patch..

prisma/migrations/20260716000000_add_course_week_module_default_parameters/migration.sql

@@ -0,0 +1,4 @@
+ALTER TABLE "course_week_modules"
+  ADD COLUMN IF NOT EXISTS "default_parameters" JSONB NOT NULL DEFAULT '[]';
+
+COMMENT ON COLUMN "course_week_modules"."default_parameters" IS '주차 모듈 실행 시 적용하는 기본 ROS 파라미터 배열.';

prisma/migrations/20260720090000_add_course_week_maps/migration.sql

@@ -0,0 +1,45 @@
+CREATE TABLE "course_maps" (
+  "id" UUID NOT NULL,
+  "course_id" UUID NOT NULL,
+  "key" TEXT NOT NULL,
+  "name" TEXT NOT NULL,
+  "description" TEXT,
+  "platform_key" TEXT NOT NULL DEFAULT 'NAV2',
+  "world_file" TEXT NOT NULL DEFAULT 'empty_world.world',
+  "viewer_model" TEXT NOT NULL DEFAULT 'turtlebot3_world',
+  "layout" JSONB NOT NULL DEFAULT '{"version":1,"objects":[]}',
+  "created_at" TIMESTAMPTZ(3) NOT NULL DEFAULT CURRENT_TIMESTAMP,
+  "updated_at" TIMESTAMPTZ(3) NOT NULL,
+  CONSTRAINT "course_maps_pkey" PRIMARY KEY ("id")
+);
+
+CREATE TABLE "course_week_maps" (
+  "id" UUID NOT NULL,
+  "course_id" UUID NOT NULL,
+  "week" INTEGER NOT NULL,
+  "map_key" TEXT NOT NULL,
+  "sort_order" INTEGER NOT NULL DEFAULT 0,
+  "created_at" TIMESTAMPTZ(3) NOT NULL DEFAULT CURRENT_TIMESTAMP,
+  "updated_at" TIMESTAMPTZ(3) NOT NULL,
+  CONSTRAINT "course_week_maps_pkey" PRIMARY KEY ("id")
+);
+
+CREATE UNIQUE INDEX "course_maps_course_id_key_key" ON "course_maps"("course_id", "key");
+CREATE INDEX "course_maps_course_id_platform_key_idx" ON "course_maps"("course_id", "platform_key");
+CREATE UNIQUE INDEX "course_week_maps_course_id_week_map_key_key" ON "course_week_maps"("course_id", "week", "map_key");
+CREATE INDEX "course_week_maps_course_id_week_idx" ON "course_week_maps"("course_id", "week");
+
+ALTER TABLE "course_maps" ADD CONSTRAINT "course_maps_course_id_fkey" FOREIGN KEY ("course_id") REFERENCES "courses"("id") ON DELETE CASCADE ON UPDATE CASCADE;
+ALTER TABLE "course_week_maps" ADD CONSTRAINT "course_week_maps_course_id_fkey" FOREIGN KEY ("course_id") REFERENCES "courses"("id") ON DELETE CASCADE ON UPDATE CASCADE;
+
+INSERT INTO "course_week_maps" ("id", "course_id", "week", "map_key", "sort_order", "updated_at")
+SELECT gen_random_uuid(), "course_id", "week", 'nav2-turtlebot3-world', 0, CURRENT_TIMESTAMP
+FROM "course_week_visualization_platforms"
+WHERE "platform_key" = 'NAV2' AND "enabled" = true
+ON CONFLICT ("course_id", "week", "map_key") DO NOTHING;
+
+INSERT INTO "course_week_maps" ("id", "course_id", "week", "map_key", "sort_order", "updated_at")
+SELECT gen_random_uuid(), "course_id", "week", 'nav2-turtlebot3-house', 1, CURRENT_TIMESTAMP
+FROM "course_week_visualization_platforms"
+WHERE "platform_key" = 'NAV2' AND "enabled" = true
+ON CONFLICT ("course_id", "week", "map_key") DO NOTHING;

prisma/migrations/20260720100000_add_student_saved_maps/migration.sql

@@ -0,0 +1,27 @@
+CREATE TABLE "student_saved_maps" (
+  "id" UUID NOT NULL DEFAULT gen_random_uuid(),
+  "user_id" UUID NOT NULL,
+  "course_id" UUID NOT NULL,
+  "week" INTEGER NOT NULL,
+  "name" TEXT NOT NULL,
+  "source_map_key" TEXT NOT NULL,
+  "world_file" TEXT NOT NULL,
+  "viewer_model" TEXT NOT NULL,
+  "yaml_path" TEXT NOT NULL,
+  "pgm_path" TEXT NOT NULL,
+  "created_at" TIMESTAMPTZ(3) NOT NULL DEFAULT CURRENT_TIMESTAMP,
+  "updated_at" TIMESTAMPTZ(3) NOT NULL,
+  CONSTRAINT "student_saved_maps_pkey" PRIMARY KEY ("id")
+);
+
+CREATE UNIQUE INDEX "student_saved_maps_user_id_course_id_week_yaml_path_key"
+  ON "student_saved_maps"("user_id", "course_id", "week", "yaml_path");
+CREATE INDEX "student_saved_maps_user_id_course_id_week_created_at_idx"
+  ON "student_saved_maps"("user_id", "course_id", "week", "created_at");
+
+ALTER TABLE "student_saved_maps"
+  ADD CONSTRAINT "student_saved_maps_user_id_fkey"
+  FOREIGN KEY ("user_id") REFERENCES "users"("id") ON DELETE CASCADE ON UPDATE CASCADE;
+ALTER TABLE "student_saved_maps"
+  ADD CONSTRAINT "student_saved_maps_course_id_fkey"
+  FOREIGN KEY ("course_id") REFERENCES "courses"("id") ON DELETE CASCADE ON UPDATE CASCADE;

prisma/migrations/20260722000000_add_real_vehicle_visualization_platforms/migration.sql

@@ -0,0 +1,27 @@
+INSERT INTO "visualization_platforms" (
+  "platform_key", "type", "display_name", "description", "default_config", "sort_order", "enabled", "created_at", "updated_at"
+) VALUES
+(
+  'REAL_SLAM',
+  'REAL_SLAM',
+  '실차 SLAM',
+  '원격 플랫폼의 실제 센서로 지도를 생성합니다.',
+  '{"type":"REAL_SLAM","target":"remote-jetson","runtimeKind":"real","viewer":{"stack":"nav2","mode":"slam"},"bridge":{"name":"nav2-ros-bridge","port":8765,"image":"slam-ros-bridge:latest","env":{"ROBOT_STACK":"nav2"}},"runtimeImages":[{"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,
+  30, true, CURRENT_TIMESTAMP, CURRENT_TIMESTAMP
+),
+(
+  'REAL_NAVIGATION',
+  'REAL_NAVIGATION',
+  '실차 자율주행',
+  '실차 SLAM 결과 맵에서 초기 위치와 목표점을 지정해 주행합니다.',
+  '{"type":"REAL_NAVIGATION","target":"remote-jetson","runtimeKind":"real","viewer":{"stack":"nav2","mode":"navigation"},"bridge":{"name":"nav2-ros-bridge","port":8765,"image":"slam-ros-bridge:latest","env":{"ROBOT_STACK":"nav2"}},"runtimeImages":[{"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,
+  31, true, CURRENT_TIMESTAMP, CURRENT_TIMESTAMP
+)
+ON CONFLICT ("platform_key") DO UPDATE SET
+  "type" = EXCLUDED."type",
+  "display_name" = EXCLUDED."display_name",
+  "description" = EXCLUDED."description",
+  "default_config" = EXCLUDED."default_config",
+  "sort_order" = EXCLUDED."sort_order",
+  "enabled" = EXCLUDED."enabled",
+  "updated_at" = CURRENT_TIMESTAMP;

prisma/migrations/20260722001000_rename_real_visualization_platforms/migration.sql

@@ -0,0 +1,12 @@
+UPDATE "visualization_platforms"
+SET
+  "display_name" = CASE "platform_key"
+    WHEN 'REAL_SLAM' THEN '플랫폼 SLAM'
+    WHEN 'REAL_NAVIGATION' THEN '플랫폼 자율주행'
+  END,
+  "description" = CASE "platform_key"
+    WHEN 'REAL_SLAM' THEN '원격 플랫폼의 센서로 지도를 생성합니다.'
+    WHEN 'REAL_NAVIGATION' THEN '플랫폼 SLAM 결과 맵에서 초기 위치와 목표점을 지정해 주행합니다.'
+  END,
+  "updated_at" = CURRENT_TIMESTAMP
+WHERE "platform_key" IN ('REAL_SLAM', 'REAL_NAVIGATION');

prisma/migrations/20260722002000_add_platform_control_session_extension/migration.sql

@@ -0,0 +1,2 @@
+ALTER TABLE "platform_control_sessions"
+ADD COLUMN "extension_count" INTEGER NOT NULL DEFAULT 0;

prisma/migrations/20260729000000_add_real_slam_3d_visualization_platform/migration.sql

@@ -0,0 +1,18 @@
+INSERT INTO "visualization_platforms" (
+  "platform_key", "type", "display_name", "description", "default_config", "sort_order", "enabled", "created_at", "updated_at"
+) VALUES (
+  'REAL_SLAM_3D',
+  'REAL_SLAM_3D',
+  '플랫폼 3D SLAM',
+  '플랫폼의 3D LiDAR 포인트클라우드와 ICP 위치를 읽기 전용으로 표시합니다.',
+  '{"type":"REAL_SLAM_3D","target":"remote-jetson","runtimeKind":"real","viewer":{"stack":"nav2","mode":"slam3d"},"bridge":{"name":"nav2-ros-bridge","port":8765,"image":"slam-ros-bridge:jetson_orin-3d","env":{"ROBOT_STACK":"nav2","READ_ONLY":"true","ODOM_TOPIC":"/odom","ICP_ODOM_TOPIC":"/icp_odom","SCAN_TOPIC":"/scan","POINT_CLOUD_TOPIC":"/cloud_map","FALLBACK_POINT_CLOUD_TOPIC":"/lidar_filtered"}},"runtimeImages":[{"url":"https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/slam-ros-bridge/jetson-orin-3d/slam-ros-bridge-jetson-orin-3d.tar.zst","image":"slam-ros-bridge:jetson_orin-3d","fileName":"slam-ros-bridge-jetson-orin-3d.tar.zst","required":true}]}'::jsonb,
+  32, true, CURRENT_TIMESTAMP, CURRENT_TIMESTAMP
+)
+ON CONFLICT ("platform_key") DO UPDATE SET
+  "type" = EXCLUDED."type",
+  "display_name" = EXCLUDED."display_name",
+  "description" = EXCLUDED."description",
+  "default_config" = EXCLUDED."default_config",
+  "sort_order" = EXCLUDED."sort_order",
+  "enabled" = EXCLUDED."enabled",
+  "updated_at" = CURRENT_TIMESTAMP;

prisma/migrations/20260731000000_add_student_saved_map_database_path/migration.sql

@@ -0,0 +1,2 @@
+ALTER TABLE "student_saved_maps"
+  ADD COLUMN "database_path" TEXT;

prisma/migrations/20260731163000_add_student_saved_map_preview_pgm/migration.sql

@@ -0,0 +1,2 @@
+ALTER TABLE "student_saved_maps"
+  ADD COLUMN "preview_pgm" TEXT;

prisma/schema.prisma

@@ -31,6 +31,7 @@ model User {
   platformControlSessions PlatformControlSession[]
   platformControlQueueEntries PlatformControlQueueEntry[]
   studioRepositories StudioRepository[]
+  savedMaps StudentSavedMap[]
   submissionScores SubmissionScore[]
   submissionTotalScores SubmissionTotalScore[]
 
@@ -156,6 +157,9 @@ model Course {
   instructorCurriculumWeekOverrides InstructorCurriculumWeekOverride[]
   environmentProfiles CourseEnvironmentProfile[]
   visualizationSelections CourseWeekVisualizationPlatform[]
+  maps            CourseMap[]
+  weekMaps        CourseWeekMap[]
+  savedMaps       StudentSavedMap[]
   submissionScores SubmissionScore[]
   submissionTotalScores SubmissionTotalScore[]
 
@@ -216,6 +220,63 @@ model CourseWeekVisualizationPlatform {
   @@map("course_week_visualization_platforms")
 }
 
+model CourseMap {
+  id          String   @id @default(uuid()) @db.Uuid
+  courseId    String   @map("course_id") @db.Uuid
+  key         String
+  name        String
+  description String?
+  platformKey String   @default("NAV2") @map("platform_key")
+  worldFile   String   @default("empty_world.world") @map("world_file")
+  viewerModel String   @default("turtlebot3_world") @map("viewer_model")
+  layout      Json     @default("{\"version\":1,\"objects\":[]}")
+  createdAt   DateTime @default(now()) @map("created_at") @db.Timestamptz(3)
+  updatedAt   DateTime @updatedAt @map("updated_at") @db.Timestamptz(3)
+  course      Course   @relation(fields: [courseId], references: [id], onDelete: Cascade)
+
+  @@unique([courseId, key])
+  @@index([courseId, platformKey])
+  @@map("course_maps")
+}
+
+model CourseWeekMap {
+  id        String   @id @default(uuid()) @db.Uuid
+  courseId  String   @map("course_id") @db.Uuid
+  week      Int
+  mapKey    String   @map("map_key")
+  sortOrder Int      @default(0) @map("sort_order")
+  createdAt DateTime @default(now()) @map("created_at") @db.Timestamptz(3)
+  updatedAt DateTime @updatedAt @map("updated_at") @db.Timestamptz(3)
+  course    Course   @relation(fields: [courseId], references: [id], onDelete: Cascade)
+
+  @@unique([courseId, week, mapKey])
+  @@index([courseId, week])
+  @@map("course_week_maps")
+}
+
+model StudentSavedMap {
+  id        String   @id @default(uuid()) @db.Uuid
+  userId    String   @map("user_id") @db.Uuid
+  courseId  String   @map("course_id") @db.Uuid
+  week      Int
+  name      String
+  sourceMapKey String @map("source_map_key")
+  worldFile String @map("world_file")
+  viewerModel String @map("viewer_model")
+  yamlPath  String   @map("yaml_path")
+  pgmPath   String   @map("pgm_path")
+  previewPgm String? @map("preview_pgm")
+  databasePath String? @map("database_path")
+  createdAt DateTime @default(now()) @map("created_at") @db.Timestamptz(3)
+  updatedAt DateTime @updatedAt @map("updated_at") @db.Timestamptz(3)
+  user      User     @relation(fields: [userId], references: [id], onDelete: Cascade)
+  course    Course   @relation(fields: [courseId], references: [id], onDelete: Cascade)
+
+  @@unique([userId, courseId, week, yamlPath])
+  @@index([userId, courseId, week, createdAt])
+  @@map("student_saved_maps")
+}
+
 model InstructorCurriculumSetting {
   id                 String   @id @default(uuid()) @db.Uuid
   organizationId     String?  @map("organization_id") @db.Uuid
@@ -328,6 +389,7 @@ model PlatformControlSession {
   endsAt               DateTime  @map("ends_at") @db.Timestamptz(3)
   warningAt            DateTime  @map("warning_at") @db.Timestamptz(3)
   warningSentAt        DateTime? @map("warning_sent_at") @db.Timestamptz(3)
+  extensionCount       Int       @default(0) @map("extension_count")
   releasedAt           DateTime? @map("released_at") @db.Timestamptz(3)
   endReason            String?   @map("end_reason")
   createdAt            DateTime  @default(now()) @map("created_at") @db.Timestamptz(3)
@@ -448,6 +510,7 @@ model CourseWeekModule {
   templateRepositoryUrl String?    @map("template_repository_url")
   sourceType            String     @default("GIT") @map("source_type")
   prebuiltArtifacts     Json       @default("[]") @map("prebuilt_artifacts")
+  defaultParameters     Json       @default("[]") @map("default_parameters")
   dockerImage           String?    @map("docker_image")
   createdAt             DateTime   @default(now()) @map("created_at") @db.Timestamptz(3)
   updatedAt             DateTime   @updatedAt @map("updated_at") @db.Timestamptz(3)

src/curriculum/course-maps.ts

@@ -0,0 +1,64 @@
+import { Prisma } from '@prisma/client';
+
+export type CourseMapPayload = {
+  key: string;
+  platformKey: 'NAV2';
+  name: string;
+  description: string;
+  worldFile: string;
+  viewerModel: 'turtlebot3_world' | 'turtlebot3_house';
+  custom?: boolean;
+  layout?: Prisma.JsonValue;
+};
+
+export const NAV2_SYSTEM_MAPS: CourseMapPayload[] = [
+  {
+    key: 'nav2-turtlebot3-world',
+    platformKey: 'NAV2',
+    name: '기본 월드',
+    description: 'TurtleBot3 기본 장애물 환경',
+    worldFile: 'turtlebot3_world.world',
+    viewerModel: 'turtlebot3_world',
+  },
+  {
+    key: 'nav2-turtlebot3-house',
+    platformKey: 'NAV2',
+    name: '실내 환경',
+    description: '방과 복도로 구성된 TurtleBot3 House',
+    worldFile: 'turtlebot3_house.world',
+    viewerModel: 'turtlebot3_house',
+  },
+];
+
+export function serializeCourseMaps(
+  selectedKeys: string[],
+  customMaps: Array<{
+    key: string;
+    name: string;
+    description: string | null;
+    platformKey: string;
+    worldFile: string;
+    viewerModel: string;
+    layout: Prisma.JsonValue;
+  }>,
+): CourseMapPayload[] {
+  const systemByKey = new Map(NAV2_SYSTEM_MAPS.map((map) => [map.key, map]));
+  const customByKey = new Map(customMaps.map((map) => [map.key, map]));
+
+  return selectedKeys.flatMap((key) => {
+    const systemMap = systemByKey.get(key);
+    if (systemMap) return [systemMap];
+    const customMap = customByKey.get(key);
+    if (!customMap || customMap.platformKey.toUpperCase() !== 'NAV2') return [];
+    return [{
+      key: customMap.key,
+      platformKey: 'NAV2' as const,
+      name: customMap.name,
+      description: customMap.description ?? '강사가 구성한 학습 맵',
+      worldFile: customMap.worldFile,
+      viewerModel: customMap.viewerModel === 'turtlebot3_house' ? 'turtlebot3_house' as const : 'turtlebot3_world' as const,
+      custom: true,
+      layout: customMap.layout,
+    }];
+  });
+}

src/curriculum/curriculum.service.ts

@@ -6,6 +6,7 @@ import { AuthService } from '../auth/auth.service';
 import { PlatformControlService } from '../platform-control/platform-control.service';
 import { PrismaService } from '../prisma/prisma.service';
 import { R2PublicFileService } from '../storage/r2-public-file.service';
+import { serializeCourseMaps } from './course-maps';
 
 const COURSE_REFERENCE_UPLOAD_ROOT = join(process.cwd(), 'uploads', 'course-references');
 const PUBLIC_GUIDE_COURSE_SLUG = 'autonomy-studio-lms-guide';
@@ -159,6 +160,12 @@ export class CurriculumService {
         environmentProfiles: {
           where: { enabled: true },
         },
+        maps: {
+          orderBy: { createdAt: 'asc' },
+        },
+        weekMaps: {
+          orderBy: { sortOrder: 'asc' },
+        },
         studentProgress: {
           where: {
             user: {
@@ -183,6 +190,12 @@ export class CurriculumService {
         platform: true,
       },
     });
+    const mapKeysByWeek = new Map<number, string[]>();
+    course.weekMaps.forEach((selection) => {
+      const items = mapKeysByWeek.get(selection.week) ?? [];
+      items.push(selection.mapKey);
+      mapKeysByWeek.set(selection.week, items);
+    });
     const environmentProfileByWeekType = new Map(course.environmentProfiles.map((profile) => [`${profile.week}:${profile.profileType.toUpperCase()}`, profile]));
     const visualizationProfilesByWeek = new Map<number, Array<{
       id: string;
@@ -414,6 +427,7 @@ export class CurriculumService {
             const moduleWithArtifacts = module as typeof module & {
               sourceType?: string | null;
               prebuiltArtifacts?: unknown;
+              defaultParameters?: unknown;
             };
             return {
               id: module.id,
@@ -424,10 +438,12 @@ export class CurriculumService {
               templateRepositoryUrl: module.templateRepositoryUrl,
               sourceType: moduleWithArtifacts.sourceType ?? 'GIT',
               prebuiltArtifacts: moduleWithArtifacts.prebuiltArtifacts ?? [],
+              defaultParameters: moduleWithArtifacts.defaultParameters ?? [],
               dockerImage: module.dockerImage,
             };
           }),
         environmentProfiles: visualizationProfilesByWeek.get(week.week) ?? [],
+        maps: serializeCourseMaps(mapKeysByWeek.get(week.week) ?? [], course.maps),
       };
     });
     const addedWeeks = overrides
@@ -464,6 +480,7 @@ export class CurriculumService {
             sourceSubmittedAt: weekProgress?.submittedAt?.toISOString() ?? null,
           },
           environmentProfiles: visualizationProfilesByWeek.get(override.week) ?? [],
+          maps: serializeCourseMaps(mapKeysByWeek.get(override.week) ?? [], course.maps),
         };
       });
 
@@ -763,7 +780,7 @@ export class CurriculumService {
             ? '비상 정지'
             : '오류 발생'
           : '상태 확인 중',
-        action: blocked ? '연결 불가' : '제어권 요청',
+        action: blocked ? '연결 불가' : '제어요청',
         state: blocked ? 'locked' : 'ready',
       };
     });
@@ -925,10 +942,9 @@ export class CurriculumService {
 
   private formatLearningHours(learningMinutes: number) {
     const totalMinutes = Math.max(0, Math.floor(learningMinutes));
-    if (totalMinutes < 60) return `${totalMinutes}m`;
     const hours = Math.floor(totalMinutes / 60);
     const minutes = totalMinutes % 60;
-    return minutes > 0 ? `${hours}h ${minutes}m` : `${hours}h`;
+    return `${String(hours).padStart(2, '0')}:${String(minutes).padStart(2, '0')}`;
   }
 }
 

src/instructor/dto/create-instructor-course-map.dto.ts

@@ -0,0 +1,16 @@
+import { IsOptional, IsString, MaxLength } from 'class-validator';
+
+export class CreateInstructorCourseMapDto {
+  @IsOptional()
+  @IsString()
+  courseId?: string;
+
+  @IsString()
+  @MaxLength(80)
+  name!: string;
+
+  @IsOptional()
+  @IsString()
+  @MaxLength(240)
+  description?: string;
+}

src/instructor/dto/update-instructor-curriculum.dto.ts

@@ -87,8 +87,32 @@ export class UpdateInstructorCurriculumDto {
   @IsString({ each: true })
   disabledModuleIds?: string[];
 
+  @IsOptional()
+  @IsArray()
+  moduleDefaultParameters?: Array<{
+    moduleId?: string;
+    parameters?: string[];
+  }>;
+
+  @IsOptional()
+  @IsArray()
+  environmentModuleSets?: Array<{
+    platformKey?: string;
+    moduleIds?: string[];
+    modules?: Array<{
+      id?: string;
+      defaultParameters?: string[];
+      dockerImage?: string | null;
+    }>;
+  }>;
+
   @IsOptional()
   @IsArray()
   @IsString({ each: true })
   visualizationPlatformKeys?: string[];
+
+  @IsOptional()
+  @IsArray()
+  @IsString({ each: true })
+  mapKeys?: string[];
 }

src/instructor/instructor.controller.ts

@@ -5,6 +5,7 @@ import { Request } from 'express';
 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 { CreateInstructorStudentDto } from './dto/create-instructor-student.dto';
 import { SaveInstructorGroupDto } from './dto/save-instructor-group.dto';
 import { SaveSubmissionScoreDto } from './dto/save-submission-score.dto';
@@ -85,6 +86,17 @@ export class InstructorController {
     );
   }
 
+  @Post('curriculum/maps')
+  createCurriculumMap(
+    @Req() request: Request,
+    @Body() body: CreateInstructorCourseMapDto,
+  ) {
+    return this.instructorService.createCurriculumMap(
+      this.getBearerToken(request),
+      body,
+    );
+  }
+
   @Delete('curriculum/weeks/:week')
   deleteCurriculumWeek(
     @Req() request: Request,
@@ -152,6 +164,15 @@ export class InstructorController {
     );
   }
 
+  @Post('platform-registration-code')
+  issuePlatformRegistrationCode(
+    @Req() request: Request,
+  ) {
+    return this.instructorService.issuePlatformRegistrationCode(
+      this.getBearerToken(request),
+    );
+  }
+
   @Put('platforms/:platformId')
   updatePlatform(
     @Req() request: Request,

src/instructor/instructor.service.ts

@@ -4,6 +4,7 @@ import {
   ConflictException,
   ForbiddenException,
   Injectable,
+  Logger,
   NotFoundException,
   UnauthorizedException,
 } from '@nestjs/common';
@@ -24,6 +25,8 @@ import { SaveInstructorGroupDto } from './dto/save-instructor-group.dto';
 import { SaveSubmissionScoreDto } from './dto/save-submission-score.dto';
 import { UpdateInstructorCurriculumDto } from './dto/update-instructor-curriculum.dto';
 import { UpdateInstructorPlatformDto } from './dto/update-instructor-platform.dto';
+import { CreateInstructorCourseMapDto } from './dto/create-instructor-course-map.dto';
+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';
@@ -59,6 +62,8 @@ type StudentIssueItem = {
 
 @Injectable()
 export class InstructorService {
+  private readonly logger = new Logger(InstructorService.name);
+
   constructor(
     private readonly authService: AuthService,
     private readonly chatGateway: ChatGateway,
@@ -734,7 +739,7 @@ export class InstructorService {
     }
 
     if (group && organizationName) {
-      await this.syncPlatformAccessPolicy(organizationId, organizationName);
+      this.queuePlatformAccessPolicy(organizationId, organizationName);
     }
     return this.listStudents(accessToken, course.id);
   }
@@ -789,7 +794,7 @@ export class InstructorService {
     ]);
 
     if (organizationName) {
-      await this.syncPlatformAccessPolicy(organizationId, organizationName);
+      this.queuePlatformAccessPolicy(organizationId, organizationName);
     }
     return this.listStudents(accessToken);
   }
@@ -1123,6 +1128,27 @@ export class InstructorService {
       items.push(selection);
       visualizationSelectionsByWeek.set(selection.week, items);
     });
+    const courseMaps = await this.prisma.courseMap.findMany({
+      where: { courseId: course.id },
+      orderBy: { createdAt: 'asc' },
+    });
+    const weekMapSelections = await this.prisma.courseWeekMap.findMany({
+      where: { courseId: course.id },
+      orderBy: { sortOrder: 'asc' },
+    });
+    const mapKeysByWeek = new Map<number, string[]>();
+    weekMapSelections.forEach((selection) => {
+      const items = mapKeysByWeek.get(selection.week) ?? [];
+      items.push(selection.mapKey);
+      mapKeysByWeek.set(selection.week, items);
+    });
+    const environmentProfiles = await this.prisma.courseEnvironmentProfile.findMany({
+      where: { courseId: course.id, enabled: true },
+      orderBy: [{ platformKey: 'asc' }, { profileType: 'asc' }],
+    });
+    const environmentProfileByWeekPlatformKey = new Map(
+      environmentProfiles.map((profile) => [`${profile.week}:${profile.platformKey}`, profile]),
+    );
     const overrideByWeek = new Map(overrides.map((override) => [override.week, override]));
     const baseWeekNumbers = new Set(course.weeks.map((week) => week.week));
     const baseWeeks = course.weeks.map((week) => {
@@ -1172,8 +1198,19 @@ export class InstructorService {
           folderName: module.folderName,
           templateRepositoryUrl: module.templateRepositoryUrl,
           dockerImage: module.dockerImage,
+          defaultParameters: this.stringArray(module.defaultParameters) ?? [],
           enabled: !disabledModuleIdSet.has(module.id),
         })),
+        environmentProfiles: (visualizationSelectionsByWeek.get(week.week) ?? []).map((selection) => {
+          const profile = environmentProfileByWeekPlatformKey.get(`${week.week}:${selection.platformKey}`);
+          return {
+            id: profile?.id ?? `${week.week}:${selection.platformKey}`,
+            platformKey: selection.platformKey,
+            profileType: profile?.profileType ?? selection.platform.type,
+            name: profile?.name ?? selection.platform.displayName,
+            config: profile?.config ?? selection.platform.defaultConfig,
+          };
+        }),
         visualizationPlatforms: (visualizationSelectionsByWeek.get(week.week) ?? []).map((selection) => ({
           key: selection.platform.key,
           type: selection.platform.type,
@@ -1181,6 +1218,7 @@ export class InstructorService {
           description: selection.platform.description,
           config: selection.platform.defaultConfig,
         })),
+        mapKeys: mapKeysByWeek.get(week.week) ?? [],
       };
     });
     const addedWeeks = overrides
@@ -1221,6 +1259,7 @@ export class InstructorService {
             description: selection.platform.description,
             config: selection.platform.defaultConfig,
           })),
+          mapKeys: mapKeysByWeek.get(override.week) ?? [],
         };
       });
 
@@ -1241,6 +1280,19 @@ export class InstructorService {
         description: platform.description,
         config: platform.defaultConfig,
       })),
+      mapOptions: [
+        ...NAV2_SYSTEM_MAPS,
+        ...courseMaps.map((map) => ({
+          key: map.key,
+          platformKey: 'NAV2' as const,
+          name: map.name,
+          description: map.description ?? '강사가 구성한 학습 맵',
+          worldFile: map.worldFile,
+          viewerModel: map.viewerModel === 'turtlebot3_house' ? 'turtlebot3_house' as const : 'turtlebot3_world' as const,
+          custom: true,
+          layout: map.layout,
+        })),
+      ],
       setting: {
         groupId: setting?.groupId ?? null,
         activeWeek: setting?.activeWeek ?? course.weeks.find((week) => week.state === 'current')?.week ?? course.weeks[0]?.week ?? 1,
@@ -1300,6 +1352,135 @@ export class InstructorService {
     const practiceContents = this.normalizePracticeContents(input.practiceContents);
 
     const disabledModuleIds = input.disabledModuleIds?.map((moduleId) => moduleId.trim()).filter(Boolean);
+    const moduleDefaultParameters = input.moduleDefaultParameters === undefined
+      ? undefined
+      : input.moduleDefaultParameters.reduce<Array<{ moduleId: string; parameters: string[] }>>((items, entry) => {
+        const moduleId = entry?.moduleId?.trim();
+        if (!moduleId) return items;
+        items.push({
+          moduleId,
+          parameters: Array.isArray(entry.parameters)
+            ? entry.parameters.map((parameter) => parameter.trim()).filter(Boolean)
+            : [],
+        });
+        return items;
+      }, []);
+
+    if (moduleDefaultParameters !== undefined) {
+      const moduleIdSet = new Set(targetWeek?.modules.map((module) => module.id) ?? []);
+      const invalidModule = moduleDefaultParameters.find((entry) => !moduleIdSet.has(entry.moduleId));
+      if (invalidModule) throw new BadRequestException('선택한 주차에 없는 모듈입니다.');
+
+      await this.prisma.$transaction(moduleDefaultParameters.map((entry) => (
+        this.prisma.courseWeekModule.update({
+          where: { id: entry.moduleId },
+          data: { defaultParameters: entry.parameters },
+        })
+      )));
+    }
+
+    if (input.environmentModuleSets !== undefined) {
+      const moduleIdSet = new Set(targetWeek?.modules.map((module) => module.id) ?? []);
+      const requestedSets = input.environmentModuleSets.reduce<Array<{
+        platformKey: string;
+        modules: Array<{ id: string; defaultParameters: string[]; dockerImage?: string | null }>;
+      }>>((items, entry) => {
+        const platformKey = entry?.platformKey?.trim();
+        if (!platformKey) return items;
+        const moduleMap = new Map<string, { defaultParameters: string[]; dockerImage?: string | null }>();
+        if (Array.isArray(entry.modules)) {
+          entry.modules.forEach((module) => {
+            const id = module?.id?.trim();
+            if (!id) return;
+            moduleMap.set(id, {
+              defaultParameters: Array.isArray(module.defaultParameters)
+                ? module.defaultParameters.map((parameter) => parameter.trim()).filter(Boolean)
+                : [],
+              dockerImage: typeof module.dockerImage === 'string'
+                ? module.dockerImage.trim() || null
+                : module.dockerImage === null ? null : undefined,
+            });
+          });
+        } else {
+          (entry.moduleIds ?? []).forEach((moduleId) => {
+            const id = moduleId.trim();
+            if (id) moduleMap.set(id, { defaultParameters: [] });
+          });
+        }
+        if ([...moduleMap.keys()].some((moduleId) => !moduleIdSet.has(moduleId))) {
+          throw new BadRequestException('선택한 주차에 없는 모듈입니다.');
+        }
+        items.push({
+          platformKey,
+          modules: [...moduleMap.entries()].map(([id, value]) => ({ id, ...value })),
+        });
+        return items;
+      }, []);
+      const selections = await this.prisma.courseWeekVisualizationPlatform.findMany({
+        where: {
+          courseId: course.id,
+          week: input.activeWeek,
+          enabled: true,
+          platformKey: { in: requestedSets.map((item) => item.platformKey) },
+        },
+        include: { platform: true },
+      });
+      const selectionsByPlatformKey = new Map(selections.map((selection) => [selection.platformKey, selection]));
+      if (requestedSets.some((item) => !selectionsByPlatformKey.has(item.platformKey))) {
+        throw new BadRequestException('선택한 환경 프로필을 찾을 수 없습니다.');
+      }
+      const profiles = await this.prisma.courseEnvironmentProfile.findMany({
+        where: { courseId: course.id, week: input.activeWeek },
+      });
+      const profilesByPlatformKey = new Map(profiles.map((profile) => [profile.platformKey, profile]));
+      await this.prisma.$transaction(requestedSets.map((item) => {
+        const selection = selectionsByPlatformKey.get(item.platformKey)!;
+        const existingProfile = profilesByPlatformKey.get(item.platformKey);
+        const existingConfig = existingProfile?.config && typeof existingProfile.config === 'object' && !Array.isArray(existingProfile.config)
+          ? existingProfile.config as Prisma.JsonObject
+          : {};
+        const defaultConfig = selection.platform.defaultConfig && typeof selection.platform.defaultConfig === 'object' && !Array.isArray(selection.platform.defaultConfig)
+          ? selection.platform.defaultConfig as Prisma.JsonObject
+          : {};
+        const config = {
+          ...defaultConfig,
+          ...existingConfig,
+          moduleSet: {
+            target: defaultConfig.target === 'remote-jetson' ? 'platform' : 'local',
+            includeUnlisted: false,
+            modules: item.modules.map((module) => ({
+              id: module.id,
+              ...(module.defaultParameters.length ? { defaultParameters: module.defaultParameters } : {}),
+              ...(module.dockerImage !== undefined ? { dockerImage: module.dockerImage } : {}),
+            })),
+          },
+        };
+        return this.prisma.courseEnvironmentProfile.upsert({
+          where: {
+            courseId_week_platformKey: {
+              courseId: course.id,
+              week: input.activeWeek,
+              platformKey: item.platformKey,
+            },
+          },
+          create: {
+            courseId: course.id,
+            week: input.activeWeek,
+            platformKey: item.platformKey,
+            profileType: selection.platform.type,
+            name: selection.platform.displayName,
+            config,
+            enabled: true,
+          },
+          update: {
+            profileType: selection.platform.type,
+            name: selection.platform.displayName,
+            config,
+            enabled: true,
+          },
+        });
+      }));
+    }
     let selectedTagLabel: string | undefined;
     if (input.tagLabel !== undefined) {
       const tagLabel = input.tagLabel.trim();
@@ -1357,7 +1538,7 @@ export class InstructorService {
       });
     }
 
-    if (input.visualizationPlatformKeys) {
+    if (input.visualizationPlatformKeys !== undefined) {
       const selectedKeys = Array.from(new Set(input.visualizationPlatformKeys.map((key) => key.trim().toUpperCase()).filter(Boolean)));
       const validPlatforms = selectedKeys.length
         ? await this.prisma.visualizationPlatform.findMany({
@@ -1400,6 +1581,34 @@ export class InstructorService {
       )));
     }
 
+    if (input.mapKeys !== undefined) {
+      const selectedKeys = Array.from(new Set(input.mapKeys.map((key) => key.trim()).filter(Boolean)));
+      const customMaps = selectedKeys.length
+        ? await this.prisma.courseMap.findMany({
+            where: { courseId: course.id, key: { in: selectedKeys }, platformKey: 'NAV2' },
+            select: { key: true },
+          })
+        : [];
+      const validKeys = new Set([
+        ...NAV2_SYSTEM_MAPS.map((map) => map.key),
+        ...customMaps.map((map) => map.key),
+      ]);
+      const mapKeys = selectedKeys.filter((key) => validKeys.has(key));
+
+      await this.prisma.courseWeekMap.deleteMany({
+        where: {
+          courseId: course.id,
+          week: input.activeWeek,
+          mapKey: { notIn: mapKeys },
+        },
+      });
+      await Promise.all(mapKeys.map((mapKey, sortOrder) => this.prisma.courseWeekMap.upsert({
+        where: { courseId_week_mapKey: { courseId: course.id, week: input.activeWeek, mapKey } },
+        create: { courseId: course.id, week: input.activeWeek, mapKey, sortOrder },
+        update: { sortOrder },
+      })));
+    }
+
     if (applyToStudents) {
       const targetGroup = selectedGroup;
       if (!targetGroup) throw new BadRequestException('강의 진행을 적용하려면 그룹을 선택해 주세요.');
@@ -1449,6 +1658,28 @@ export class InstructorService {
     return this.getCurriculum(accessToken, selectedGroup?.id ?? input.groupId ?? null, course.id);
   }
 
+  async createCurriculumMap(accessToken: string | undefined, input: CreateInstructorCourseMapDto) {
+    const { authUser, instructor } = await this.getInstructor(accessToken);
+    const organizationName = authUser.primaryAffiliation?.organizationName?.trim();
+    if (!organizationName) throw new BadRequestException('Instructor organization is required');
+    const course = await this.findInstructorCourse(organizationName, instructor.id, input.courseId);
+    if (!course) throw new NotFoundException('Course not found');
+
+    const name = input.name.trim();
+    if (!name) throw new BadRequestException('맵 이름을 입력해 주세요.');
+    const slug = name.toLowerCase().replace(/[^a-z0-9가-힣]+/g, '-').replace(/^-+|-+$/g, '') || 'map';
+    const key = `nav2-custom-${slug}-${randomUUID().slice(0, 8)}`;
+    return this.prisma.courseMap.create({
+      data: {
+        courseId: course.id,
+        key,
+        name,
+        description: this.optionalTrim(input.description) ?? '강사가 구성한 학습 맵',
+        layout: { version: 1, objects: [] },
+      },
+    });
+  }
+
   async deleteCurriculumWeek(accessToken: string | undefined, week: number) {
     const { authUser, instructor } = await this.getInstructor(accessToken);
     const organizationId = authUser.primaryAffiliation?.organizationId;
@@ -1708,6 +1939,40 @@ export class InstructorService {
     return this.listPlatforms(accessToken);
   }
 
+  async issuePlatformRegistrationCode(accessToken: string | undefined) {
+    if (!accessToken) throw new UnauthorizedException('Bearer token required');
+    const launcherApiBaseUrl = this.launcherApiBaseUrl();
+    let response: Response;
+    try {
+      response = await fetch(`${launcherApiBaseUrl}/provision/device-authorizations`, {
+        method: 'POST',
+        headers: {
+          authorization: `Bearer ${accessToken}`,
+          'content-type': 'application/json',
+        },
+        body: JSON.stringify({
+          usageType: 'class',
+        }),
+      });
+    } catch {
+      throw new BadGatewayException('Platform registration code request failed');
+    }
+
+    const payload = await response.json().catch((): Record<string, unknown> => ({}));
+    if (!response.ok || typeof payload.code !== 'string') {
+      throw new BadGatewayException(
+        typeof payload.message === 'string'
+          ? payload.message
+          : 'Platform registration code request failed',
+      );
+    }
+
+    return {
+      code: payload.code,
+      expiresAt: typeof payload.expiresAt === 'string' ? payload.expiresAt : null,
+    };
+  }
+
   async updatePlatform(
     accessToken: string | undefined,
     platformId: string,
@@ -1812,7 +2077,8 @@ export class InstructorService {
     });
     if (!platform) throw new NotFoundException('Platform not found');
 
-    const group = await this.prisma.studentGroup.findFirst({
+    const unassign = groupId === 'unassigned';
+    const group = unassign ? null : await this.prisma.studentGroup.findFirst({
       where: {
         id: groupId,
         ...this.organizationWhere<Prisma.StudentGroupWhereInput>(
@@ -1826,8 +2092,8 @@ export class InstructorService {
         instructorPlatformId: true,
       },
     });
-    if (!group) throw new NotFoundException('Group not found');
+    if (!unassign && !group) throw new NotFoundException('Group not found');
-    if (group.instructorPlatformId && group.instructorPlatformId !== platform.id) {
+    if (group?.instructorPlatformId && group.instructorPlatformId !== platform.id) {
       throw new BadRequestException('이미 플랫폼이 배정된 그룹입니다.');
     }
 
@@ -1871,20 +2137,22 @@ export class InstructorService {
             organizationName,
           ),
           instructorPlatformId: platform.id,
-          NOT: { id: group.id },
+          ...(group ? { NOT: { id: group.id } } : {}),
         },
         data: {
           instructorPlatformId: null,
           platformName: null,
         },
       });
-      await tx.studentGroup.update({
+      if (group) {
-        where: { id: group.id },
+        await tx.studentGroup.update({
-        data: {
+          where: { id: group.id },
-          instructorPlatformId: platform.id,
+          data: {
-          platformName: platform.displayName,
+            instructorPlatformId: platform.id,
-        },
+            platformName: platform.displayName,
-      });
+          },
+        });
+      }
       if (activeSession && force) {
         await tx.platformControlSession.updateMany({
           where: {
@@ -1916,12 +2184,14 @@ export class InstructorService {
         sessionId: activeSession.id,
         platformId: null,
         instructorPlatformId: platform.id,
-        reason: 'GROUP_ASSIGNMENT_CHANGED',
+        reason: group ? 'GROUP_ASSIGNMENT_CHANGED' : 'GROUP_ASSIGNMENT_REMOVED',
-        message: `${platform.displayName} 플랫폼 배정이 변경되어 사용이 종료되었습니다.`,
+        message: group
+          ? `${platform.displayName} 플랫폼 배정이 변경되어 사용이 종료되었습니다.`
+          : `${platform.displayName} 플랫폼 배정이 해제되어 사용이 종료되었습니다.`,
         endedAt: now.toISOString(),
       });
     }
-    await this.syncPlatformAccessPolicy(organizationId, organizationName);
+    this.queuePlatformAccessPolicy(organizationId, organizationName);
     return this.listPlatforms(accessToken);
   }
 
@@ -2040,7 +2310,7 @@ export class InstructorService {
       }),
     ]);
 
-    await this.syncPlatformAccessPolicy(organizationId, organizationName);
+    this.queuePlatformAccessPolicy(organizationId, organizationName);
     if (terminatedSessionNotice) {
       this.chatGateway.notifyUser(terminatedSessionNotice.userId, {
         type: 'platform.control.terminated',
@@ -2116,7 +2386,7 @@ export class InstructorService {
       throw error;
     }
 
-    await this.syncPlatformAccessPolicy(organizationId, organizationName);
+    this.queuePlatformAccessPolicy(organizationId, organizationName);
     return this.listGroups(accessToken, input.courseId);
   }
 
@@ -2221,7 +2491,7 @@ export class InstructorService {
       throw error;
     }
 
-    await this.syncPlatformAccessPolicy(organizationId, organizationName);
+    this.queuePlatformAccessPolicy(organizationId, organizationName);
     this.notifyPlatformTerminatedSessions(termination.notices, termination.endedAt, termination.reason);
     return this.listGroups(accessToken, input.courseId);
   }
@@ -2281,7 +2551,7 @@ export class InstructorService {
       });
     });
 
-    await this.syncPlatformAccessPolicy(organizationId, organizationName);
+    this.queuePlatformAccessPolicy(organizationId, organizationName);
     this.notifyPlatformTerminatedSessions(termination.notices, termination.endedAt, termination.reason);
     return this.listGroups(accessToken, courseId);
   }
@@ -2408,57 +2678,75 @@ export class InstructorService {
     }
   }
 
+  private queuePlatformAccessPolicy(
+    organizationId: string | undefined,
+    organizationName: string,
+  ) {
+    void this.syncPlatformAccessPolicy(organizationId, organizationName).catch((error) => {
+      const message = error instanceof Error ? error.message : String(error);
+      this.logger.warn(`Platform access sync failed in background: ${message}`);
+    });
+  }
+
   private async syncPlatformAccessPolicy(
     organizationId: string | undefined,
     organizationName: string,
   ) {
-    const groups = await this.prisma.studentGroup.findMany({
+    const [platforms, groups] = await Promise.all([
-      where: {
+      this.prisma.instructorPlatform.findMany({
-        ...this.organizationWhere<Prisma.StudentGroupWhereInput>(
+        where: this.organizationWhere<Prisma.InstructorPlatformWhereInput>(
           organizationId,
           organizationName,
         ),
-        instructorPlatformId: { not: null },
+        select: {
-      },
+          id: true,
-      include: {
+          displayName: true,
-        instructorPlatform: {
+          studioSettingsOverride: true,
-          select: {
-            id: true,
-            displayName: true,
-            studioSettingsOverride: true,
-          },
         },
-        members: {
+      }),
-          include: {
+      this.prisma.studentGroup.findMany({
-            user: {
+        where: {
-              select: {
+          ...this.organizationWhere<Prisma.StudentGroupWhereInput>(
-                email: true,
+            organizationId,
+            organizationName,
+          ),
+          instructorPlatformId: { not: null },
+        },
+        select: {
+          instructorPlatformId: true,
+          members: {
+            select: {
+              user: {
+                select: {
+                  email: true,
+                },
               },
             },
           },
         },
-      },
+      }),
-    });
+    ]);
 
-    const assignments = groups
+    const studentEmailsByPlatform = new Map<string, string[]>();
-      .map((group): GatewayAccessAssignment | null => {
+    for (const group of groups) {
-        const platform = group.instructorPlatform;
+      if (!group.instructorPlatformId) continue;
-        if (!platform) return null;
+      studentEmailsByPlatform.set(
-        const agentHostname = this.readStringSetting(platform.studioSettingsOverride, 'agentHostname');
+        group.instructorPlatformId,
-        const gatewayPlatformId = this.readStringSetting(platform.studioSettingsOverride, 'gatewayPlatformId') ?? agentHostname ?? platform.id;
+        group.members.map((member) => member.user.email).filter(Boolean),
-        const studentEmails = group.members
+      );
-          .map((member) => member.user.email)
+    }
-          .filter(Boolean);
+
-        if (!studentEmails.length) return null;
+    // Include unassigned platforms with no students so the agent removes stale SSH keys.
-        return {
+    const assignments: GatewayAccessAssignment[] = platforms.map((platform) => {
-          platformId: gatewayPlatformId,
+      const agentHostname = this.readStringSetting(platform.studioSettingsOverride, 'agentHostname');
-          platformName: platform.displayName,
+      return {
-          agentHostname,
+        platformId: this.readStringSetting(platform.studioSettingsOverride, 'gatewayPlatformId') ?? agentHostname ?? platform.id,
-          agentOwnerEmail: this.readStringSetting(platform.studioSettingsOverride, 'agentOwnerEmail'),
+        platformName: platform.displayName,
-          studentEmails,
+        agentHostname,
-        };
+        agentOwnerEmail: this.readStringSetting(platform.studioSettingsOverride, 'agentOwnerEmail'),
-      })
+        studentEmails: studentEmailsByPlatform.get(platform.id) ?? [],
-      .filter((assignment): assignment is GatewayAccessAssignment => Boolean(assignment));
+      };
+    });
 
     await this.platformGatewayClient.syncAccess(assignments);
   }
@@ -2654,20 +2942,18 @@ export class InstructorService {
     agents: GatewayAgent[],
     binding: { nodeId?: string | null; hostname?: string | null; ownerEmail?: string | null },
   ) {
-    const bindingTokens = [binding.nodeId, binding.hostname, binding.ownerEmail]
+    // An owner can register multiple teaching devices. Bind an instructor
+    // platform to the saved node or hostname, never to the owner alone.
+    const bindingTokens = [binding.nodeId, binding.hostname]
       .map((value) => this.normalizeAgentToken(value))
       .filter(Boolean);
     if (!bindingTokens.length) return null;
 
     return agents.find((agent) => {
-      const agentTokens = [agent.id, agent.hostname, agent.name, agent.ip, agent.user]
+      const agentTokens = [agent.id, agent.hostname, agent.name, agent.ip]
         .map((value) => this.normalizeAgentToken(value))
         .filter(Boolean);
-      return bindingTokens.some((bindingToken) => agentTokens.some((agentToken) => (
+      return bindingTokens.some((bindingToken) => agentTokens.includes(bindingToken));
-        agentToken === bindingToken ||
-        agentToken.includes(bindingToken) ||
-        bindingToken.includes(agentToken)
-      )));
     }) ?? null;
   }
 
@@ -2714,6 +3000,10 @@ export class InstructorService {
             platform: true,
           },
         },
+        environmentProfiles: {
+          where: { enabled: true },
+          orderBy: [{ platformKey: 'asc' }, { profileType: 'asc' }],
+        },
       },
     });
   }
@@ -3323,9 +3613,7 @@ export class InstructorService {
   }
 
   private async grantLmsAppPermission(accessToken: string, authUserId: string) {
-    const launcherApiBaseUrl = this.configService
+    const launcherApiBaseUrl = this.launcherApiBaseUrl();
-      .get<string>('LAUNCHER_API_BASE_URL', 'http://localhost:4200/api')
-      .replace(/\/$/, '');
     const response = await fetch(
       `${launcherApiBaseUrl}/apps/${encodeURIComponent('LMS')}/users/${encodeURIComponent(authUserId)}/permission`,
       {
@@ -3351,6 +3639,13 @@ export class InstructorService {
     }
   }
 
+  private launcherApiBaseUrl() {
+    return this.configService
+      .get<string>('LAUNCHER_API_BASE_URL', 'http://localhost:4200/api')
+      .replace(/\/$/, '');
+  }
+
+
   private toSummary(students: Array<{ progress: number; online: boolean; issues: number }>) {
     const total = students.length;
     const averageProgress = total

src/platform-control/platform-control.controller.ts

@@ -42,6 +42,14 @@ export class PlatformControlController {
     );
   }
 
+  @Post('platforms/:platformId/extend')
+  extendControl(@Req() request: Request, @Param('platformId') platformId: string) {
+    return this.platformControlService.extendControl(
+      this.getBearerToken(request),
+      platformId,
+    );
+  }
+
   @Post('platforms/:platformId/connect')
   connectPlatform(@Req() request: Request, @Param('platformId') platformId: string) {
     return this.platformControlService.connectPlatform(
@@ -84,6 +92,29 @@ export class PlatformControlController {
     );
   }
 
+  @Post('platforms/:platformId/visualization/status')
+  getRemoteVisualizationStatus(@Req() request: Request, @Param('platformId') platformId: string) {
+    return this.platformControlService.getRemoteVisualizationStatus(this.getBearerToken(request), platformId);
+  }
+
+  @Post('platforms/:platformId/visualization/start')
+  startRemoteVisualization(
+    @Req() request: Request,
+    @Param('platformId') platformId: string,
+    @Body() body: { stack?: string; rosDomainId?: string; profile?: unknown },
+  ) {
+    return this.platformControlService.startRemoteVisualization(this.getBearerToken(request), platformId, body);
+  }
+
+  @Post('platforms/:platformId/visualization/stop')
+  stopRemoteVisualization(
+    @Req() request: Request,
+    @Param('platformId') platformId: string,
+    @Body() body: { stack?: string; rosDomainId?: string; profile?: unknown },
+  ) {
+    return this.platformControlService.stopRemoteVisualization(this.getBearerToken(request), platformId, body);
+  }
+
   private getBearerToken(request: Request): string | undefined {
     const [type, token] = request.headers.authorization?.split(' ') ?? [];
     return type === 'Bearer' ? token : undefined;

src/platform-control/platform-control.service.ts

@@ -5,6 +5,7 @@ import {
   NotFoundException,
   OnModuleDestroy,
   OnModuleInit,
+  ServiceUnavailableException,
   UnauthorizedException,
 } from '@nestjs/common';
 import { Prisma } from '@prisma/client';
@@ -205,7 +206,7 @@ export class PlatformControlService implements OnModuleInit, OnModuleDestroy {
             ? '사용 가능'
             : this.toControlStatusLabel(control.status),
         action: control.status === 'AVAILABLE'
-            ? '제어권 요청'
+            ? '제어요청'
             : control.action,
         state: control.state,
         control,
@@ -233,7 +234,7 @@ export class PlatformControlService implements OnModuleInit, OnModuleDestroy {
     const group = await this.findStudentGroup(user.id, context);
     const resource = await this.resolveResource(platformOptionId, context, group?.instructorPlatformId ?? null);
 
-    return this.prisma.$transaction(async (tx) => {
+    const result = await this.prisma.$transaction(async (tx) => {
       const active = await tx.platformControlSession.findFirst({
         where: {
           ...this.resourceWhere(resource),
@@ -258,25 +259,100 @@ export class PlatformControlService implements OnModuleInit, OnModuleDestroy {
       const next = await this.grantNextQueued(tx, resource, context);
       if (next) this.notifyGranted(next);
 
-      const gatewayPlatformId = await this.resolveGatewayPlatformId(resource);
-      if (gatewayPlatformId) {
-        await this.platformGatewayClient.release({
-          platformId: gatewayPlatformId,
-          user: {
-            id: user.id,
-            email: user.email,
-            name: user.name,
-            role: user.authRole,
-          },
-        });
-      }
-
       return {
         result: 'RELEASED',
         platformId: platformOptionId,
         nextSession: next ? this.serializeSession(next) : null,
       };
     }, { isolationLevel: Prisma.TransactionIsolationLevel.Serializable });
+
+    // The gateway call can wait for a remote agent. Keep it outside the
+    // interactive transaction so its timeout cannot invalidate the DB commit.
+    const gatewayPlatformId = await this.resolveGatewayPlatformId(resource);
+    if (gatewayPlatformId) {
+      await this.platformGatewayClient.release({
+        platformId: gatewayPlatformId,
+        user: {
+          id: user.id,
+          email: user.email,
+          name: user.name,
+          role: user.authRole,
+        },
+      });
+    }
+
+    return result;
+  }
+
+  async extendControl(accessToken: string | undefined, platformOptionId: string) {
+    const { authUser, user } = await this.getStudent(accessToken);
+    const context = this.organizationContext(authUser);
+    const group = await this.findStudentGroup(user.id, context);
+    const resource = await this.resolveResource(platformOptionId, context, group?.instructorPlatformId ?? null);
+
+    await this.applyExpiredSessions(context);
+
+    const session = await this.prisma.$transaction(async (tx) => {
+      const active = await tx.platformControlSession.findFirst({
+        where: {
+          ...this.resourceWhere(resource),
+          holderUserId: user.id,
+          status: 'ACTIVE',
+        },
+      });
+      if (!active) throw new NotFoundException('Active control session not found');
+
+      const now = new Date();
+      if (now < active.warningAt) {
+        throw new BadRequestException('제어 시간 경고 구간에서만 연장할 수 있습니다.');
+      }
+      if (active.extensionCount >= 1) {
+        throw new BadRequestException('제어 시간은 한 번만 연장할 수 있습니다.');
+      }
+
+      const waitingCount = await tx.platformControlQueueEntry.count({
+        where: {
+          ...this.resourceWhere(resource),
+          status: 'WAITING',
+        },
+      });
+      if (waitingCount > 0) {
+        throw new BadRequestException('대기 중인 예약이 있어 제어 시간을 연장할 수 없습니다.');
+      }
+
+      const endsAt = new Date(active.endsAt.getTime() + resource.durationMinutes * 60_000);
+      const warningAt = new Date(endsAt.getTime() - resource.warningMinutes * 60_000);
+      return tx.platformControlSession.update({
+        where: { id: active.id },
+        data: {
+          endsAt,
+          warningAt,
+          warningSentAt: null,
+          extensionCount: { increment: 1 },
+        },
+      });
+    }, { isolationLevel: Prisma.TransactionIsolationLevel.Serializable });
+
+    const gatewayPlatformId = await this.resolveGatewayPlatformId(resource);
+    if (gatewayPlatformId) {
+      const ttlSeconds = Math.max(60, Math.floor((session.endsAt.getTime() - Date.now()) / 1000));
+      await this.platformGatewayClient.extendSession({
+        platformId: gatewayPlatformId,
+        ttlSeconds,
+        user: {
+          id: user.id,
+          email: user.email,
+          name: user.name,
+          role: user.authRole,
+        },
+      });
+    }
+
+    return {
+      result: 'EXTENDED',
+      platformId: platformOptionId,
+      session: this.serializeSession(session),
+    };
   }
 
   async connectPlatform(accessToken: string | undefined, platformOptionId: string) {
@@ -304,11 +380,15 @@ export class PlatformControlService implements OnModuleInit, OnModuleDestroy {
     }
 
     const agentOwnerEmail = await this.resolveAgentOwnerEmail(resource);
+    const assignedStudentEmails = group?.members
+      .map((member) => member.user.email)
+      .filter((email): email is string => Boolean(email))
+      ?? (authUser.email ? [authUser.email] : []);
     await this.platformGatewayClient.syncAccess([{
       platformId: gatewayPlatformId,
       platformName: resource.title,
       agentOwnerEmail,
-      studentEmails: authUser.email ? [authUser.email] : [],
+      studentEmails: assignedStudentEmails,
     }]);
 
     const ttlSeconds = Math.max(60, Math.floor((active.endsAt.getTime() - Date.now()) / 1000));
@@ -323,30 +403,76 @@ export class PlatformControlService implements OnModuleInit, OnModuleDestroy {
           role: user.authRole || undefined,
         },
       })
-      .catch(() => null);
+      .catch((error: unknown) => {
+        const detail = error instanceof Error ? error.message : '원격 플랫폼 Gateway에 연결하지 못했습니다.';
+        throw new ServiceUnavailableException(`원격 플랫폼 연결에 실패했습니다. ${detail}`);
+      });
+
+    if (!gateway?.connection) {
+      throw new ServiceUnavailableException('원격 플랫폼 연결 정보를 받지 못했습니다.');
+    }
 
     return {
-      mode: gateway?.connection ? 'remote' : 'gateway-unavailable',
+      mode: 'remote',
       gateway,
-      environmentConfigOverride: gateway?.connection
+      environmentConfigOverride: {
-        ? {
+        target: 'remote-jetson',
-            target: 'remote-jetson',
+        agent: {
-            agent: {
+          url: gateway.connection.agentUrl,
-              url: gateway.connection.agentUrl,
+          sshUser: gateway.connection.sshUser ?? null,
-              sshUser: gateway.connection.sshUser ?? null,
+          workspaceRoot: gateway.connection.workspaceRoot ?? null,
-              workspaceRoot: gateway.connection.workspaceRoot ?? null,
+        },
-            },
+        bridge: {
-            bridge: {
+          env: {
-              env: {
+            BRIDGE_HTTP_URL: gateway.connection.bridgeHttpUrl,
-                BRIDGE_HTTP_URL: gateway.connection.bridgeHttpUrl,
+            BRIDGE_WS_URL: gateway.connection.bridgeWsUrl,
-                BRIDGE_WS_URL: gateway.connection.bridgeWsUrl,
+          },
-              },
+        },
-            },
+      },
-          }
-        : null,
     };
   }
 
+  async getRemoteVisualizationStatus(accessToken: string | undefined, platformOptionId: string) {
+    const { authUser, user } = await this.getStudent(accessToken);
+    const context = this.organizationContext(authUser);
+    const group = await this.findStudentGroup(user.id, context);
+    const resource = await this.resolveResource(platformOptionId, context, group?.instructorPlatformId ?? null);
+    await this.assertActiveControl(resource, user.id);
+    const gatewayPlatformId = await this.resolveGatewayPlatformId(resource);
+    if (!gatewayPlatformId) throw new BadRequestException('원격 플랫폼이 아닙니다.');
+    return this.platformGatewayClient.getVisualizationStatus(gatewayPlatformId);
+  }
+
+  async startRemoteVisualization(
+    accessToken: string | undefined,
+    platformOptionId: string,
+    input: { stack?: string; rosDomainId?: string; profile?: unknown },
+  ) {
+    const { authUser, user } = await this.getStudent(accessToken);
+    const context = this.organizationContext(authUser);
+    const group = await this.findStudentGroup(user.id, context);
+    const resource = await this.resolveResource(platformOptionId, context, group?.instructorPlatformId ?? null);
+    await this.assertActiveControl(resource, user.id);
+    const gatewayPlatformId = await this.resolveGatewayPlatformId(resource);
+    if (!gatewayPlatformId) throw new BadRequestException('원격 플랫폼이 아닙니다.');
+    return this.platformGatewayClient.startVisualization(gatewayPlatformId, input);
+  }
+
+  async stopRemoteVisualization(
+    accessToken: string | undefined,
+    platformOptionId: string,
+    input: { stack?: string; rosDomainId?: string; profile?: unknown },
+  ) {
+    const { authUser, user } = await this.getStudent(accessToken);
+    const context = this.organizationContext(authUser);
+    const group = await this.findStudentGroup(user.id, context);
+    const resource = await this.resolveResource(platformOptionId, context, group?.instructorPlatformId ?? null);
+    await this.assertActiveControl(resource, user.id);
+    const gatewayPlatformId = await this.resolveGatewayPlatformId(resource);
+    if (!gatewayPlatformId) throw new BadRequestException('원격 플랫폼이 아닙니다.');
+    return this.platformGatewayClient.stopVisualization(gatewayPlatformId, input);
+  }
+
   async listRemoteModules(accessToken: string | undefined, platformOptionId: string) {
     const { authUser, user } = await this.getStudent(accessToken);
     const context = this.organizationContext(authUser);
@@ -782,6 +908,15 @@ export class PlatformControlService implements OnModuleInit, OnModuleDestroy {
           some: { userId },
         },
       },
+      include: {
+        members: {
+          include: {
+            user: {
+              select: { email: true },
+            },
+          },
+        },
+      },
       orderBy: { updatedAt: 'desc' },
     });
   }
@@ -832,7 +967,7 @@ export class PlatformControlService implements OnModuleInit, OnModuleDestroy {
   private emptyState(status: 'AVAILABLE'): PlatformControlState {
     return {
       status,
-      action: '제어권 요청',
+      action: '제어요청',
       state: 'ready',
       session: null,
       queue: null,
@@ -853,6 +988,7 @@ export class PlatformControlService implements OnModuleInit, OnModuleDestroy {
     startedAt: Date;
     endsAt: Date;
     warningAt: Date;
+    extensionCount?: number;
     holderUser?: { name: string | null; email: string } | null;
   }) {
     return {
@@ -862,6 +998,7 @@ export class PlatformControlService implements OnModuleInit, OnModuleDestroy {
       startedAt: session.startedAt.toISOString(),
       endsAt: session.endsAt.toISOString(),
       warningAt: session.warningAt.toISOString(),
+      extensionCount: session.extensionCount ?? 0,
     };
   }
 

src/platform-control/platform-gateway.client.ts

@@ -66,9 +66,27 @@ export class PlatformGatewayClient {
     ttlSeconds: number;
   }): Promise<GatewaySessionResponse | null> {
     if (!this.enabled) return null;
+    const body = {
+      platformId: input.platformId,
+      user: input.user,
+      ttlSeconds: input.ttlSeconds,
+      ...(input.agentOwnerEmail ? { agentOwnerEmail: input.agentOwnerEmail } : {}),
+    };
     return this.request<GatewaySessionResponse>('/api/lms/platform-sessions', {
       method: 'POST',
-      body: JSON.stringify(input),
+      body: JSON.stringify(body),
+    });
+  }
+
+  async extendSession(input: {
+    platformId: string;
+    user: { id: string; email?: string; name?: string | null; role?: string | null };
+    ttlSeconds: number;
+  }): Promise<void> {
+    if (!this.enabled) return;
+    await this.request(`/api/lms/platform-sessions/${encodeURIComponent(input.platformId)}/extend`, {
+      method: 'POST',
+      body: JSON.stringify({ user: input.user, ttlSeconds: input.ttlSeconds }),
     });
   }
 
@@ -135,6 +153,29 @@ export class PlatformGatewayClient {
     });
   }
 
+  async getVisualizationStatus(platformId: string): Promise<unknown> {
+    if (!this.enabled) return null;
+    return this.request(`/api/lms/platforms/${encodeURIComponent(platformId)}/visualization/status`, {
+      method: 'GET',
+    });
+  }
+
+  async startVisualization(platformId: string, input: { stack?: string | null; rosDomainId?: string | null; profile?: unknown }): Promise<unknown> {
+    if (!this.enabled) return null;
+    return this.request(`/api/lms/platforms/${encodeURIComponent(platformId)}/visualization/start`, {
+      method: 'POST',
+      body: JSON.stringify(input),
+    });
+  }
+
+  async stopVisualization(platformId: string, input: { stack?: string | null; rosDomainId?: string | null; profile?: unknown } = {}): Promise<unknown> {
+    if (!this.enabled) return null;
+    return this.request(`/api/lms/platforms/${encodeURIComponent(platformId)}/visualization/stop`, {
+      method: 'POST',
+      body: JSON.stringify(input),
+    });
+  }
+
   async syncAccess(assignments: GatewayAccessAssignment[]): Promise<void> {
     if (!this.enabled) return;
     await this.request('/api/lms/access-sync', {
@@ -157,8 +198,10 @@ export class PlatformGatewayClient {
     const payload = await response.json().catch(() => ({}));
     if (!response.ok) {
       const message = String(payload?.error ?? payload?.message ?? `platform_gateway_failed:${response.status}`);
-      this.logger.warn(`Platform gateway request failed. path=${path} status=${response.status} message=${message}`);
+      const issues = payload?.issues ? ` issues=${JSON.stringify(payload.issues)}` : '';
-      throw new Error(message);
+      const detail = payload?.result?.error ? ` detail=${String(payload.result.error)}` : '';
+      this.logger.warn(`Platform gateway request failed. path=${path} status=${response.status} message=${message}${issues}${detail}`);
+      throw new Error(`${message}${issues}${detail}`);
     }
     return payload as T;
   }

src/studio/studio.controller.ts

@@ -1,4 +1,4 @@
-import { Body, Controller, Delete, Post, Req } from '@nestjs/common';
+import { Body, Controller, Delete, Get, Param, Post, Query, Req } from '@nestjs/common';
 import { Request } from 'express';
 
 import { StudioService } from './studio.service';
@@ -65,6 +65,24 @@ export class StudioController {
     return this.studioService.recordLearningTime(this.getBearerToken(request), body);
   }
 
+  @Get('maps')
+  listSavedMaps(@Req() request: Request, @Query('courseId') courseId?: string, @Query('week') week?: string) {
+    return this.studioService.listSavedMaps(this.getBearerToken(request), courseId, Number(week));
+  }
+
+  @Post('maps')
+  recordSavedMap(
+    @Req() request: Request,
+    @Body() body: { courseId?: string; week?: number; name?: string; sourceMapKey?: string; worldFile?: string; viewerModel?: string; yamlPath?: string; pgmPath?: string; previewPgm?: string; databasePath?: string },
+  ) {
+    return this.studioService.recordSavedMap(this.getBearerToken(request), body);
+  }
+
+  @Delete('maps/:id')
+  deleteSavedMap(@Req() request: Request, @Param('id') id: string) {
+    return this.studioService.deleteSavedMap(this.getBearerToken(request), id);
+  }
+
   private getBearerToken(request: Request): string | undefined {
     const [type, token] = request.headers.authorization?.split(' ') ?? [];
     return type === 'Bearer' ? token : undefined;

src/studio/studio.service.ts

@@ -412,6 +412,66 @@ export class StudioService {
     };
   }
 
+  async listSavedMaps(accessToken: string | undefined, courseId: string | undefined, week: number) {
+    const { user: authUser } = await this.authService.me(accessToken);
+    if (!authUser?.email) throw new UnauthorizedException('Invalid user');
+    if (!courseId?.trim()) throw new BadRequestException('courseId is required');
+    if (!Number.isInteger(week) || week < 1) throw new BadRequestException('week is required');
+    const lmsUser = await this.prisma.user.findUnique({ where: { email: authUser.email } });
+    if (!lmsUser) throw new NotFoundException('LMS user not found');
+    return this.prisma.studentSavedMap.findMany({
+      where: { userId: lmsUser.id, courseId: courseId.trim(), week },
+      orderBy: { createdAt: 'desc' },
+    });
+  }
+
+  async recordSavedMap(
+    accessToken: string | undefined,
+    input: { courseId?: string; week?: number; name?: string; sourceMapKey?: string; worldFile?: string; viewerModel?: string; yamlPath?: string; pgmPath?: string; previewPgm?: string; databasePath?: string },
+  ) {
+    const { user: authUser } = await this.authService.me(accessToken);
+    if (!authUser?.email) throw new UnauthorizedException('Invalid user');
+    const courseId = input.courseId?.trim();
+    const yamlPath = input.yamlPath?.trim();
+    const pgmPath = input.pgmPath?.trim();
+    const previewPgm = input.previewPgm?.trim() || null;
+    const databasePath = input.databasePath?.trim() || null;
+    const sourceMapKey = input.sourceMapKey?.trim();
+    // Platform SLAM maps do not originate from a Gazebo world file.
+    const worldFile = input.worldFile?.trim() ?? '';
+    const viewerModel = input.viewerModel?.trim();
+    if (!courseId) throw new BadRequestException('courseId is required');
+    if (!Number.isInteger(input.week) || input.week! < 1) throw new BadRequestException('week is required');
+    if (!yamlPath?.startsWith('/workspace/maps/') || !yamlPath.endsWith('.yaml')) throw new BadRequestException('yamlPath is invalid');
+    if (!pgmPath?.startsWith('/workspace/maps/') || !pgmPath.endsWith('.pgm')) throw new BadRequestException('pgmPath is invalid');
+    if (previewPgm && (!/^[A-Za-z0-9+/=]+$/.test(previewPgm) || previewPgm.length > 70_000)) throw new BadRequestException('previewPgm is invalid');
+    if (databasePath && (!databasePath.startsWith('/workspace/maps/') || !databasePath.endsWith('.db'))) throw new BadRequestException('databasePath is invalid');
+    if (!sourceMapKey || !viewerModel) throw new BadRequestException('source map is required');
+    const lmsUser = await this.prisma.user.findUnique({ where: { email: authUser.email } });
+    if (!lmsUser) throw new NotFoundException('LMS user not found');
+    const enrollment = await this.prisma.studentEnrollment.findFirst({
+      where: { userId: lmsUser.id, courseId, status: 'ACTIVE' },
+    });
+    if (!enrollment) throw new NotFoundException('Student enrollment not found');
+    return this.prisma.studentSavedMap.upsert({
+      where: { userId_courseId_week_yamlPath: { userId: lmsUser.id, courseId, week: input.week!, yamlPath } },
+      update: { name: input.name?.trim() || 'SLAM 결과 맵', pgmPath, previewPgm, databasePath, sourceMapKey, worldFile, viewerModel },
+      create: { userId: lmsUser.id, courseId, week: input.week!, name: input.name?.trim() || 'SLAM 결과 맵', sourceMapKey, worldFile, viewerModel, yamlPath, pgmPath, previewPgm, databasePath },
+    });
+  }
+
+  async deleteSavedMap(accessToken: string | undefined, id: string) {
+    const { user: authUser } = await this.authService.me(accessToken);
+    if (!authUser?.email) throw new UnauthorizedException('Invalid user');
+    const lmsUser = await this.prisma.user.findUnique({ where: { email: authUser.email } });
+    if (!lmsUser) throw new NotFoundException('LMS user not found');
+    const result = await this.prisma.studentSavedMap.deleteMany({
+      where: { id, userId: lmsUser.id },
+    });
+    if (!result.count) throw new NotFoundException('Saved map not found');
+    return { ok: true };
+  }
+
   private async ensureGiteaRepository(repoName: string, description: string) {
     const existingResponse = await fetch(`${this.giteaBaseUrl}/api/v1/repos/${encodeURIComponent(this.studentOwner)}/${encodeURIComponent(repoName)}`, {
       headers: this.giteaHeaders(),

uploads/course-references/619a4b0f-7b49-4f9d-96d9-5ab7effa3224.py

@@ -0,0 +1,13 @@
+# launch 파일 예제
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='slam_pkg',
+            executable='slam_node',
+            name='slam',
+            output='screen'
+        )
+    ])

uploads/course-references/7d288277-c62d-4769-8be8-c36e4f0c8232.py

@@ -0,0 +1,29 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import LaserScan
+
+class SlamNode(Node):
+    def __init__(self):
+        super().__init__('slam_node')
+        self.subscription = \
+            self.create_subscription(
+                LaserScan,
+                '/scan',
+                self.listener_callback,
+                10)
+
+    def listener_callback(self, msg):
+        self.get_logger().info(
+            'Received scan data'
+        )
+        # SLAM 알고리즘 구현
+        pass
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = SlamNode()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

uploads/course-references/7eebe9b7-6275-444a-95da-7999f135d8a4.pdf

@@ -0,0 +1 @@
+Autonomy Studio LMS demo file