  //   cairo_line_to(cr, PointVector[2].x, PointVector[2].y);
+  //   cairo_line_to(cr, PointVector[2].x + 30, PointVector[2].y);
+  //   cairo_line_to(cr, PointVector[1].x + 30, PointVector[1].y);
+  //   cairo_close_path(cr);
+  //   cairo_fill(cr);
+  //   RCLCPP_INFO(logger_, "CAIRO final paint");
+
+  //   // 获取像素信息
+  //   unsigned char* data = cairo_image_surface_get_data(surface);
+  //   int stride = cairo_image_surface_get_stride(surface);
+
+  //   fill_line line_data;
+  //   // 输出像素信息
+  //   for (int y = 0; y < height; y++)
+  //   {
+  //       line_data.start_x = -1;
+  //       for (int x = 0; x < width; x++)
+  //       {
+  //           int index = y * stride + x * 4;
+  //           // unsigned char a = data[index + 3];
+  //           unsigned char r = data[index + 2];
+  //           unsigned char g = data[index + 1];
+  //           unsigned char b = data[index];
+  //           // RCLCPP_INFO(logger_, "Free CAIRO point: (%d, %d): (%d, %d, %d)\n", x, y, r, g, b);
+  //           if(int(r) == 255 && r == g && g == b)
+  //           {
+  //               if(line_data.start_x == -1)
+  //               {
+  //                   line_data.start_x = x;
+  //                   line_data.start_y = y;
+  //               }
+
+  //               line_data.end_x = x;
+  //               line_data.end_y = y;
+            
+  //               // 输出像素信息
+  //               // RCLCPP_INFO(logger_, "CAIRO point: (%d, %d): (%d, %d, %d)\n", x, y, r, g, b);
+  //           }
+  //       }
+  //       if(line_data.start_x != -1)
+  //       {
+  //           RCLCPP_INFO(logger_, "line_: (%d, %d) ---> (%d, %d)\n", line_data.start_x, line_data.start_y, line_data.end_x, line_data.end_y);
+  //           line_datas.push_back(line_data);
+  //       }
+  //   }
+  //   PointVector.erase(PointVector.begin());
+  // }
+  
 }
 
 // The method is called to ask the plugin: which area of costmap it needs to update.
@@ -62,7 +168,6 @@ FreeLayer::updateBounds(
   double * min_y, double * max_x, double * max_y)
 {
   updateFootprint(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y);
-  RCLCPP_INFO(logger_, "Free updateBounds");
   if (need_recalculation_) {
     last_min_x_ = *min_x;
     last_min_y_ = *min_y;
@@ -121,7 +226,6 @@ FreeLayer::updateCosts(
   int max_i,
   int max_j)
 {
-  RCLCPP_INFO(logger_, "FREE updatecost run");
   if (!enabled_) {
     return;
   }
@@ -147,14 +251,27 @@ FreeLayer::updateCosts(
 
   // RCLCPP_INFO(logger_, "Free: min_i = %d, min_j = %d, max_i = %d, max_j = %d", min_i, min_j, max_i, max_j);
   
-  RCLCPP_INFO(logger_, "Free Update costmap %d", int(PointVector.size()));
+  RCLCPP_INFO(logger_, "Free Update costmap %d", int(line_datas.size()));
 
-  for (unsigned int i = 0; i < PointVector.size(); i ++ )
+  for (int k = 0; k < int(line_datas.size()); k ++ )
   {
-    int index = master_grid.getIndex(PointVector[i].x, PointVector[i].y);
-    master_array[index] = nav2_costmap_2d::FREE_SPACE;
+    auto line = line_datas[k];
+    for(int i = line.start_x; i < line.end_x; i ++ )
+    {
+      for(int j = line.start_y; j <= line.end_y + 10; j ++ )
+      {
+        int index = master_grid.getIndex(i, j);
+        master_array[index] = nav2_costmap_2d::FREE_SPACE;
+      }
+    }
   }
 
+  // for (unsigned int i = 0; i < PointVector.size(); i ++ )
+  // {
+  //   int index = master_grid.getIndex(PointVector[i].x, PointVector[i].y);
+  //   master_array[index] = nav2_costmap_2d::FREE_SPACE;
+  // }
+
 }
 
 }  // namespace nav2_Free_costmap_plugin