add commits..

2026-08-12 14:46:57 +09:00
parent 324e644ef6
commit 38ab528d24
11 changed files with 450 additions and 31 deletions
@@ -0,0 +1,16 @@
+UPDATE "course_environment_profiles"
+SET "config" = replace(
+  replace(
+    replace(
+      "config"::text,
+      'nav2-slam:humble',
+      'future-nav2-gazebo:humble'
+    ),
+    'runtime-images/nav2/humble/latest/nav2-slam-humble.tar.zst',
+    'runtime-images/nav2/gazebo/latest/future-nav2-gazebo-humble.tar.zst'
+  ),
+  'nav2-slam-humble.tar.zst',
+  'future-nav2-gazebo-humble.tar.zst'
+)::jsonb
+WHERE "config"::text LIKE '%nav2-slam:humble%'
+   OR "config"::text LIKE '%nav2-slam-humble.tar.zst%';
@@ -0,0 +1,17 @@
+UPDATE "course_week_modules" AS module
+SET "prebuilt_artifacts" = (
+  SELECT jsonb_agg(
+    CASE
+      WHEN artifact->>'fileName' = 'lms-nav2-gazebo-simulator-build-install.tar.zst'
+        OR artifact->>'url' LIKE '%/lms-nav2-gazebo-simulator-build-install.tar.zst'
+      THEN jsonb_set(
+        artifact,
+        '{checksumSha256}',
+        to_jsonb('8432100a17d85047ab4ac79445d5eacf236ccc79a785db61d14270104af270b7'::text)
+      )
+      ELSE artifact
+    END
+  )
+  FROM jsonb_array_elements(module."prebuilt_artifacts") AS artifact
+)
+WHERE module."folder_name" = '[lms-nav2-gazebo-simulator]nav2-simulator_v1.0.0_ws';
@@ -0,0 +1,18 @@
+-- The NAV2 viewer expects the unified slam-ros-bridge API
+-- (/state, /ws/state and /ws/control). The older nav2-ros-bridge context
+-- does not expose those endpoints, so remove that override from every
+-- local NAV2 course environment profile.
+UPDATE "course_environment_profiles"
+SET
+  "config" = jsonb_set(
+    ("config"::jsonb #- '{bridge,buildContext}'),
+    '{bridge,image}',
+    '"slam-ros-bridge:latest"'::jsonb,
+    true
+  ),
+  "updated_at" = CURRENT_TIMESTAMP
+WHERE "platform_key" = 'NAV2'
+  AND (
+    "config"::jsonb #>> '{bridge,buildContext}' = 'resources/nav2-ros-bridge'
+    OR "config"::jsonb #>> '{bridge,image}' = 'nav2-ros-bridge'
+  );
@@ -0,0 +1,27 @@
+UPDATE "course_week_modules" AS module
+SET "prebuilt_artifacts" = (
+  SELECT jsonb_agg(
+    CASE
+      WHEN artifact->>'fileName' = 'lms-nav2-gazebo-planning-build-install.tar.zst'
+        OR artifact->>'url' LIKE '%/lms-nav2-gazebo-planning-build-install.tar.zst'
+      THEN jsonb_set(
+        artifact,
+        '{checksumSha256}',
+        to_jsonb('6087b12b35a4c2ea3073c6b9fad5e43175d7425c2f4a042fa654e8c42b2bf29d'::text)
+      )
+      WHEN artifact->>'fileName' = 'lms-nav2-gazebo-control-build-install.tar.zst'
+        OR artifact->>'url' LIKE '%/lms-nav2-gazebo-control-build-install.tar.zst'
+      THEN jsonb_set(
+        artifact,
+        '{checksumSha256}',
+        to_jsonb('ce8949b8a14f6d29b3924b82d4819923368fb67029f45cc50a07175afa659a7a'::text)
+      )
+      ELSE artifact
+    END
+  )
+  FROM jsonb_array_elements(module."prebuilt_artifacts") AS artifact
+)
+WHERE module."folder_name" IN (
+  '[lms-nav2-gazebo-planning]nav2-planning_v1.0.0_ws',
+  '[lms-nav2-gazebo-control]nav2-control_v1.0.0_ws'
+);
@@ -0,0 +1,20 @@
+UPDATE "course_week_modules" AS module
+SET "default_parameters" = CASE
+  WHEN EXISTS (
+    SELECT 1
+    FROM jsonb_array_elements(module."default_parameters") AS parameter
+    WHERE parameter #>> '{}' LIKE 'localization_mode:=%'
+  ) THEN (
+    SELECT jsonb_agg(
+      CASE
+        WHEN parameter #>> '{}' LIKE 'localization_mode:=%'
+          THEN to_jsonb('localization_mode:=amcl'::text)
+        ELSE parameter
+      END
+    )
+    FROM jsonb_array_elements(module."default_parameters") AS parameter
+  )
+  ELSE COALESCE(module."default_parameters", '[]'::jsonb)
+    || jsonb_build_array('localization_mode:=amcl')
+END
+WHERE module."folder_name" = '[lms-nav2-gazebo-localization]nav2-localization_v1.0.0_ws';
@@ -0,0 +1,7 @@
+-- The selected map determines SLAM/navigation and 2D/3D viewer mode.
+-- Environment profiles retain only runtime connection configuration.
+UPDATE "course_environment_profiles"
+SET
+  "config" = "config" #- '{viewer,mode}',
+  "updated_at" = CURRENT_TIMESTAMP
+WHERE "config" #> '{viewer,mode}' IS NOT NULL;
@@ -0,0 +1,39 @@
+-- SLAM/navigation is selected from the map. Keep one runtime configuration
+-- for the remote platform instead of separate visualization profiles.
+DELETE FROM "course_environment_profiles" legacy
+USING "course_environment_profiles" platform
+WHERE legacy."course_id" = platform."course_id"
+  AND legacy."week" = platform."week"
+  AND platform."platform_key" = 'PLATFORM'
+  AND legacy."platform_key" IN ('REAL_SLAM', 'REAL_SLAM_3D', 'REAL_NAVIGATION');
+
+WITH canonical AS (
+  SELECT id
+  FROM (
+    SELECT
+      id,
+      row_number() OVER (
+        PARTITION BY "course_id", "week"
+        ORDER BY CASE "platform_key"
+          WHEN 'REAL_SLAM' THEN 1
+          WHEN 'REAL_NAVIGATION' THEN 2
+          WHEN 'REAL_SLAM_3D' THEN 3
+        END
+      ) AS rank
+    FROM "course_environment_profiles"
+    WHERE "platform_key" IN ('REAL_SLAM', 'REAL_SLAM_3D', 'REAL_NAVIGATION')
+  ) ranked
+  WHERE rank = 1
+)
+UPDATE "course_environment_profiles" profile
+SET
+  "platform_key" = 'PLATFORM',
+  "profile_type" = 'PLATFORM',
+  "name" = '플랫폼',
+  "config" = jsonb_set(profile."config" #- '{viewer,mode}', '{type}', '"PLATFORM"'::jsonb, true),
+  "updated_at" = CURRENT_TIMESTAMP
+FROM canonical
+WHERE profile.id = canonical.id;
+
+DELETE FROM "course_environment_profiles"
+WHERE "platform_key" IN ('REAL_SLAM', 'REAL_SLAM_3D', 'REAL_NAVIGATION');
@@ -25,9 +25,6 @@ WHERE course_id IN (SELECT id FROM target_course);
 DELETE FROM course_environment_profiles
 WHERE course_id IN (SELECT id FROM target_course);

-DELETE FROM course_week_visualization_platforms
-WHERE course_id IN (SELECT id FROM target_course);
-
 DELETE FROM course_week_maps
 WHERE course_id IN (SELECT id FROM target_course);

@@ -153,23 +150,23 @@ WHERE w.course_id IN (SELECT id FROM target_course) AND w.week = 2;
 WITH module_definitions(category, name, folder_name, template_repository_url, prebuilt_artifacts, default_parameters, docker_image) AS (
  VALUES
    ('Simulator', 'NAV2-Gazebo', '[lms-nav2-gazebo-simulator]nav2-simulator_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-simulator.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-simulator/1.0.0/prebuilt/latest/lms-nav2-gazebo-simulator-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-simulator-build-install.tar.zst', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('gui:=false'), 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-simulator/1.0.0/prebuilt/latest/lms-nav2-gazebo-simulator-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-simulator-build-install.tar.zst', 'checksumSha256', '7d2cfe092e81ef15a6e55525410d6f30a803d8c81bee20541dd1d7b964b1fe53', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('gui:=false'), 'future-nav2-gazebo:humble'),
    ('Vehicle', 'NAV2-TurtleBot3Burger', '[lms-nav2-gazebo-vehicle]nav2-vehicle_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-vehicle.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-vehicle/1.0.0/prebuilt/latest/lms-nav2-gazebo-vehicle-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-vehicle-build-install.tar.zst', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true', 'platform:=turtlebot3', 'level:=2d'), 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-vehicle/1.0.0/prebuilt/latest/lms-nav2-gazebo-vehicle-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-vehicle-build-install.tar.zst', 'checksumSha256', '42e8179172c178978e5ae5d48e189164f6b8a5030fdaa0eba497ca86a97e96bb', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true', 'platform:=turtlebot3', 'level:=2d'), 'future-nav2-gazebo:humble'),
    ('Map', 'NAV2-Map', '[lms-nav2-gazebo-map]nav2-map_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-map.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-map/1.0.0/prebuilt/latest/lms-nav2-gazebo-map-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-map-build-install.tar.zst', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-map/1.0.0/prebuilt/latest/lms-nav2-gazebo-map-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-map-build-install.tar.zst', 'checksumSha256', 'f409ce54c40aeeed8cf3fc06251c2e321887b3ec5f5827dfb74897a62780582f', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
    ('Localization', 'NAV2-SLAM', '[lms-nav2-gazebo-slam]nav2-slam_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-slam.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-slam/1.0.0/prebuilt/latest/lms-nav2-gazebo-slam-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-slam-build-install.tar.zst', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-slam/1.0.0/prebuilt/latest/lms-nav2-gazebo-slam-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-slam-build-install.tar.zst', 'checksumSha256', '186f2aa926eb41140b2783507b521083536aee3be716cf55c591a32250ec0fce', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
    ('Localization', 'NAV2-Localization', '[lms-nav2-gazebo-localization]nav2-localization_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-localization.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-localization/1.0.0/prebuilt/latest/lms-nav2-gazebo-localization-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-localization-build-install.tar.zst', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('localization_mode:=slam'), 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-localization/1.0.0/prebuilt/latest/lms-nav2-gazebo-localization-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-localization-build-install.tar.zst', 'checksumSha256', '44c8d50205f001a196870d03f44d435582b96c51eb4445e50cc8db6203b2c0c9', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('localization_mode:=amcl'), 'future-nav2-gazebo:humble'),
    ('Perception', 'NAV2-Perception', '[lms-nav2-gazebo-perception]nav2-perception_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-perception.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-perception/1.0.0/prebuilt/latest/lms-nav2-gazebo-perception-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-perception-build-install.tar.zst', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true'), 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-perception/1.0.0/prebuilt/latest/lms-nav2-gazebo-perception-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-perception-build-install.tar.zst', 'checksumSha256', '23c6523d98506caee9e982741c1c806f9f58581aba777af58eadc7cd5fca1432', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true'), 'future-nav2-gazebo:humble'),
    ('Planning', 'NAV2-Planning', '[lms-nav2-gazebo-planning]nav2-planning_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-planning.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-planning/1.0.0/prebuilt/latest/lms-nav2-gazebo-planning-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-planning-build-install.tar.zst', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-planning/1.0.0/prebuilt/latest/lms-nav2-gazebo-planning-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-planning-build-install.tar.zst', 'checksumSha256', 'b0c698acf54ef71915e2707868726b998fbdbb2e2ad15fe65cefc931a9afaa78', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), '[]'::jsonb, 'future-nav2-gazebo:humble'),
    ('Control', 'NAV2-Control', '[lms-nav2-gazebo-control]nav2-control_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-gazebo-control.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-control/1.0.0/prebuilt/latest/lms-nav2-gazebo-control-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-control-build-install.tar.zst', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true', 'robot:=turtlebot3', 'level:=2d'), 'future-nav2-gazebo:humble'),
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-gazebo-control/1.0.0/prebuilt/latest/lms-nav2-gazebo-control-build-install.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-gazebo-control-build-install.tar.zst', 'checksumSha256', '63b3b59377c19288f47aa5619fef9b10938f400771df1805d8ca973648ac0ed8', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=true', 'robot:=turtlebot3', 'level:=2d'), 'future-nav2-gazebo:humble'),
    ('Vehicle', 'NAV2-MKMini', '[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', 'http://localhost:3000/templates/lms-nav2-mkmini.git',
-      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-mkmini/1.0.0/prebuilt/amd64/lms-nav2-mkmini-build-install-amd64.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-mkmini-build-install-amd64.tar.zst', 'checksumSha256', 'a11ac9e920fcbe5c5a54e086b72d453932ece32e0c7976858435c0a0ba73a8f9', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=false', 'platform:=mkmini', 'robot:=mkmini', 'level:=2d'), 'future-nav2:humble-jetson_orin')
+      jsonb_build_array(jsonb_build_object('url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/modules/lms-nav2-mkmini/1.0.0/prebuilt/amd64/lms-nav2-mkmini-build-install-amd64.tar.zst', 'type', 'build-install', 'fileName', 'lms-nav2-mkmini-build-install-amd64.tar.zst', 'checksumSha256', '6094d2aa5188a28153452aec08e28870984b36c1bc0c06fec8091901f6d26856', 'architecture', 'amd64', 'required', false, 'extractPath', '.')), jsonb_build_array('sim_mode:=false', 'platform:=mkmini', 'level:=2d'), 'future-nav2:humble-jetson_orin')
 )
 INSERT INTO course_week_modules (week_id, sort_order, category, name, folder_name, template_repository_url, source_type, prebuilt_artifacts, default_parameters, docker_image)
 SELECT w.id, row_number() OVER (PARTITION BY w.id ORDER BY module_definitions.folder_name), category, name, folder_name, template_repository_url, 'GIT', prebuilt_artifacts, default_parameters, docker_image
@@ -177,19 +174,92 @@ FROM course_weeks w
 CROSS JOIN module_definitions
 WHERE w.course_id IN (SELECT id FROM target_course) AND w.week IN (1, 2);

-INSERT INTO course_week_visualization_platforms (course_id, week, platform_key, enabled, created_at, updated_at)
-SELECT target_course.id, weeks.week, platform.platform_key, true, now(), now()
-FROM target_course
-CROSS JOIN (VALUES (1), (2)) AS weeks(week)
-JOIN visualization_platforms platform ON platform.platform_key IN ('NAV2', 'REAL_SLAM', 'REAL_NAVIGATION');
-
 INSERT INTO course_environment_profiles (course_id, week, platform_key, profile_type, name, config, enabled, created_at, updated_at)
-SELECT target_course.id, weeks.week, platform.platform_key, platform.type,
-  CASE WHEN platform.platform_key = 'NAV2' THEN '로컬' ELSE platform.display_name END,
-  platform.default_config, true, now(), now()
+SELECT target_course.id, weeks.week, environment.platform_key, environment.profile_type,
+  environment.name, environment.config, true, now(), now()
 FROM target_course
 CROSS JOIN (VALUES (1), (2)) AS weeks(week)
-JOIN visualization_platforms platform ON platform.platform_key IN ('NAV2', 'REAL_SLAM', 'REAL_NAVIGATION');
+CROSS JOIN (
+  VALUES
+    (
+      'NAV2',
+      'NAV2',
+      '로컬',
+      jsonb_build_object(
+        'type', 'NAV2',
+        'target', 'local',
+        'viewer', jsonb_build_object('stack', 'nav2'),
+        'bridge', jsonb_build_object(
+          'name', 'nav2-ros-bridge',
+          'port', 8765,
+          'image', 'slam-ros-bridge:latest',
+          'env', jsonb_build_object('ROBOT_STACK', 'nav2')
+        ),
+        'runtimeImages', jsonb_build_array(jsonb_build_object(
+          'url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/nav2/gazebo/latest/future-nav2-gazebo-humble.tar.zst',
+          'image', 'future-nav2-gazebo:humble',
+          'fileName', 'future-nav2-gazebo-humble.tar.zst',
+          'required', true,
+          'checksumSha256', '54230e039c1fa5dc82615cef3828c5acae7b8bea8e921b70cfdc5351d8301644'
+        ))
+      )
+    ),
+    (
+      'PLATFORM',
+      'PLATFORM',
+      '플랫폼',
+      jsonb_build_object(
+        'type', 'PLATFORM',
+        'target', 'remote-jetson',
+        'runtimeKind', 'real',
+        'viewer', jsonb_build_object('stack', 'nav2'),
+        'bridge', jsonb_build_object(
+          'name', 'nav2-ros-bridge',
+          'port', 8765,
+          'image', 'slam-ros-bridge:latest',
+          'env', jsonb_build_object('ROBOT_STACK', 'nav2')
+        ),
+        'runtimeImages', jsonb_build_array(
+          jsonb_build_object(
+            'url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/slam-ros-bridge/latest/slam-ros-bridge-latest.tar.zst',
+            'image', 'slam-ros-bridge:latest',
+            'fileName', 'slam-ros-bridge-latest.tar.zst',
+            'required', true
+          ),
+          jsonb_build_object(
+            'url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/nav2/jetson-orin/latest/future-nav2-humble-jetson-orin.tar.zst',
+            'image', 'future-nav2:humble-jetson_orin',
+            'fileName', 'future-nav2-humble-jetson-orin.tar.zst',
+            'required', true
+          )
+        )
+      )
+    )
+) AS environment(platform_key, profile_type, name, config);
+
+-- Viewer mode belongs to the selected map, not the platform environment.
+UPDATE course_environment_profiles profile
+SET config = profile.config::jsonb #- '{viewer,mode}'
+WHERE profile.course_id IN (SELECT id FROM target_course);
+
+-- Real-platform modules need the Jetson NAV2 runtime in addition to the
+-- visualization bridge image. The desktop app downloads this artifact on
+-- demand before starting a remote module.
+UPDATE course_environment_profiles profile
+SET config = jsonb_set(
+  profile.config::jsonb,
+  '{runtimeImages}',
+  COALESCE(profile.config::jsonb->'runtimeImages', '[]'::jsonb) || jsonb_build_array(jsonb_build_object(
+    'url', 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/nav2/jetson-orin/latest/future-nav2-humble-jetson-orin.tar.zst',
+    'image', 'future-nav2:humble-jetson_orin',
+    'fileName', 'future-nav2-humble-jetson-orin.tar.zst',
+    'required', true
+  )),
+  true
+)
+WHERE profile.course_id IN (SELECT id FROM target_course)
+  AND profile.platform_key = 'PLATFORM'
+  AND NOT (COALESCE(profile.config::jsonb->'runtimeImages', '[]'::jsonb) @> '[{"image":"future-nav2:humble-jetson_orin"}]'::jsonb);

 -- Local simulation gets all Gazebo modules. Platform profiles only receive modules applicable to their workflow.
 UPDATE course_environment_profiles profile
@@ -204,19 +274,16 @@ SET config = profile.config::jsonb || jsonb_build_object('moduleSet', jsonb_buil
      AND week.week = profile.week
      AND (
        (profile.platform_key = 'NAV2' AND module.folder_name LIKE '[lms-nav2-gazebo-%')
-        OR (profile.platform_key IN ('REAL_SLAM', 'REAL_NAVIGATION') AND module.folder_name IN (
-          '[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws',
-          '[lms-nav2-gazebo-map]nav2-map_v1.0.0_ws',
-          '[lms-nav2-gazebo-perception]nav2-perception_v1.0.0_ws',
-          '[lms-nav2-gazebo-localization]nav2-localization_v1.0.0_ws',
-          '[lms-nav2-gazebo-planning]nav2-planning_v1.0.0_ws',
-          '[lms-nav2-gazebo-control]nav2-control_v1.0.0_ws'
+        OR (profile.platform_key = 'PLATFORM' AND module.folder_name NOT IN (
+          '[lms-nav2-gazebo-simulator]nav2-simulator_v1.0.0_ws',
+          '[lms-nav2-gazebo-vehicle]nav2-vehicle_v1.0.0_ws',
+          '[lms-nav2-gazebo-gui]nav2-rviz2_v1.0.0_ws'
        ))
      )
  ), '[]'::jsonb)
 ))
 WHERE profile.course_id IN (SELECT id FROM target_course)
-  AND profile.platform_key IN ('NAV2', 'REAL_SLAM', 'REAL_NAVIGATION');
+  AND profile.platform_key IN ('NAV2', 'PLATFORM');

 -- Control runs with TurtleBot3/Gazebo defaults locally, but uses MK-mini and the ARM64 image on a platform.
 UPDATE course_environment_profiles profile
@@ -238,7 +305,30 @@ SET config = jsonb_set(profile.config::jsonb, '{moduleSet,modules}', (
  ) AS control_module
 ), true)
 WHERE profile.course_id IN (SELECT id FROM target_course)
-  AND profile.platform_key IN ('REAL_SLAM', 'REAL_NAVIGATION');
+  AND profile.platform_key = 'PLATFORM';
+
+-- The 2D perception module defaults to Gazebo in the course module list.
+-- Override only that value for the real platform; the other added modules
+-- retain their own compatible base parameters.
+UPDATE course_environment_profiles profile
+SET config = jsonb_set(profile.config::jsonb, '{moduleSet,modules}', (
+  SELECT jsonb_agg(
+    CASE WHEN item->>'id' = perception_module.id::text THEN item || jsonb_build_object(
+      'defaultParameters', jsonb_build_array('sim_mode:=false')
+    ) ELSE item END
+  )
+  FROM jsonb_array_elements(profile.config->'moduleSet'->'modules') AS item
+  CROSS JOIN LATERAL (
+    SELECT module.id
+    FROM course_weeks week
+    JOIN course_week_modules module ON module.week_id = week.id
+    WHERE week.course_id = profile.course_id
+      AND week.week = profile.week
+      AND module.name = 'NAV2-Perception'
+  ) AS perception_module
+), true)
+WHERE profile.course_id IN (SELECT id FROM target_course)
+  AND profile.platform_key = 'PLATFORM';

 INSERT INTO course_week_maps (id, course_id, week, map_key, sort_order, created_at, updated_at)
 SELECT gen_random_uuid(), target_course.id, weeks.week, map.map_key, map.sort_order, now(), now()
@@ -0,0 +1,8 @@
+import { IsNotEmpty, IsString, MaxLength } from 'class-validator';
+
+export class CreateInitialInstructorCourseDto {
+  @IsString()
+  @IsNotEmpty()
+  @MaxLength(120)
+  title!: string;
+}
@@ -6,6 +6,7 @@ import { InstructorService } from './instructor.service';
 import { AssignInstructorPlatformDto } from './dto/assign-instructor-platform.dto';
 import { CreateInstructorPlatformDto } from './dto/create-instructor-platform.dto';
 import { CreateInstructorCourseMapDto } from './dto/create-instructor-course-map.dto';
+import { CreateInitialInstructorCourseDto } from './dto/create-initial-instructor-course.dto';
 import { CreateInstructorStudentDto } from './dto/create-instructor-student.dto';
 import { SaveInstructorGroupDto } from './dto/save-instructor-group.dto';
 import { SaveSubmissionScoreDto } from './dto/save-submission-score.dto';
@@ -26,6 +27,11 @@ export class InstructorController {
    return this.instructorService.listCourses(this.getBearerToken(request));
  }

+  @Post('courses/initial')
+  createInitialCourse(@Req() request: Request, @Body() body: CreateInitialInstructorCourseDto) {
+    return this.instructorService.createInitialCourse(this.getBearerToken(request), body.title);
+  }
+
  @Get('submissions')
  listSubmissions(@Req() request: Request) {
    return this.instructorService.listSubmissions(this.getBearerToken(request));
@@ -31,6 +31,31 @@ import { NAV2_SYSTEM_MAPS } from '../curriculum/course-maps';
 const INSTRUCTOR_ROLES = new Set(['INSTRUCTOR', 'LMS_ADMIN']);
 const DEFAULT_SUBMISSION_BOT_EMAIL = 'lms-bot@futuredrive.net';
 const COURSE_REFERENCE_UPLOAD_ROOT = join(process.cwd(), 'uploads', 'course-references');
+const BASE_COURSE_SLUGS = ['futuredrive-autonomy-basic', 'yeungnam-autonomy-basic'];
+
+function copyJson(value: Prisma.JsonValue): Prisma.InputJsonValue | Prisma.JsonNullValueInput {
+  return value === null ? Prisma.JsonNull : JSON.parse(JSON.stringify(value)) as Prisma.InputJsonValue;
+}
+
+function remapProfileModuleIds(value: Prisma.JsonValue, moduleIds: Map<string, string>) {
+  const config = copyJson(value);
+  if (!config || typeof config !== 'object' || Array.isArray(config)) return config;
+
+  const moduleSet = (config as Record<string, unknown>).moduleSet;
+  if (!moduleSet || typeof moduleSet !== 'object' || Array.isArray(moduleSet)) return config;
+
+  const modules = (moduleSet as Record<string, unknown>).modules;
+  if (!Array.isArray(modules)) return config;
+
+  for (const module of modules) {
+    if (!module || typeof module !== 'object' || Array.isArray(module)) continue;
+    const id = (module as Record<string, unknown>).id;
+    if (typeof id === 'string' && moduleIds.has(id)) {
+      (module as Record<string, unknown>).id = moduleIds.get(id)!;
+    }
+  }
+  return config;
+}

 type SubmissionCommitFile = {
  path: string;
@@ -3612,6 +3637,152 @@ export class InstructorService {
    return { authUser: user, instructor };
  }

+  async createInitialCourse(accessToken: string | undefined, title: string) {
+    const { authUser, instructor } = await this.getInstructor(accessToken);
+    const organizationName = authUser.primaryAffiliation?.organizationName?.trim();
+    if (!organizationName) throw new BadRequestException('강사 소속 조직을 확인할 수 없습니다.');
+
+    const course = await this.createBaseCourseForInstructor(instructor.id, organizationName, title);
+    return {
+      course: {
+        id: course.id,
+        slug: course.slug,
+        title: course.title,
+        subtitle: course.subtitle,
+        description: course.description,
+        organizationName: course.organizationName,
+      },
+    };
+  }
+
+  private async createBaseCourseForInstructor(instructorId: string, organizationName: string, title: string) {
+    const courseTitle = title.trim();
+    if (!courseTitle) throw new BadRequestException('강좌명을 입력해 주세요.');
+
+    const existingCourse = await this.prisma.course.findFirst({
+      where: { teacherId: instructorId, isActive: true },
+      select: { id: true },
+    });
+    if (existingCourse) throw new ConflictException('이미 생성된 강좌가 있습니다.');
+
+    const template = await this.prisma.course.findFirst({
+      where: { slug: { in: BASE_COURSE_SLUGS }, isActive: true },
+      include: {
+        weeks: {
+          orderBy: { week: 'asc' },
+          include: {
+            topics: { orderBy: { sortOrder: 'asc' } },
+            practices: { orderBy: { sortOrder: 'asc' } },
+            references: { orderBy: [{ sortOrder: 'asc' }, { createdAt: 'asc' }] },
+            modules: { orderBy: { sortOrder: 'asc' } },
+          },
+        },
+        environmentProfiles: { orderBy: [{ week: 'asc' }, { platformKey: 'asc' }] },
+        maps: { orderBy: { key: 'asc' } },
+        weekMaps: { orderBy: [{ week: 'asc' }, { sortOrder: 'asc' }] },
+      },
+    });
+    if (!template) {
+      this.logger.error('Base NAV2 course was not found; skipping instructor course initialization.');
+      throw new NotFoundException('베이스 강좌를 찾을 수 없습니다.');
+    }
+
+    const courseSlug = `nav2-autonomy-${this.slug(instructorId).slice(0, 12)}`;
+    return this.prisma.$transaction(async (tx) => {
+      const courseAlreadyCreated = await tx.course.findFirst({
+        where: { teacherId: instructorId, isActive: true },
+        select: { id: true },
+      });
+      if (courseAlreadyCreated) throw new ConflictException('이미 생성된 강좌가 있습니다.');
+
+      const course = await tx.course.create({
+        data: {
+          slug: courseSlug,
+          title: courseTitle,
+          subtitle: template.subtitle,
+          description: template.description,
+          organizationName,
+          teacherId: instructorId,
+          isActive: true,
+        },
+      });
+
+      const moduleIds = new Map<string, string>();
+      for (const sourceWeek of template.weeks) {
+        const week = await tx.courseWeek.create({
+          data: {
+            courseId: course.id,
+            week: sourceWeek.week,
+            title: sourceWeek.title,
+            tags: sourceWeek.tags,
+            progress: sourceWeek.progress,
+            state: sourceWeek.state,
+            duration: sourceWeek.duration,
+            github: sourceWeek.github,
+            overview: sourceWeek.overview,
+            deliverable: sourceWeek.deliverable,
+            requiresSourceSubmission: sourceWeek.requiresSourceSubmission,
+          },
+        });
+
+        await Promise.all([
+          tx.courseWeekTopic.createMany({ data: sourceWeek.topics.map((topic) => ({ weekId: week.id, title: topic.title, detail: topic.detail, sortOrder: topic.sortOrder })) }),
+          tx.courseWeekPractice.createMany({ data: sourceWeek.practices.map((practice) => ({ weekId: week.id, title: practice.title, description: practice.description, sortOrder: practice.sortOrder })) }),
+          tx.courseWeekReference.createMany({ data: sourceWeek.references.map((reference) => ({ weekId: week.id, kind: reference.kind, title: reference.title, originalFileName: reference.originalFileName, storedFileName: reference.storedFileName, contentType: reference.contentType, fileSizeBytes: reference.fileSizeBytes, sortOrder: reference.sortOrder })) }),
+        ]);
+
+        for (const sourceModule of sourceWeek.modules) {
+          const module = await tx.courseWeekModule.create({
+            data: {
+              weekId: week.id,
+              sortOrder: sourceModule.sortOrder,
+              category: sourceModule.category,
+              name: sourceModule.name,
+              folderName: sourceModule.folderName,
+              templateRepositoryUrl: sourceModule.templateRepositoryUrl,
+              sourceType: sourceModule.sourceType,
+              prebuiltArtifacts: copyJson(sourceModule.prebuiltArtifacts),
+              defaultParameters: copyJson(sourceModule.defaultParameters),
+              dockerImage: sourceModule.dockerImage,
+            },
+          });
+          moduleIds.set(sourceModule.id, module.id);
+        }
+      }
+
+      await Promise.all([
+        ...template.environmentProfiles.map((profile) => tx.courseEnvironmentProfile.create({
+          data: {
+            courseId: course.id,
+            week: profile.week,
+            platformKey: profile.platformKey,
+            profileType: profile.profileType,
+            name: profile.name,
+            config: remapProfileModuleIds(profile.config, moduleIds),
+            enabled: profile.enabled,
+          },
+        })),
+        ...template.maps.map((map) => tx.courseMap.create({
+          data: {
+            courseId: course.id,
+            key: map.key,
+            name: map.name,
+            description: map.description,
+            platformKey: map.platformKey,
+            worldFile: map.worldFile,
+            viewerModel: map.viewerModel,
+            layout: copyJson(map.layout),
+          },
+        })),
+        ...template.weekMaps.map((weekMap) => tx.courseWeekMap.create({
+          data: { courseId: course.id, week: weekMap.week, mapKey: weekMap.mapKey, sortOrder: weekMap.sortOrder },
+        })),
+      ]);
+
+      return course;
+    });
+  }
+
  private toUserSyncData(user: AuthResponseUser) {
    return {
      authUserId: user.id,