feat: enable hybrid local and remote module execution

resources/slam-ros-bridge/bridge.py

@@ -25,10 +25,12 @@ from nav_msgs.msg import OccupancyGrid, Odometry, Path as NavPath
 from nav2_msgs.action import NavigateToPose
 from pydantic import BaseModel
 from rclpy.action import ActionClient
+from rclpy.duration import Duration
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.parameter import Parameter
 from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy, qos_profile_sensor_data
+from rclpy.time import Time
 from sensor_msgs.msg import LaserScan, PointCloud2
 from tf2_msgs.msg import TFMessage
 import uvicorn
@@ -149,6 +151,7 @@ class SlamNode(Node):
 
         self.odom_topic = os.environ.get("ODOM_TOPIC", "/odom")
         self.scan_topic = os.environ.get("SCAN_TOPIC", "/scan")
+        self.amcl_pose_topic = os.environ.get("AMCL_POSE_TOPIC", "/amcl_pose")
         self.point_cloud_topic = os.environ.get("POINT_CLOUD_TOPIC", "/cloud_map")
         self.fallback_point_cloud_topic = os.environ.get("FALLBACK_POINT_CLOUD_TOPIC", "/lidar_filtered")
         self.icp_odom_topic = os.environ.get("ICP_ODOM_TOPIC", "/icp_odom")
@@ -181,6 +184,7 @@ class SlamNode(Node):
 
         self._odom: Optional[Odometry] = None
         self._scan: Optional[LaserScan] = None
+        self._amcl_pose: Optional[PoseWithCovarianceStamped] = None
         self._point_cloud: Optional[PointCloud2] = None
         self._fallback_point_cloud: Optional[PointCloud2] = None
         self._icp_odom: Optional[Odometry] = None
@@ -189,6 +193,7 @@ class SlamNode(Node):
         self._tf = {}
         self._odom_count = 0
         self._scan_count = 0
+        self._amcl_pose_count = 0
         self._point_cloud_count = 0
         self._fallback_point_cloud_count = 0
         self._icp_odom_count = 0
@@ -196,10 +201,15 @@ class SlamNode(Node):
         self._tf_count = 0
         self._last_odom_wall_time = None
         self._last_scan_wall_time = None
+        self._last_amcl_pose_wall_time = None
         self._last_point_cloud_wall_time = None
         self._last_fallback_point_cloud_wall_time = None
         self._last_icp_odom_wall_time = None
         self._last_map_wall_time = None
+        self._plan_count = 0
+        self._last_plan_wall_time = None
+        self._topic_status_cache = {}
+        self._topic_status_last_refresh = 0.0
         self._navigation = {"status": "idle", "goal_id": None}
         self._active_goal_handle = None
         self._lock = threading.Lock()
@@ -208,6 +218,8 @@ class SlamNode(Node):
         self.create_subscription(Odometry, self.odom_topic, self._on_odom, best_effort_qos)
         self.create_subscription(LaserScan, self.scan_topic, self._on_scan, qos_profile_sensor_data)
         self.create_subscription(LaserScan, self.scan_topic, self._on_scan, reliable_qos)
+        self.create_subscription(PoseWithCovarianceStamped, self.amcl_pose_topic, self._on_amcl_pose, reliable_qos)
+        self.create_subscription(PoseWithCovarianceStamped, self.amcl_pose_topic, self._on_amcl_pose, best_effort_qos)
         self.create_subscription(PointCloud2, self.point_cloud_topic, self._on_point_cloud, map_qos)
         if self.fallback_point_cloud_topic != self.point_cloud_topic:
             self.create_subscription(PointCloud2, self.fallback_point_cloud_topic, self._on_fallback_point_cloud, qos_profile_sensor_data)
@@ -233,8 +245,19 @@ class SlamNode(Node):
             self._last_odom_wall_time = time.time()
 
     def publish_initial_pose(self, x: float, y: float, yaw: float = 0.0, frame_id: str = "map") -> None:
+        # AMCL transforms the initial pose at the message timestamp. On a real
+        # platform the bridge clock can be a few milliseconds ahead of the
+        # latest odom/TF sample, which makes AMCL reject the pose as a future
+        # extrapolation. Anchor it to the latest received odometry instead.
+        with self._lock:
+            odom_stamp = self._odom.header.stamp if self._odom is not None else None
         message = PoseWithCovarianceStamped()
-        message.header.stamp = self.get_clock().now().to_msg()
+        if odom_stamp:
+            # The odom callback can lead the TF buffer by a few milliseconds.
+            # Keep a small margin so AMCL can always transform map -> odom.
+            message.header.stamp = (Time.from_msg(odom_stamp) - Duration(seconds=0.1)).to_msg()
+        else:
+            message.header.stamp = self.get_clock().now().to_msg()
         message.header.frame_id = frame_id
         message.pose.pose.position.x = x
         message.pose.pose.position.y = y
@@ -355,6 +378,12 @@ class SlamNode(Node):
             self._scan_count += 1
             self._last_scan_wall_time = time.time()
 
+    def _on_amcl_pose(self, msg: PoseWithCovarianceStamped):
+        with self._lock:
+            self._amcl_pose = msg
+            self._amcl_pose_count += 1
+            self._last_amcl_pose_wall_time = time.time()
+
     def _on_point_cloud(self, msg: PointCloud2):
         with self._lock:
             self._point_cloud = msg
@@ -393,6 +422,51 @@ class SlamNode(Node):
     def _on_plan(self, msg: NavPath):
         with self._lock:
             self._plan = msg
+            self._plan_count += 1
+            self._last_plan_wall_time = time.time()
+
+    def topic_status(self) -> dict:
+        now = time.time()
+        with self._lock:
+            if now - self._topic_status_last_refresh < 1.0:
+                return dict(self._topic_status_cache)
+            scan_last = self._last_scan_wall_time
+            odom_last = self._last_odom_wall_time
+            amcl_pose_last = self._last_amcl_pose_wall_time
+            point_cloud_last = self._last_point_cloud_wall_time
+            fallback_point_cloud_last = self._last_fallback_point_cloud_wall_time
+            map_count = self._map_count
+            plan_count = self._plan_count
+
+        def received_recently(last_received: Optional[float]) -> bool:
+            return last_received is not None and now - last_received <= 3.0
+
+        try:
+            plan_available = plan_count > 0 or self.count_publishers(self.plan_topic) > 0
+            cmd_vel_available = self.count_subscribers(self.cmd_vel_topic) > 0
+            navigation_available = self._navigate_to_pose_client.server_is_ready()
+        except Exception:
+            plan_available = plan_count > 0
+            cmd_vel_available = False
+            navigation_available = False
+
+        status = {
+            "scan": {"name": self.scan_topic, "available": received_recently(scan_last)},
+            "odom": {"name": self.odom_topic, "available": received_recently(odom_last)},
+            "map": {"name": self.map_topic, "available": map_count > 0},
+            "amcl_pose": {"name": self.amcl_pose_topic, "available": received_recently(amcl_pose_last)},
+            "point_cloud": {
+                "name": self.point_cloud_topic,
+                "available": received_recently(point_cloud_last) or received_recently(fallback_point_cloud_last),
+            },
+            "plan": {"name": self.plan_topic, "available": plan_available},
+            "cmd_vel": {"name": self.cmd_vel_topic, "available": cmd_vel_available},
+            "navigate_to_pose": {"name": self.navigate_to_pose_action, "available": navigation_available},
+        }
+        with self._lock:
+            self._topic_status_cache = status
+            self._topic_status_last_refresh = now
+        return dict(status)
 
     @staticmethod
     def _has_populated_map(grid: Optional[OccupancyGrid]) -> bool:
@@ -738,6 +812,7 @@ class SlamNode(Node):
                 "map_to_odom": resolve_2d_transform(tf_snapshot, "map", "odom"),
             },
             "navigation": navigation,
+            "topic_status": self.topic_status(),
             "plan": {
                 "frame_id": plan.header.frame_id,
                 "poses": [
@@ -904,6 +979,7 @@ def health():
         "has_point_cloud": bool(snap.get("point_cloud")),
         "has_map": bool(snap.get("map")),
         "topics": snap.get("topics", {}),
+        "topic_status": snap.get("topic_status", {}),
     }
 
 

src/preload/index.ts

@@ -21,6 +21,7 @@ type ModulePrebuiltArtifact = {
   fileName?: string | null
   checksumSha256?: string | null
   extractPath?: string | null
+  architecture?: string | null
   required?: boolean | null
 }
 
@@ -37,6 +38,24 @@ type ModuleInstallOptions = {
   runtimeImages?: RuntimeImageArtifact[] | null
 }
 
+type RosNetworkConfig = {
+  enabled?: boolean | null
+  peer?: RemoteWorkspaceTarget | null
+}
+
+type SavedMapArtifactName = 'yaml' | 'pgm' | 'database'
+
+type SavedMapArtifactPath = {
+  name: SavedMapArtifactName
+  path: string
+}
+
+type SavedMapArtifactDownload = {
+  name: SavedMapArtifactName
+  fileName: string
+  url: string
+}
+
 const decodeArgValue = (prefix: string): string | null => {
   const rawValue = process.argv.find((arg) => arg.startsWith(prefix))?.slice(prefix.length)
   if (!rawValue) return null
@@ -94,6 +113,9 @@ contextBridge.exposeInMainWorld('titlebar', {
   openDevTools: () => ipcRenderer.invoke('titlebar-open-devtools'),
   close: () => ipcRenderer.send('titlebar-close')
 })
+contextBridge.exposeInMainWorld('appDiagnostics', {
+  read: () => ipcRenderer.invoke('app-diagnostics:read')
+})
 contextBridge.exposeInMainWorld('appLifecycle', {
   quit: () => ipcRenderer.send('app-quit')
 })
@@ -113,18 +135,20 @@ contextBridge.exposeInMainWorld('modules', {
   list: (workspaceRoot?: string, modules?: Array<{ sortOrder?: number | null; category: string; name: string; folderName: string; templateRepositoryUrl?: string | null }>) => ipcRenderer.invoke('modules:list', workspaceRoot, modules),
   install: (moduleName: string, workspaceRoot?: string, folderName?: string, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => ipcRenderer.invoke('modules:install', moduleName, workspaceRoot, folderName, templateRepositoryUrl, studentRepositoryUrl, options),
   delete: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('modules:delete', moduleName, workspaceRoot, folderName),
-  start: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => ipcRenderer.invoke('modules:start', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages),
+  start: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('modules:start', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
-  build: (moduleName: string, workspaceRoot?: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => ipcRenderer.invoke('modules:build', moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages),
+  build: (moduleName: string, workspaceRoot?: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string) => ipcRenderer.invoke('modules:build', moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams),
   stop: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('modules:stop', moduleName, workspaceRoot, folderName),
   stopMany: (modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string) => ipcRenderer.invoke('modules:stop-many', modules, workspaceRoot),
   stopRunning: () => ipcRenderer.invoke('modules:stop-running'),
-  restart: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => ipcRenderer.invoke('modules:restart', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages),
+  restart: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('modules:restart', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
   logs: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('modules:logs', moduleName, workspaceRoot, folderName),
   updateParameters: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string) => ipcRenderer.invoke('modules:update-parameters', moduleName, workspaceRoot, folderName, rosParams)
 })
 contextBridge.exposeInMainWorld('git', {
   status: (moduleName: string, workspaceRoot?: string, folderName?: string, selectedFilePath?: string | null) => ipcRenderer.invoke('git:status', moduleName, workspaceRoot, folderName, selectedFilePath),
-  submit: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string) => ipcRenderer.invoke('git:submit', moduleName, workspaceRoot, folderName, message, authorName, authorEmail, submissionId),
+  submit: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string, repositoryUrl?: string) => ipcRenderer.invoke('git:submit', moduleName, workspaceRoot, folderName, message, authorName, authorEmail, submissionId, repositoryUrl),
+  teamPublish: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string) => ipcRenderer.invoke('git:team-publish', moduleName, workspaceRoot, folderName, message, authorName, authorEmail),
+  teamPull: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('git:team-pull', moduleName, workspaceRoot, folderName),
   submissions: (modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string) => ipcRenderer.invoke('git:submissions', modules, workspaceRoot),
   commitDiff: (moduleName: string, workspaceRoot?: string, folderName?: string, commitHash?: string) => ipcRenderer.invoke('git:commit-diff', moduleName, workspaceRoot, folderName, commitHash)
 })
@@ -154,7 +178,7 @@ contextBridge.exposeInMainWorld('terminal', {
 })
 contextBridge.exposeInMainWorld('visualization', {
   status: () => ipcRenderer.invoke('visualization:status'),
-  start: (stack?: 'autoware' | 'nav2' | 'slam', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown) => ipcRenderer.invoke('visualization:start', stack, workspaceRoot, rosDomainId, environmentProfile),
+  start: (stack?: 'autoware' | 'nav2' | 'slam', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('visualization:start', stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork),
   stop: (environmentProfile?: unknown) => ipcRenderer.invoke('visualization:stop', environmentProfile)
 })
 contextBridge.exposeInMainWorld('localWorkspace', {
@@ -172,12 +196,12 @@ contextBridge.exposeInMainWorld('localWorkspace', {
     install: (moduleName: string, workspaceRoot?: string, folderName?: string, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => ipcRenderer.invoke('local-workspace:modules:install', moduleName, workspaceRoot, folderName, templateRepositoryUrl, studentRepositoryUrl, options),
     createCustom: (workspaceRoot: string | undefined, input: { name: string; category: string; folderName: string; dockerImage?: string | null; packageName: string; launchFile: string }) => ipcRenderer.invoke('local-workspace:modules:create-custom', workspaceRoot, input),
     delete: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:modules:delete', moduleName, workspaceRoot, folderName),
-    start: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => ipcRenderer.invoke('local-workspace:modules:start', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages),
+    start: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('local-workspace:modules:start', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
-    build: (moduleName: string, workspaceRoot?: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => ipcRenderer.invoke('local-workspace:modules:build', moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages),
+    build: (moduleName: string, workspaceRoot?: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string) => ipcRenderer.invoke('local-workspace:modules:build', moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams),
     stop: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:modules:stop', moduleName, workspaceRoot, folderName),
     stopMany: (modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string) => ipcRenderer.invoke('local-workspace:modules:stop-many', modules, workspaceRoot),
     stopRunning: () => ipcRenderer.invoke('local-workspace:modules:stop-running'),
-    restart: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => ipcRenderer.invoke('local-workspace:modules:restart', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages),
+    restart: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('local-workspace:modules:restart', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
     logs: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:modules:logs', moduleName, workspaceRoot, folderName),
     updateParameters: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string) => ipcRenderer.invoke('local-workspace:modules:update-parameters', moduleName, workspaceRoot, folderName, rosParams)
   },
@@ -190,14 +214,20 @@ contextBridge.exposeInMainWorld('localWorkspace', {
     read: (workspaceRoot?: string) => ipcRenderer.invoke('local-workspace:world-layout:read', workspaceRoot),
     write: (workspaceRoot: string | undefined, layout: unknown) => ipcRenderer.invoke('local-workspace:world-layout:write', workspaceRoot, layout)
   },
+  maps: {
+    readArtifacts: (workspaceRoot: string | undefined, artifacts: SavedMapArtifactPath[]) => ipcRenderer.invoke('local-workspace:maps:read-artifacts', workspaceRoot, artifacts),
+    sync: (workspaceRoot: string | undefined, artifacts: SavedMapArtifactDownload[]) => ipcRenderer.invoke('local-workspace:maps:sync', workspaceRoot, artifacts)
+  },
   visualization: {
     status: () => ipcRenderer.invoke('local-workspace:visualization:status'),
-    start: (stack?: 'autoware' | 'nav2' | 'slam', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown) => ipcRenderer.invoke('local-workspace:visualization:start', stack, workspaceRoot, rosDomainId, environmentProfile),
+    start: (stack?: 'autoware' | 'nav2' | 'slam', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('local-workspace:visualization:start', stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork),
     stop: (environmentProfile?: unknown) => ipcRenderer.invoke('local-workspace:visualization:stop', environmentProfile)
   },
   git: {
     status: (moduleName: string, workspaceRoot?: string, folderName?: string, selectedFilePath?: string | null) => ipcRenderer.invoke('local-workspace:git:status', moduleName, workspaceRoot, folderName, selectedFilePath),
-    submit: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string) => ipcRenderer.invoke('local-workspace:git:submit', moduleName, workspaceRoot, folderName, message, authorName, authorEmail, submissionId),
+    submit: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string, repositoryUrl?: string) => ipcRenderer.invoke('local-workspace:git:submit', moduleName, workspaceRoot, folderName, message, authorName, authorEmail, submissionId, repositoryUrl),
+    teamPublish: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string) => ipcRenderer.invoke('local-workspace:git:team-publish', moduleName, workspaceRoot, folderName, message, authorName, authorEmail),
+    teamPull: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:git:team-pull', moduleName, workspaceRoot, folderName),
     restoreFile: (moduleName: string, workspaceRoot?: string, folderName?: string, filePath?: string, status?: string) => ipcRenderer.invoke('local-workspace:git:restore-file', moduleName, workspaceRoot, folderName, filePath, status),
     submissions: (modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string) => ipcRenderer.invoke('local-workspace:git:submissions', modules, workspaceRoot),
     commitDiff: (moduleName: string, workspaceRoot?: string, folderName?: string, commitHash?: string) => ipcRenderer.invoke('local-workspace:git:commit-diff', moduleName, workspaceRoot, folderName, commitHash)
@@ -234,26 +264,33 @@ contextBridge.exposeInMainWorld('remoteWorkspace', {
     rename: (target: RemoteWorkspaceTarget, moduleName: string, fromPath: string, toPath: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:rename', target, moduleName, fromPath, toPath, folderName),
     delete: (target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:delete', target, moduleName, path, folderName)
   },
+  maps: {
+    readArtifacts: (target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactPath[]) => ipcRenderer.invoke('remote-workspace:maps:read-artifacts', target, artifacts),
+    sync: (target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactDownload[]) => ipcRenderer.invoke('remote-workspace:maps:sync', target, artifacts)
+  },
   modules: {
     list: (target: RemoteWorkspaceTarget, modules?: Array<{ sortOrder?: number | null; category: string; name: string; folderName: string; templateRepositoryUrl?: string | null }>) => ipcRenderer.invoke('remote-workspace:modules:list', target, modules),
     install: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => ipcRenderer.invoke('remote-workspace:modules:install', target, moduleName, folderName, templateRepositoryUrl, studentRepositoryUrl, options),
     createCustom: (target: RemoteWorkspaceTarget, input: { name: string; category: string; folderName: string; dockerImage?: string | null; packageName: string; launchFile: string }) => ipcRenderer.invoke('remote-workspace:modules:create-custom', target, input),
-    start: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => ipcRenderer.invoke('remote-workspace:modules:start', target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages),
+    transfer: (target: RemoteWorkspaceTarget, sourceWorkspaceRoot: string | undefined, moduleName: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:modules:transfer', target, sourceWorkspaceRoot, moduleName, folderName),
+    start: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('remote-workspace:modules:start', target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
     build: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => ipcRenderer.invoke('remote-workspace:modules:build', target, moduleName, folderName, gpuEnabled, rosDomainId, runtimeImages),
     stop: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:modules:stop', target, moduleName, folderName),
     stopMany: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => ipcRenderer.invoke('remote-workspace:modules:stop-many', target, modules),
     resetSession: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null; templateRepositoryUrl?: string | null }>) => ipcRenderer.invoke('remote-workspace:modules:reset-session', target, modules),
-    restart: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => ipcRenderer.invoke('remote-workspace:modules:restart', target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages),
+    restart: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('remote-workspace:modules:restart', target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
     logs: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:modules:logs', target, moduleName, folderName)
   },
   visualization: {
     status: (target: RemoteWorkspaceTarget) => ipcRenderer.invoke('remote-workspace:visualization:status', target),
-    start: (target: RemoteWorkspaceTarget, stack?: 'autoware' | 'nav2' | 'slam', rosDomainId?: string, environmentProfile?: unknown) => ipcRenderer.invoke('remote-workspace:visualization:start', target, stack, rosDomainId, environmentProfile),
+    start: (target: RemoteWorkspaceTarget, stack?: 'autoware' | 'nav2' | 'slam', rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('remote-workspace:visualization:start', target, stack, rosDomainId, environmentProfile, rosNetwork),
     stop: (target: RemoteWorkspaceTarget) => ipcRenderer.invoke('remote-workspace:visualization:stop', target)
   },
   git: {
     status: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, selectedFilePath?: string | null) => ipcRenderer.invoke('remote-workspace:git:status', target, moduleName, folderName, selectedFilePath),
-    submit: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string) => ipcRenderer.invoke('remote-workspace:git:submit', target, moduleName, folderName, message, authorName, authorEmail, submissionId),
+    submit: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string, repositoryUrl?: string) => ipcRenderer.invoke('remote-workspace:git:submit', target, moduleName, folderName, message, authorName, authorEmail, submissionId, repositoryUrl),
+    teamPublish: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string) => ipcRenderer.invoke('remote-workspace:git:team-publish', target, moduleName, folderName, message, authorName, authorEmail),
+    teamPull: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:git:team-pull', target, moduleName, folderName),
     restoreFile: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, filePath?: string, status?: string) => ipcRenderer.invoke('remote-workspace:git:restore-file', target, moduleName, folderName, filePath, status),
     submissions: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => ipcRenderer.invoke('remote-workspace:git:submissions', target, modules),
     commitDiff: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, commitHash?: string) => ipcRenderer.invoke('remote-workspace:git:commit-diff', target, moduleName, folderName, commitHash)

src/renderer/public/slam-viewer/index.html

@@ -24,7 +24,7 @@
 	    #miniMapToggle {
 	      position:absolute;
 	      right:16px;
-	      bottom:236px;
+	      bottom:240px;
 	      z-index:11;
 	      min-height:28px;
 	      padding:0 10px;
@@ -76,6 +76,65 @@
 	      backdrop-filter:blur(8px);
       box-shadow:0 10px 28px rgba(0,0,0,.16);
     }
+    #rosTopicStatusWrap {
+      position:absolute;
+      left:16px;
+      bottom:54px;
+      z-index:10;
+      width:178px;
+    }
+    #rosTopicStatus {
+      overflow:hidden;
+      border:1px solid rgba(255,255,255,.24);
+      background:rgba(17,24,39,.48);
+      color:rgba(255,255,255,.88);
+      font:11px sans-serif;
+      backdrop-filter:blur(8px);
+      box-shadow:0 10px 28px rgba(0,0,0,.16);
+    }
+    #rosTopicStatusToggle {
+      position:absolute;
+      left:0;
+      top:-28px;
+      display:grid;
+      width:30px;
+      height:28px;
+      place-items:center;
+      padding:0;
+      border:1px solid rgba(255,255,255,.22);
+      background:rgba(17,24,39,.42);
+      color:rgba(255,255,255,.9);
+      font:11px sans-serif;
+      font-weight:800;
+      cursor:pointer;
+      backdrop-filter:blur(8px);
+      box-shadow:0 10px 28px rgba(0,0,0,.16);
+    }
+    #rosTopicStatusToggle:hover { color:#fff; background:rgba(255,255,255,.06); }
+    #rosTopicStatusWrap.is-collapsed #rosTopicStatus { display:none; }
+    #rosTopicStatusChevron { font-size:13px; line-height:1; }
+    #rosTopicStatusWrap.is-collapsed #rosTopicStatusChevron { transform:rotate(180deg); }
+    #rosTopicStatusTitle {
+      min-height:30px;
+      display:flex;
+      align-items:center;
+      padding:0 9px;
+      border-bottom:1px solid rgba(255,255,255,.14);
+      font-weight:800;
+    }
+    #rosTopicStatusList { padding:4px 0; }
+    .ros-topic-row {
+      display:flex;
+      align-items:center;
+      justify-content:space-between;
+      gap:8px;
+      min-height:23px;
+      padding:0 9px;
+    }
+    .ros-topic-name { overflow:hidden; text-overflow:ellipsis; white-space:nowrap; }
+    .ros-topic-state { flex:0 0 auto; font-size:12px; font-weight:900; }
+    .ros-topic-state.is-ok { color:#5eead4; }
+    .ros-topic-state.is-error { color:#fca5a5; }
     #responseWaitOverlay {
       position:fixed;
       inset:0;
@@ -247,17 +306,19 @@
 	      background:rgba(255,255,255,.1);
 	      color:#fff;
 	    }
-	    .editor-mode #topRightControls,
+    .editor-mode #topRightControls,
 	    .editor-mode #miniMap,
 	    .editor-mode #miniMapToggle,
-	    .editor-mode #keyGuide {
+	    .editor-mode #keyGuide,
+      .editor-mode #rosTopicStatusWrap {
 	      display:none;
 	    }
     #splatToggle { display:none; }
-    .nav2-slam #goalToggle, .nav2-slam #poseToggle, .nav2-slam #sensorToggle { display:none; }
+    .nav2-slam #goalToggle, .nav2-slam #poseToggle, .nav2-slam #sensorToggle, .nav2-slam #initToggle { display:none; }
     .nav2-navigation #downloadWrap { display:none; }
     .nav2-navigation #topLeftControls { display:block; }
     .nav2-navigation #keyGuide { display:none; }
+    .nav2-navigation #rosTopicStatusWrap { bottom:16px; }
     .nav2-navigation.real-runtime #splatToggle { display:inline-flex; }
     .real-runtime #topLeftControls { display:none; }
     .real-runtime #keyGuide { display:none; }
@@ -288,6 +349,15 @@
 	<div id="keyGuide">
 	  <div>i 전진 · , 후진 · j/l 회전 · k 정지</div>
 	</div>
+	<div id="rosTopicStatusWrap">
+	  <button id="rosTopicStatusToggle" type="button" title="ROS 상태 접기/펼치기" aria-label="ROS 상태 접기" aria-expanded="true">
+	    <span id="rosTopicStatusChevron" aria-hidden="true">▾</span>
+	  </button>
+	  <aside id="rosTopicStatus" aria-label="ROS 상태">
+	    <div id="rosTopicStatusTitle">ROS 상태</div>
+	    <div id="rosTopicStatusList"></div>
+	  </aside>
+	</div>
 	<div id="responseWaitOverlay" role="status" aria-live="polite">
 	  <div class="response-wait-dialog">
 	    <span class="response-wait-spinner" aria-hidden="true"></span>
@@ -315,9 +385,17 @@ import * as GaussianSplats3D from '@mkkellogg/gaussian-splats-3d';
 const viewerMapKey = new URLSearchParams(window.location.search).get('mapKey');
 const params = new URLSearchParams(location.search);
 const REAL_RUNTIME = params.get('runtime') === 'real';
+const ROBOT_PLATFORM = (params.get('platform') || '').trim().toLowerCase();
+// Keep the prior real-platform default when an older LMS URL has no platform.
+const USE_MKMINI_MODEL = ROBOT_PLATFORM === 'mkmini' || (!ROBOT_PLATFORM && REAL_RUNTIME);
 const SHOW_POINT_CLOUD = params.get('pointCloud') === '1';
 const CUSTOM_WORLD = !REAL_RUNTIME && viewerMapKey === 'nav2-custom';
 const activeWorldModel = viewerMapKey === 'nav2-turtlebot3-house' ? 'turtlebot3_house' : 'turtlebot3_world';
+const MKMINI_WORLD_SPACING_SCALE = USE_MKMINI_MODEL && activeWorldModel === 'turtlebot3_world' ? 1.6 : 1;
+const MKMINI_RENDER_LENGTH = 1.05;
+const DEFAULT_SIMULATION_SPAWN = USE_MKMINI_MODEL
+  ? { x: -1.4, y: -0.5 }
+  : { x: -2.0, y: -0.5 };
 const MODEL_ROOT = `./turtlebot3_world_model/${activeWorldModel}`;
 const MODEL_SDF = `${MODEL_ROOT}/model.sdf`;
 const miniMap = document.getElementById('miniMap');
@@ -333,6 +411,10 @@ const goalToggleButton = document.getElementById('goalToggle');
 const obstacleToggleButton = document.getElementById('obstacleToggle');
 const initToggleButton = document.getElementById('initToggle');
 const cameraPresetSelect = document.getElementById('cameraPresetSelect');
+const rosTopicStatusWrap = document.getElementById('rosTopicStatusWrap');
+const rosTopicStatus = document.getElementById('rosTopicStatus');
+const rosTopicStatusToggle = document.getElementById('rosTopicStatusToggle');
+const rosTopicStatusList = document.getElementById('rosTopicStatusList');
 	const EDITOR_MODE = params.get('editor') === '1';
 	const NAV2_VIEW_MODE = params.get('mode') === 'navigation' ? 'navigation' : 'slam';
 	const SHOW_REMOTE_NAVIGATION_ROOM = REAL_RUNTIME && NAV2_VIEW_MODE === 'navigation';
@@ -347,6 +429,44 @@ const cameraPresetSelect = document.getElementById('cameraPresetSelect');
 	if (EDITOR_MODE) responseWaitOverlay?.classList.add('is-hidden');
 
 let visualizationResponseReceived = EDITOR_MODE;
+const ROS_TOPIC_STATUS_KEYS = NAV2_VIEW_MODE === 'navigation'
+  ? ['scan', 'odom', 'map', 'amcl_pose', 'plan', 'cmd_vel', 'navigate_to_pose', ...(SHOW_POINT_CLOUD ? ['point_cloud'] : [])]
+  : ['scan', 'odom', 'map'];
+const ROS_TOPIC_STATUS_FALLBACK_NAMES = {
+  scan: '/scan',
+  odom: '/odom',
+  map: '/map',
+  amcl_pose: '/amcl_pose',
+  plan: '/plan',
+  cmd_vel: '/cmd_vel',
+  navigate_to_pose: '/navigate_to_pose',
+  point_cloud: '/cloud_map',
+};
+
+function updateRosTopicStatus(topicStatus = {}) {
+  if (!rosTopicStatusList) return;
+  rosTopicStatusList.replaceChildren(...ROS_TOPIC_STATUS_KEYS.map((key) => {
+    const status = topicStatus?.[key] ?? {};
+    const row = document.createElement('div');
+    row.className = 'ros-topic-row';
+    const name = document.createElement('span');
+    name.className = 'ros-topic-name';
+    name.textContent = status.name || ROS_TOPIC_STATUS_FALLBACK_NAMES[key] || key;
+    const indicator = document.createElement('span');
+    const available = status.available === true;
+    indicator.className = `ros-topic-state ${available ? 'is-ok' : 'is-error'}`;
+    indicator.textContent = available ? 'O' : 'X';
+    row.append(name, indicator);
+    return row;
+  }));
+}
+
+rosTopicStatusToggle?.addEventListener('click', () => {
+  const collapsed = rosTopicStatusWrap?.classList.toggle('is-collapsed') ?? false;
+  rosTopicStatusToggle.setAttribute('aria-expanded', String(!collapsed));
+  rosTopicStatusToggle.setAttribute('aria-label', collapsed ? 'ROS 상태 펼치기' : 'ROS 상태 접기');
+});
+updateRosTopicStatus();
 
 function markVisualizationResponseReceived() {
   if (visualizationResponseReceived) return;
@@ -421,7 +541,7 @@ let remoteNavigationSplatTransform = null;
 let remoteNavigationSplatEnabled = false;
 let remoteNavigationSplatLoading = null;
 // 화면의 빨간 X축과 평행하게 오른쪽으로 미세 보정합니다.
-const remoteNavigationSplatBasePosition = new THREE.Vector3(-1.7322845855746674, 1.3107954323633903, -0.8021416967574936);
+const remoteNavigationSplatBasePosition = new THREE.Vector3(-1.6822845855746674, 1.3107954323633903, -0.8021416967574936);
 const remoteNavigationSplatBaseQuaternion = new THREE.Quaternion(-0.10999094822602469, 0.6984998148234114, 0.6984998148234114, 0.10999094822602469);
 const remoteNavigationSplatBaseScale = new THREE.Vector3(3.672624762730334, 3.672624762730334, 3.5309628207501587);
 const pointCloudGeometry = SHOW_POINT_CLOUD ? new THREE.BufferGeometry() : null;
@@ -651,6 +771,13 @@ let obstaclePreviewTemplate = null;
 const navigationRaycaster = new THREE.Raycaster();
 const navigationGroundPlane = new THREE.Plane(new THREE.Vector3(0, 1, 0), 0);
 
+// A saved map, the remote room model, and AMCL's pose all use `map`.
+// Keep the real-platform navigation scene in that frame. Local Gazebo still
+// needs odom coordinates for its pose service, so its conversion remains.
+function navigationSceneUsesMapFrame() {
+  return REAL_RUNTIME && NAV2_VIEW_MODE === 'navigation';
+}
+
 function syncGoalToggleAvailability() {
   const disabled = NAV2_VIEW_MODE === 'navigation' && !navigationInitialPoseSet;
   goalToggleButton.disabled = disabled;
@@ -694,6 +821,17 @@ function applySdfPose(obj, pose) {
   obj.position.set(pose.x, pose.y, pose.z);
   obj.rotation.set(pose.roll, pose.pitch, pose.yaw, 'XYZ');
 }
+function applyWorldSdfPose(obj, pose) {
+  applySdfPose(obj, {
+    ...pose,
+    x: pose.x * MKMINI_WORLD_SPACING_SCALE,
+    y: pose.y * MKMINI_WORLD_SPACING_SCALE,
+  });
+}
+function isMkMiniWorldPillar(visual) {
+  return MKMINI_WORLD_SPACING_SCALE > 1
+    && /^(one|two|three)_/.test(visual.getAttribute('name') || '');
+}
 function getFirst(el, tag) { return el?.getElementsByTagName(tag)?.[0] || null; }
 function directChild(el, tag) { return Array.from(el.children || []).find(c => c.tagName === tag) || null; }
 function getDirectText(el, tag, fallback = '') {
@@ -754,6 +892,9 @@ async function addMesh(parent, visual, geometry) {
   if (!uri) return;
   const url = gazeboUriToPath(uri);
   const scale = parseScale(getDirectText(meshEl, 'scale', '1 1 1'));
+  if (MKMINI_WORLD_SPACING_SCALE > 1 && uri.endsWith('/wall.dae')) {
+    scale.multiplyScalar(MKMINI_WORLD_SPACING_SCALE);
+  }
   const material = materialFromVisual(visual);
 
   if (/\.stl$/i.test(url)) {
@@ -801,7 +942,8 @@ function addBox(parent, visual, geometry) {
 function addCylinder(parent, visual, geometry) {
   const cyl = directChild(geometry, 'cylinder');
   const radius = Number(getDirectText(cyl, 'radius', '0.1')) || .1;
-  const length = Number(getDirectText(cyl, 'length', '1')) || 1;
+  const sourceLength = Number(getDirectText(cyl, 'length', '1')) || 1;
+  const length = isMkMiniWorldPillar(visual) && sourceLength === .5 ? .8 : sourceLength;
   const mesh = new THREE.Mesh(new THREE.CylinderGeometry(radius, radius, length, 32), materialFromVisual(visual));
   // Three cylinder 기본 축은 Y, SDF cylinder 기본 축은 Z입니다.
   mesh.rotation.x = Math.PI / 2;
@@ -827,7 +969,7 @@ async function buildFromSdf() {
   const model = doc.querySelector('model');
   const modelGroup = new THREE.Group();
   modelGroup.name = model?.getAttribute('name') || 'turtlebot3_world';
-  applySdfPose(modelGroup, parsePose(getDirectText(model, 'pose', '0 0 0 0 0 0')));
+  applyWorldSdfPose(modelGroup, parsePose(getDirectText(model, 'pose', '0 0 0 0 0 0')));
   sdfRoot.add(modelGroup);
 
   let loaded = 0;
@@ -835,19 +977,20 @@ async function buildFromSdf() {
     const nestedModelGroup = new THREE.Group();
     let directGeometryCount = 0;
     nestedModelGroup.name = sdfModel.getAttribute('name') || 'model';
-    applySdfPose(nestedModelGroup, parsePose(getDirectText(sdfModel, 'pose', '0 0 0 0 0 0')));
+    applyWorldSdfPose(nestedModelGroup, parsePose(getDirectText(sdfModel, 'pose', '0 0 0 0 0 0')));
     parent.add(nestedModelGroup);
 
     for (const link of Array.from(sdfModel.querySelectorAll(':scope > link'))) {
       const linkGroup = new THREE.Group();
       linkGroup.name = link.getAttribute('name') || 'link';
-      applySdfPose(linkGroup, parsePose(getDirectText(link, 'pose', '0 0 0 0 0 0')));
+      applyWorldSdfPose(linkGroup, parsePose(getDirectText(link, 'pose', '0 0 0 0 0 0')));
       nestedModelGroup.add(linkGroup);
 
       for (const visual of Array.from(link.querySelectorAll(':scope > visual'))) {
         const visualGroup = new THREE.Group();
         visualGroup.name = visual.getAttribute('name') || 'visual';
-        applySdfPose(visualGroup, parsePose(getDirectText(visual, 'pose', '0 0 0 0 0 0')));
+        applyWorldSdfPose(visualGroup, parsePose(getDirectText(visual, 'pose', '0 0 0 0 0 0')));
+        if (isMkMiniWorldPillar(visual)) visualGroup.position.z += 0.15;
         linkGroup.add(visualGroup);
 
         const geometry = directChild(visual, 'geometry');
@@ -983,7 +1126,8 @@ async function loadMkMiniModel(sdfPose = { x:0, y:0, z:0, roll:0, pitch:0, yaw:0
   const initialBounds = new THREE.Box3().setFromObject(model);
   const initialSize = initialBounds.getSize(new THREE.Vector3());
   const largestDimension = Math.max(initialSize.x, initialSize.y, initialSize.z, 0.001);
-  model.scale.setScalar(0.66 / largestDimension);
+  // Match the Gazebo MKMini collision body's 1.05 m longest dimension.
+  model.scale.setScalar(MKMINI_RENDER_LENGTH / largestDimension);
   model.updateMatrixWorld(true);
 
   const normalizedBounds = new THREE.Box3().setFromObject(model);
@@ -1083,14 +1227,15 @@ async function setRemoteNavigationSplatVisible(visible) {
 }
 
 const LASER_HOLE_R = 0.14;
-const LASER_OFFSET_X = REAL_RUNTIME ? 0.1 : -0.032;
+const LASER_OFFSET_X = USE_MKMINI_MODEL ? 0.1 : -0.032;
 const LASER_OFFSET_Y = 0;
 // Calibrated to the MKMini GLB at the current display scale.
-const LASER_Z = REAL_RUNTIME ? 0.5 : 0.181;
+const LASER_Z = USE_MKMINI_MODEL ? 0.5 : 0.181;
 // The MKMini ROS frame reports os_lidar at Z=0.6 m while the bundled GLB
 // places the visible LiDAR head at approximately Z=0.5 m. Keep ROS/map
 // coordinates untouched and correct only the rendered scan origin.
 const MKMINI_LASER_RENDER_Z_OFFSET = 0.1;
+const MKMINI_LASER_RENDER_FORWARD_OFFSET = 0.10;
 
 function setRobotPose(pose) {
   if (!pose) return;
@@ -1234,7 +1379,7 @@ function setNavigationSensorVisible(visible) {
 
 function drawLaserScan(scan, scanPose = (
   NAV2_VIEW_MODE === 'navigation'
-    ? latestSlamState?.scan_pose
+    ? (navigationSceneUsesMapFrame() ? latestSlamState?.scan_pose_map : latestSlamState?.scan_pose)
     : latestSlamState?.scan_pose_map
 ) || null) {
   if (NAV2_VIEW_MODE === 'navigation' && (!navigationInitialPoseSet || !navigationSensorVisible)) {
@@ -1245,8 +1390,13 @@ function drawLaserScan(scan, scanPose = (
   clearLaserScan();
 
   const sourcePose = scanPose || currentRobotPose;
-  const renderPose = REAL_RUNTIME && scanPose
+  const renderPose = USE_MKMINI_MODEL && scanPose
-    ? { ...sourcePose, z: (sourcePose.z || 0) - MKMINI_LASER_RENDER_Z_OFFSET }
+    ? {
+      ...sourcePose,
+      x: sourcePose.x + Math.cos(sourcePose.yaw || 0) * MKMINI_LASER_RENDER_FORWARD_OFFSET,
+      y: sourcePose.y + Math.sin(sourcePose.yaw || 0) * MKMINI_LASER_RENDER_FORWARD_OFFSET,
+      z: (sourcePose.z || 0) - MKMINI_LASER_RENDER_Z_OFFSET,
+    }
     : sourcePose;
   const origin = scanPose
     ? new THREE.Vector3(renderPose.x, renderPose.y, renderPose.z || 0)
@@ -1268,31 +1418,24 @@ function drawLaserScan(scan, scanPose = (
     const start = origin.clone().addScaledVector(dir, startD);
     const point = origin.clone().addScaledVector(dir, d);
     endpoints.push({ start, point, hit: valid });
-    linePoints.push(start.x, start.y, start.z, point.x, point.y, point.z);
+    // A range-max value represents open space, not an actual reflected beam.
+    if (valid) linePoints.push(start.x, start.y, start.z, point.x, point.y, point.z);
   }
 
   const fillPoints = [];
-  const openFillPoints = [];
   for (let i = 0; i < endpoints.length; i++) {
     const curr = endpoints[i];
     const next = endpoints[(i + 1) % endpoints.length];
-    const targetPoints = curr.hit && next.hit ? fillPoints : openFillPoints;
+    if (!curr.hit || !next.hit) continue;
-    targetPoints.push(curr.start.x, curr.start.y, curr.start.z);
+    fillPoints.push(curr.start.x, curr.start.y, curr.start.z);
-    targetPoints.push(curr.point.x, curr.point.y, curr.point.z);
+    fillPoints.push(curr.point.x, curr.point.y, curr.point.z);
-    targetPoints.push(next.point.x, next.point.y, next.point.z);
+    fillPoints.push(next.point.x, next.point.y, next.point.z);
-    targetPoints.push(curr.start.x, curr.start.y, curr.start.z);
+    fillPoints.push(curr.start.x, curr.start.y, curr.start.z);
-    targetPoints.push(next.point.x, next.point.y, next.point.z);
+    fillPoints.push(next.point.x, next.point.y, next.point.z);
-    targetPoints.push(next.start.x, next.start.y, next.start.z);
+    fillPoints.push(next.start.x, next.start.y, next.start.z);
   }
 
   const grp = new THREE.Group();
-  const openFillMat = new THREE.MeshBasicMaterial({
-    color: 0x3390ff,
-    transparent: true,
-    opacity: 0.18,
-    side: THREE.DoubleSide,
-    depthWrite: false,
-  });
   const fillMat = new THREE.MeshBasicMaterial({
     color: 0x005cff,
     transparent: true,
@@ -1302,11 +1445,6 @@ function drawLaserScan(scan, scanPose = (
   });
   const lineMat = new THREE.LineBasicMaterial({ color: 0x3366ff, transparent: true, opacity: 0.5 });
 
-  if (openFillPoints.length) {
-    const geo = new THREE.BufferGeometry();
-    geo.setAttribute('position', new THREE.Float32BufferAttribute(openFillPoints, 3));
-    grp.add(new THREE.Mesh(geo, openFillMat));
-  }
   if (fillPoints.length) {
     const geo = new THREE.BufferGeometry();
     geo.setAttribute('position', new THREE.Float32BufferAttribute(fillPoints, 3));
@@ -1318,7 +1456,7 @@ function drawLaserScan(scan, scanPose = (
 
   const frontIndex = Math.max(0, Math.min(scan.ranges.length - 1, Math.round((0 - angleMin) / angleInc)));
   const front = endpoints[frontIndex];
-  if (front) {
+  if (front?.hit) {
     const delta = new THREE.Vector3(
       front.point.x - front.start.x,
       front.point.y - front.start.y,
@@ -1549,6 +1687,12 @@ function updateMiniMapMetadata(map) {
 
 function updateNavigationMapTransform() {
   if (NAV2_VIEW_MODE !== 'navigation') return;
+  if (navigationSceneUsesMapFrame()) {
+    navigationMapRoot.position.set(0, 0, 0);
+    navigationMapRoot.rotation.set(0, 0, 0);
+    updateRemoteNavigationRoomTransform();
+    return;
+  }
   const transform = navigationMapToOdom || { x:0, y:0, yaw:0 };
   const yaw = transform.yaw || 0;
   const c = Math.cos(yaw);
@@ -1567,8 +1711,19 @@ function updateNavigationMapTransform() {
 function updateRemoteNavigationRoomTransform() {
   if (!remoteNavigationSplatEnabled || !remoteNavigationSplatScene || NAV2_VIEW_MODE !== 'navigation') return;
 
+  if (navigationSceneUsesMapFrame()) {
+    if (remoteNavigationSplatTransform?.frame === 'map') return;
+    remoteNavigationSplatScene.position.copy(remoteNavigationSplatBasePosition);
+    remoteNavigationSplatScene.quaternion.copy(remoteNavigationSplatBaseQuaternion);
+    remoteNavigationSplatScene.scale.copy(remoteNavigationSplatBaseScale);
+    remoteNavigationSplatViewer.splatMesh.updateTransforms();
+    remoteNavigationSplatTransform = { frame: 'map' };
+    return;
+  }
+
   const transform = navigationMapToOdom || { x:0, y:0, yaw:0 };
   if (remoteNavigationSplatTransform
+    && remoteNavigationSplatTransform.frame === 'odom'
     && Math.abs(remoteNavigationSplatTransform.x - (transform.x || 0)) < 0.03
     && Math.abs(remoteNavigationSplatTransform.y - (transform.y || 0)) < 0.03
     && Math.abs(remoteNavigationSplatTransform.yaw - (transform.yaw || 0)) < 0.01) {
@@ -1600,6 +1755,7 @@ function updateRemoteNavigationRoomTransform() {
   );
   remoteNavigationSplatViewer.splatMesh.updateTransforms();
   remoteNavigationSplatTransform = {
+    frame: 'odom',
     x: transform.x || 0,
     y: transform.y || 0,
     yaw,
@@ -1656,8 +1812,10 @@ function renderNavigationOccupancyMap() {
   updateNavigationMapTransform();
 
   if (!navigationMapFocused) {
-    const odomCenter = mapToOdom({ x:centerX, y:centerY, yaw:originYaw });
+    const sceneCenter = navigationSceneUsesMapFrame()
-    const center = sdfPointToWorld(odomCenter.x, odomCenter.y, 0);
+      ? { x:centerX, y:centerY }
+      : mapToOdom({ x:centerX, y:centerY, yaw:originYaw });
+    const center = sdfPointToWorld(sceneCenter.x, sceneCenter.y, 0);
     const distance = Math.max(width, height) * 1.1;
     controls.target.copy(center);
     camera.position.set(center.x + distance * .62, center.y + distance * .86, center.z + distance * .62);
@@ -2040,7 +2198,7 @@ function placeNavigationGoalMarker(x, y, yaw = 0) {
 
 function updateNavigationGoalMarker() {
   if (!navigationGoalMarker || !navigationGoalPose) return;
-  const markerPose = NAV2_VIEW_MODE === 'navigation'
+  const markerPose = NAV2_VIEW_MODE === 'navigation' && !navigationSceneUsesMapFrame()
     ? mapToOdom(navigationGoalPose)
     : navigationGoalPose;
   navigationGoalMarker.position.set(markerPose.x, markerPose.y, 0.05);
@@ -2055,9 +2213,9 @@ function setNavigationGoalPreview(pose) {
     );
     sdfRoot.add(navigationGoalPreview);
   }
-  const odomPose = NAV2_VIEW_MODE === 'navigation' ? mapToOdom(pose) : pose;
+  const scenePose = NAV2_VIEW_MODE === 'navigation' && !navigationSceneUsesMapFrame() ? mapToOdom(pose) : pose;
-  navigationGoalPreview.position.set(odomPose.x, odomPose.y, 0.06);
+  navigationGoalPreview.position.set(scenePose.x, scenePose.y, 0.06);
-  navigationGoalPreview.rotation.z = odomPose.yaw || 0;
+  navigationGoalPreview.rotation.z = scenePose.yaw || 0;
   navigationGoalPreview.visible = true;
 }
 
@@ -2098,8 +2256,8 @@ function setObstaclePreview(pose) {
     );
     sdfRoot.add(obstaclePreview);
   }
-  const odomPose = NAV2_VIEW_MODE === 'navigation' ? mapToOdom(pose) : pose;
+  const scenePose = NAV2_VIEW_MODE === 'navigation' && !navigationSceneUsesMapFrame() ? mapToOdom(pose) : pose;
-  obstaclePreview.position.set(odomPose.x, odomPose.y, obstaclePreviewTemplate.height / 2);
+  obstaclePreview.position.set(scenePose.x, scenePose.y, obstaclePreviewTemplate.height / 2);
   obstaclePreview.rotation.z = obstaclePreviewTemplate.yaw;
   obstaclePreview.visible = true;
 }
@@ -2122,8 +2280,8 @@ function updateNavigationPlan(plan) {
   }
   if (poses.length < 2) return;
   const points = poses.map((pose) => {
-    const odomPose = NAV2_VIEW_MODE === 'navigation' ? mapToOdom(pose) : pose;
+    const scenePose = NAV2_VIEW_MODE === 'navigation' && !navigationSceneUsesMapFrame() ? mapToOdom(pose) : pose;
-    return new THREE.Vector3(odomPose.x, odomPose.y, 0.07);
+    return new THREE.Vector3(scenePose.x, scenePose.y, 0.07);
   });
   navigationPlanLine = new THREE.Line(
     new THREE.BufferGeometry().setFromPoints(points),
@@ -2150,19 +2308,29 @@ function pickNavigationGoal(event) {
   const worldPoint = new THREE.Vector3();
   if (!navigationRaycaster.ray.intersectPlane(navigationGroundPlane, worldPoint)) return null;
   const sdfPoint = worldPointToSdf(worldPoint);
-  const mapPoint = NAV2_VIEW_MODE === 'navigation'
+  const mapPoint = NAV2_VIEW_MODE === 'navigation' && !navigationSceneUsesMapFrame()
     ? odomToMap({ x: sdfPoint.x, y: sdfPoint.y, yaw: currentRobotPose.yaw || 0 })
     : sdfPoint;
+  const robotMapPose = NAV2_VIEW_MODE === 'navigation' && !navigationSceneUsesMapFrame()
+    ? odomToMap(currentRobotPose)
+    : currentRobotPose;
+  const headingToGoal = Math.atan2(
+    mapPoint.y - (robotMapPose?.y || 0),
+    mapPoint.x - (robotMapPose?.x || 0),
+  );
   return {
     x: mapPoint.x,
     y: mapPoint.y,
-    yaw: mapPoint.yaw || 0,
+    // A Dubins-based Nav2 planner must know which way the vehicle should face
+    // at the destination. The clicked ground point has no yaw, so using zero
+    // forced every goal to face east and made otherwise valid paths fail.
+    yaw: Number.isFinite(headingToGoal) ? headingToGoal : (mapPoint.yaw || 0),
   };
 }
 
 function showInitialPosePreview(pose) {
   if (!posePreviewModel) return;
-  const scenePose = NAV2_VIEW_MODE === 'navigation' ? mapToOdom(pose) : pose;
+  const scenePose = NAV2_VIEW_MODE === 'navigation' && !navigationSceneUsesMapFrame() ? mapToOdom(pose) : pose;
   posePreviewModel.position.set(scenePose.x, scenePose.y, 0.01);
   posePreviewModel.rotation.set(0, 0, scenePose.yaw || 0);
   posePreviewModel.visible = true;
@@ -2235,7 +2403,7 @@ async function sendInitialPose(pose) {
     hideInitialPosePreview();
     return;
   }
-  const gazeboPose = NAV2_VIEW_MODE === 'navigation' ? mapToOdom(pose) : pose;
+  const gazeboPose = NAV2_VIEW_MODE === 'navigation' && !navigationSceneUsesMapFrame() ? mapToOdom(pose) : pose;
   const requestId = `initial-pose-${Date.now()}-${++initialPoseRequestSequence}`;
   await new Promise((resolve, reject) => {
     const timeout = window.setTimeout(() => {
@@ -2397,11 +2565,11 @@ renderer.domElement.addEventListener('click', async (event) => {
   if (!goal) return;
   try {
     if (obstaclePlacementMode) {
-      const sdfPoint = NAV2_VIEW_MODE === 'navigation' ? mapToOdom(goal) : goal;
+      const scenePoint = NAV2_VIEW_MODE === 'navigation' && !navigationSceneUsesMapFrame() ? mapToOdom(goal) : goal;
       const obstacle = {
         id: `runtime-wall-${Date.now()}-${Math.random().toString(36).slice(2, 7)}`,
-        x: sdfPoint.x,
+        x: scenePoint.x,
-        y: sdfPoint.y,
+        y: scenePoint.y,
         ...(obstaclePreviewTemplate ?? createObstaclePreviewTemplate()),
       };
       window.parent.postMessage({ source:'autonomy-slam-viewer', type:'runtime-obstacle-add', obstacle }, '*');
@@ -2422,6 +2590,7 @@ renderer.domElement.addEventListener('click', async (event) => {
 
 function applySlamState(state) {
   latestSlamState = state;
+  updateRosTopicStatus(state?.topic_status);
   if (
     navigationGoalMarker
     && navigationGoalId
@@ -2437,11 +2606,13 @@ function applySlamState(state) {
     updateNavigationMapTransform();
   }
   updateNavigationPlan(state?.plan);
-  // Navigation is rendered in odom so the map, robot, path and goal share
+  // Remote navigation is rendered in the map frame, matching the saved map,
-  // one scene frame. SLAM keeps its map-frame pose for the live map view.
+  // room model, AMCL pose, route and goal. Local Gazebo remains odom-based.
   const visualizationPose = SHOW_POINT_CLOUD
     ? (state?.pose_3d || state?.pose)
-    : (NAV2_VIEW_MODE === 'navigation' ? state?.pose : (state?.pose_map || state?.pose));
+    : (NAV2_VIEW_MODE === 'navigation'
+      ? (navigationSceneUsesMapFrame() ? (state?.pose_map || state?.pose) : state?.pose)
+      : (state?.pose_map || state?.pose));
   if (visualizationPose) setRobotPose(visualizationPose);
   if (state?.scan) {
     latestScanMetadata = state.scan;
@@ -2658,7 +2829,7 @@ const worldSceneTasks = CUSTOM_WORLD || REAL_RUNTIME
 const remoteNavigationSceneTasks = [];
 Promise.all(EDITOR_MODE
   ? worldSceneTasks
-  : [...worldSceneTasks, ...remoteNavigationSceneTasks, (REAL_RUNTIME ? loadMkMiniModel : loadBurgerModel)({ x:-2.0, y:-0.5, z:0.01, roll:0, pitch:0, yaw:0 })]
+  : [...worldSceneTasks, ...remoteNavigationSceneTasks, (USE_MKMINI_MODEL ? loadMkMiniModel : loadBurgerModel)({ ...DEFAULT_SIMULATION_SPAWN, z:0.01, roll:0, pitch:0, yaw:0 })]
 ).then(() => {
   if (EDITOR_MODE) {
     window.parent.postMessage({ source:'autonomy-world-editor', type:'ready' }, '*');

src/renderer/src/components/ChatWidgets.tsx

@@ -233,12 +233,14 @@ export const QaInputBox = memo(function QaInputBox({
   dark,
   busy,
   disabled,
+  accent = 'blue',
   onStop,
   onSubmit
 }: {
   dark: boolean
   busy: boolean
   disabled: boolean
+  accent?: 'blue' | 'cyan'
   onStop: () => void
   onSubmit: (content: string) => void
 }): React.JSX.Element {
@@ -279,7 +281,12 @@ export const QaInputBox = memo(function QaInputBox({
           type="button"
           disabled={!canSubmit}
           onClick={busy ? onStop : submit}
-          className="grid w-10 shrink-0 cursor-pointer place-items-center bg-[#2563eb] text-white transition hover:bg-[#1d4ed8] disabled:cursor-default disabled:opacity-45 disabled:hover:bg-[#2563eb]"
+          className={[
+            'grid w-10 shrink-0 cursor-pointer place-items-center text-white transition disabled:cursor-default disabled:opacity-45',
+            accent === 'cyan'
+              ? 'bg-[#0e7490] hover:bg-[#0891b2] disabled:hover:bg-[#0e7490]'
+              : 'bg-[#2563eb] hover:bg-[#1d4ed8] disabled:hover:bg-[#2563eb]'
+          ].join(' ')}
         >
           {busy ? <Square size={13} fill="currentColor" /> : <Send size={14} />}
         </button>

src/renderer/src/components/Sidebar.tsx

@@ -30,7 +30,7 @@ export default function Sidebar({
   sessionStartedAt?: string | null
   sessionEndedAt?: string | null
   sessionEndsAt?: string | null
-  runningSessions?: Array<{ id: string; title: string; startedAt?: string | null; endsAt?: string | null; dotClassName?: string }>
+  runningSessions?: Array<{ id: string; title: string; runningModuleCount?: number; startedAt?: string | null; endsAt?: string | null; dotClassName?: string }>
   canReleaseControl?: boolean
   onOpenSession?: (sessionId?: string) => void
   onDisconnectSession?: (sessionId?: string) => void
@@ -138,7 +138,7 @@ export default function Sidebar({
                 <button
                   type="button"
                   onClick={() => onOpenSession?.(session.id)}
-                  className="flex min-h-[54px] w-full cursor-pointer items-center gap-3 rounded-lg border border-white/10 bg-white/[0.05] py-3 pl-3 pr-11 text-left transition hover:border-white/20 hover:bg-white/[0.08]"
+                  className="flex min-h-[68px] w-full cursor-pointer items-center gap-3 rounded-lg border border-white/10 bg-white/[0.05] py-3 pl-3 pr-11 text-left transition hover:border-white/20 hover:bg-white/[0.08]"
                 >
                   <span className="min-w-0 flex-1">
                     <span className="flex min-w-0 items-center gap-2">
@@ -146,10 +146,16 @@ export default function Sidebar({
                       <span className="block min-w-0 truncate text-[13px] font-bold text-white/85">{session.title}</span>
                     </span>
                     {(session.startedAt || session.endsAt) && (
-                      <span className="mt-0.5 block truncate text-[11px] text-white/38">
+                      <span className="mt-1 block truncate text-[11px] text-white/38">
-                        {[session.startedAt ? `시작 ${session.startedAt}` : null, session.endsAt ? `종료 ${session.endsAt}` : null].filter(Boolean).join(' · ')}
+                        {[
+                          session.startedAt ? `시작 ${session.startedAt}` : null,
+                          session.endsAt ? `종료 ${session.endsAt}` : null
+                        ].filter(Boolean).join(' · ')}
                       </span>
                     )}
+                    {session.runningModuleCount !== undefined && (
+                      <span className="mt-0.5 block truncate text-[11px] text-white/38">실행 중인 모듈 {session.runningModuleCount}개</span>
+                    )}
                   </span>
                 </button>
                 {sessionStatus === 'running' && (
@@ -191,7 +197,7 @@ export default function Sidebar({
                       setSessionPopoverOpen(false)
                       onOpenSession?.(session.id)
                     }}
-                    className="flex min-h-[54px] w-full cursor-pointer items-center gap-3 py-3 pl-3 pr-11 text-left transition hover:bg-white/[0.06]"
+                    className="flex min-h-[68px] w-full cursor-pointer items-center gap-3 py-3 pl-3 pr-11 text-left transition hover:bg-white/[0.06]"
                   >
                     <span className="min-w-0 flex-1">
                       <span className="flex min-w-0 items-center gap-2">
@@ -199,10 +205,16 @@ export default function Sidebar({
                         <span className="block min-w-0 truncate text-[13px] font-bold text-white/85">{session.title}</span>
                       </span>
                       {(session.startedAt || session.endsAt) && (
-                        <span className="mt-0.5 block truncate text-[11px] text-white/38">
+                        <span className="mt-1 block truncate text-[11px] text-white/38">
-                          {[session.startedAt ? `시작 ${session.startedAt}` : null, session.endsAt ? `종료 ${session.endsAt}` : null].filter(Boolean).join(' · ')}
+                          {[
+                            session.startedAt ? `시작 ${session.startedAt}` : null,
+                            session.endsAt ? `종료 ${session.endsAt}` : null
+                          ].filter(Boolean).join(' · ')}
                         </span>
                       )}
+                      {session.runningModuleCount !== undefined && (
+                        <span className="mt-0.5 block truncate text-[11px] text-white/38">실행 중인 모듈 {session.runningModuleCount}개</span>
+                      )}
                     </span>
                   </button>
                   {sessionStatus === 'running' && (

src/renderer/src/components/TitleBar.tsx

@@ -1,5 +1,5 @@
 import icon from '/assets/icon.png'
-import { Bell, BookOpen, Bug, Building2, CheckCheck, ChevronLeft, ChevronRight, HelpCircle, LogOut, Minus, Search, Square, X } from 'lucide-react'
+import { Bell, BookOpen, Bug, Building2, CheckCheck, ChevronLeft, ChevronRight, Clipboard, HelpCircle, LogOut, Minus, RotateCw, ScrollText, Search, Square, Wrench, X } from 'lucide-react'
 import { useCallback, useEffect, useMemo, useRef, useState } from 'react'
 import Tooltip from './Tooltip'
 
@@ -97,7 +97,13 @@ const normalizeNotification = (notification: NotificationMessage): NotificationM
 export default function TitleBar({ user, accessToken = '', onHelpClick, onOpenCourseSelection, transientNotice = null }: TitleBarProps): React.JSX.Element {
   const [notificationOpen, setNotificationOpen] = useState(false)
   const [accountOpen, setAccountOpen] = useState(false)
+  const [toolsOpen, setToolsOpen] = useState(false)
   const [showCloseConfirm, setShowCloseConfirm] = useState(false)
+  const [appLogsOpen, setAppLogsOpen] = useState(false)
+  const [appLogsLoading, setAppLogsLoading] = useState(false)
+  const [appLogContent, setAppLogContent] = useState('')
+  const [appLogPath, setAppLogPath] = useState('')
+  const [appLogsCopied, setAppLogsCopied] = useState(false)
   const [notifications, setNotifications] = useState<NotificationMessage[]>([])
   const [localNotifications, setLocalNotifications] = useState<NotificationMessage[]>([])
   const [notificationModalOpen, setNotificationModalOpen] = useState(false)
@@ -111,6 +117,7 @@ export default function TitleBar({ user, accessToken = '', onHelpClick, onOpenCo
   const [transientNoticeVisible, setTransientNoticeVisible] = useState(false)
   const notificationRef = useRef<HTMLDivElement | null>(null)
   const accountRef = useRef<HTMLDivElement | null>(null)
+  const toolsRef = useRef<HTMLDivElement | null>(null)
   const enqueuedTransientNoticeIdsRef = useRef<Set<number>>(new Set())
   const knownNotificationIdsRef = useRef<Set<string>>(new Set())
   const notificationHydratedRef = useRef(false)
@@ -148,6 +155,32 @@ export default function TitleBar({ user, accessToken = '', onHelpClick, onOpenCo
   const affiliationLabel = formatAffiliation(user?.primaryAffiliation)
   const winButton =
     'grid h-7 w-7 cursor-pointer place-items-center rounded text-white/50 transition hover:bg-white/[0.06] hover:text-white'
+  const loadAppLogs = useCallback(async (): Promise<void> => {
+    if (!window.appDiagnostics) {
+      setAppLogContent('현재 앱에서는 로그 조회 기능을 사용할 수 없습니다. LMS 앱을 최신 버전으로 다시 실행하세요.')
+      return
+    }
+
+    setAppLogsLoading(true)
+    try {
+      const result = await window.appDiagnostics.read()
+      setAppLogContent(result.content)
+      setAppLogPath(result.path)
+    } catch (error) {
+      setAppLogContent(`로그를 읽지 못했습니다.\n${error instanceof Error ? error.message : String(error)}`)
+    } finally {
+      setAppLogsLoading(false)
+    }
+  }, [])
+  const handleCopyAppLogs = useCallback((): void => {
+    if (!appLogContent) return
+    void navigator.clipboard.writeText(appLogContent)
+      .then(() => {
+        setAppLogsCopied(true)
+        window.setTimeout(() => setAppLogsCopied(false), 1600)
+      })
+      .catch((error) => console.error('[app-logs] copy failed', error))
+  }, [appLogContent])
   const enqueueTransientNotice = useCallback((notice: { id: number; title: string; tone?: 'info' | 'warning' | 'error' }): void => {
     const title = notice.title.trim()
     if (!title) return
@@ -325,6 +358,7 @@ export default function TitleBar({ user, accessToken = '', onHelpClick, onOpenCo
         setNotificationOpen(false)
       }
       if (!accountRef.current?.contains(target)) setAccountOpen(false)
+      if (!toolsRef.current?.contains(target)) setToolsOpen(false)
     }
 
     window.addEventListener('pointerdown', handlePointerDown)
@@ -344,16 +378,17 @@ export default function TitleBar({ user, accessToken = '', onHelpClick, onOpenCo
         setNotificationModalOpen(false)
         return
       }
-      if (notificationOpen || accountOpen) {
+      if (notificationOpen || accountOpen || toolsOpen) {
         event.preventDefault()
         setNotificationOpen(false)
         setAccountOpen(false)
+        setToolsOpen(false)
       }
     }
 
     window.addEventListener('keydown', handleEscape)
     return () => window.removeEventListener('keydown', handleEscape)
-  }, [accountOpen, notificationModalOpen, notificationOpen, showCloseConfirm])
+  }, [accountOpen, notificationModalOpen, notificationOpen, showCloseConfirm, toolsOpen])
 
   const handleNotificationClick = (): void => {
     setNotificationOpen((current) => !current)
@@ -495,20 +530,60 @@ export default function TitleBar({ user, accessToken = '', onHelpClick, onOpenCo
             <HelpCircle size={16} />
           </button>
         </Tooltip>
-        <Tooltip label="개발자 도구 열기">
+        <div className="relative" ref={toolsRef}>
-          <button
+          <Tooltip label="도구 보기" disabled={toolsOpen}>
-            type="button"
+            <button
-            aria-label="Open Developer Tools"
+              type="button"
-            onClick={() => {
+              aria-label="도구 보기"
-              void window.titlebar.openDevTools().then((result) => {
+              aria-expanded={toolsOpen}
-                if (!result.opened) console.error('[titlebar] open DevTools failed:', result.message)
+              onClick={() => {
-              }).catch((error) => console.error('[titlebar] open DevTools request failed:', error))
+                setToolsOpen((current) => !current)
-            }}
+                setNotificationOpen(false)
-            className={winButton}
+                setAccountOpen(false)
-          >
+              }}
-            <Bug size={15} />
+              className={winButton}
-          </button>
+            >
-        </Tooltip>
+              <Wrench size={15} />
+            </button>
+          </Tooltip>
+          {toolsOpen ? (
+            <div className="absolute right-0 top-[34px] z-50 w-[164px] overflow-hidden rounded-lg border border-white/10 bg-[rgba(18,23,35,0.97)] p-1 shadow-[0_18px_42px_rgba(0,0,0,0.42)] backdrop-blur-xl">
+              <button
+                type="button"
+                className="flex w-full items-center gap-2 rounded-md px-2.5 py-2 text-left text-[12px] font-medium text-white/75 transition hover:bg-white/[0.08] hover:text-white"
+                onClick={() => window.location.reload()}
+              >
+                <RotateCw size={15} />
+                새로고침
+              </button>
+              <button
+                type="button"
+                className="flex w-full items-center gap-2 rounded-md px-2.5 py-2 text-left text-[12px] font-medium text-white/75 transition hover:bg-white/[0.08] hover:text-white"
+                onClick={() => {
+                  setToolsOpen(false)
+                  setAppLogsOpen(true)
+                  void loadAppLogs()
+                }}
+              >
+                <ScrollText size={15} />
+                앱 로그
+              </button>
+              <button
+                type="button"
+                className="flex w-full items-center gap-2 rounded-md px-2.5 py-2 text-left text-[12px] font-medium text-white/75 transition hover:bg-white/[0.08] hover:text-white"
+                onClick={() => {
+                  setToolsOpen(false)
+                  void window.titlebar.openDevTools().then((result) => {
+                    if (!result.opened) console.error('[titlebar] open DevTools failed:', result.message)
+                  }).catch((error) => console.error('[titlebar] open DevTools request failed:', error))
+                }}
+              >
+                <Bug size={15} />
+                개발자 도구
+              </button>
+            </div>
+          ) : null}
+        </div>
         <div className="relative" ref={notificationRef}>
           <Tooltip label="알림" disabled={notificationOpen}>
             <button
@@ -742,7 +817,7 @@ export default function TitleBar({ user, accessToken = '', onHelpClick, onOpenCo
             <header className="flex h-[70px] shrink-0 items-center justify-between px-5">
               <div>
                 <h2 className="text-[16px] font-bold text-white/90">전체 알림</h2>
-                <p className="mt-1 text-[11px] font-medium text-white/42">알림은 최대 하루동안만 저장됩니다. 조회기간: 현재부터 24시간 전까지</p>
+                <p className="mt-1 text-[11px] font-medium text-white/42">알림은 최대 하루동안만 저장됩니다.</p>
               </div>
               <button
                 type="button"
@@ -870,6 +945,63 @@ export default function TitleBar({ user, accessToken = '', onHelpClick, onOpenCo
         </div>
       ) : null}
 
+      {appLogsOpen ? (
+        <div
+          className="fixed inset-x-0 bottom-0 top-[38px] z-[10000] flex items-center justify-center bg-[rgba(2,6,18,0.48)] backdrop-blur-[10px]"
+          style={{ WebkitAppRegion: 'no-drag' } as React.CSSProperties}
+        >
+          <section className="flex h-[min(680px,calc(100vh-100px))] w-[min(920px,calc(100vw-80px))] flex-col overflow-hidden rounded-lg border border-white/12 bg-[#171a21] shadow-[0_28px_90px_rgba(0,0,0,0.58)]">
+            <header className="flex h-[52px] shrink-0 items-center justify-between border-b border-white/10 px-5">
+              <div className="min-w-0">
+                <h2 className="text-[14px] font-bold text-white/92">앱 로그</h2>
+                <p className="mt-0.5 truncate text-[11px] font-medium text-white/42">{appLogPath || '로그 파일을 불러오는 중입니다.'}</p>
+              </div>
+              <button
+                type="button"
+                onClick={() => setAppLogsOpen(false)}
+                className="grid h-8 w-8 cursor-pointer place-items-center rounded-md text-white/55 transition-colors hover:bg-white/[0.06] hover:text-white"
+                aria-label="앱 로그 닫기"
+              >
+                <X size={18} />
+              </button>
+            </header>
+            <div className="min-h-0 flex-1 bg-[#101217] p-4">
+              {appLogsLoading ? (
+                <div className="flex h-full items-center justify-center text-[13px] font-medium text-white/48">로그를 불러오는 중입니다.</div>
+              ) : appLogContent ? (
+                <pre className="h-full overflow-auto whitespace-pre-wrap break-words rounded-md border border-white/[0.07] bg-black/20 p-3 font-mono text-[11px] leading-5 text-white/70">
+                  {appLogContent}
+                </pre>
+              ) : (
+                <div className="flex h-full items-center justify-center rounded-md border border-dashed border-white/10 text-[13px] font-medium text-white/42">
+                  아직 기록된 앱 로그가 없습니다.
+                </div>
+              )}
+            </div>
+            <footer className="flex h-[58px] shrink-0 items-center justify-end gap-2 border-t border-white/10 px-5">
+              <button
+                type="button"
+                onClick={handleCopyAppLogs}
+                disabled={!appLogContent}
+                className="flex h-8 cursor-pointer items-center gap-1.5 rounded-md border border-white/12 px-3 text-[12px] font-semibold text-white/65 transition hover:bg-white/[0.06] hover:text-white disabled:cursor-default disabled:opacity-35 disabled:hover:bg-transparent disabled:hover:text-white/65"
+              >
+                <Clipboard size={14} />
+                {appLogsCopied ? '복사됨' : '복사'}
+              </button>
+              <button
+                type="button"
+                onClick={() => void loadAppLogs()}
+                disabled={appLogsLoading}
+                className="flex h-8 cursor-pointer items-center gap-1.5 rounded-md border border-white/12 px-3 text-[12px] font-semibold text-white/65 transition hover:bg-white/[0.06] hover:text-white disabled:cursor-default disabled:opacity-35 disabled:hover:bg-transparent disabled:hover:text-white/65"
+              >
+                <RotateCw size={14} className={appLogsLoading ? 'animate-spin' : ''} />
+                새로고침
+              </button>
+            </footer>
+          </section>
+        </div>
+      ) : null}
+
       {showCloseConfirm ? (
         <div
           className="fixed inset-x-0 bottom-0 top-[38px] z-[10000] flex items-center justify-center bg-[rgba(2,6,18,0.48)] backdrop-blur-[10px]"

src/renderer/src/env.d.ts

@@ -15,6 +15,7 @@ type ModulePrebuiltArtifact = {
   fileName?: string | null
   checksumSha256?: string | null
   extractPath?: string | null
+  architecture?: string | null
   required?: boolean | null
 }
 
@@ -31,6 +32,24 @@ type ModuleInstallOptions = {
   runtimeImages?: RuntimeImageArtifact[] | null
 }
 
+type RosNetworkConfig = {
+  enabled?: boolean | null
+  peer?: RemoteWorkspaceTarget | null
+}
+
+type SavedMapArtifactName = 'yaml' | 'pgm' | 'database'
+
+type SavedMapArtifactPath = {
+  name: SavedMapArtifactName
+  path: string
+}
+
+type SavedMapArtifactDownload = {
+  name: SavedMapArtifactName
+  fileName: string
+  url: string
+}
+
 interface Window {
   launcherAuth?: {
     appUrl: string | null
@@ -47,6 +66,9 @@ interface Window {
     openDevTools: () => Promise<{ opened: boolean; message?: string }>
     close: () => void
   }
+  appDiagnostics?: {
+    read: () => Promise<{ path: string; content: string }>
+  }
   appLifecycle: {
     quit: () => void
   }
@@ -105,12 +127,12 @@ interface Window {
     }>
     createCustom: (workspaceRoot: string | undefined, input: { name: string; category: string; folderName: string; dockerImage?: string | null; packageName: string; launchFile: string }) => Promise<{ ok: boolean; workspacePath: string }>
     delete: (moduleName: string, workspaceRoot?: string, folderName?: string) => Promise<{ ok: boolean }>
-    start: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => Promise<{ ok: boolean; message: string }>
+    start: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => Promise<{ ok: boolean; message: string }>
-    build: (moduleName: string, workspaceRoot?: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => Promise<{ ok: boolean; message: string }>
+    build: (moduleName: string, workspaceRoot?: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string) => Promise<{ ok: boolean; message: string }>
     stop: (moduleName: string, workspaceRoot?: string, folderName?: string) => Promise<{ ok: boolean; message: string }>
     stopMany: (modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string) => Promise<{ ok: boolean; message: string }>
     stopRunning: () => Promise<{ ok: boolean; message: string }>
-    restart: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => Promise<{ ok: boolean; message: string }>
+    restart: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => Promise<{ ok: boolean; message: string }>
     logs: (moduleName: string, workspaceRoot?: string, folderName?: string) => Promise<{ ok: boolean; logs: string; message?: string }>
     updateParameters: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string) => Promise<{ ok: boolean; parameters: string[] }>
   }
@@ -137,7 +159,7 @@ interface Window {
       }>
       message?: string
     }>
-    submit: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string) => Promise<{
+    submit: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string, repositoryUrl?: string) => Promise<{
       ok: boolean
       message: string
       commit?: {
@@ -148,6 +170,21 @@ interface Window {
         message: string
       }
     }>
+    teamPublish: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string) => Promise<{
+      ok: boolean
+      message: string
+      commit?: {
+        hash: string
+        shortHash: string
+        author: string
+        date: string
+        message: string
+      }
+    }>
+    teamPull: (moduleName: string, workspaceRoot?: string, folderName?: string) => Promise<{
+      ok: boolean
+      message: string
+    }>
     restoreFile: (moduleName: string, workspaceRoot?: string, folderName?: string, filePath?: string, status?: 'added' | 'modified' | 'deleted' | 'renamed' | 'untracked') => Promise<{
       ok: boolean
       message: string
@@ -198,7 +235,7 @@ interface Window {
 	      stack: 'autoware' | 'nav2' | 'slam' | null
 	      message?: string
 	    }>
-	    start: (stack?: 'autoware' | 'nav2' | 'slam', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown) => Promise<{
+    start: (stack?: 'autoware' | 'nav2' | 'slam', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null) => Promise<{
 	      ok: boolean
 	      running: boolean
 	      stack: 'autoware' | 'nav2' | 'slam' | null
@@ -223,6 +260,10 @@ interface Window {
       read: (workspaceRoot?: string) => Promise<WorldLayout>
       write: (workspaceRoot: string | undefined, layout: WorldLayout) => Promise<WorldLayout>
     }
+    maps: {
+      readArtifacts: (workspaceRoot: string | undefined, artifacts: SavedMapArtifactPath[]) => Promise<Array<{ name: SavedMapArtifactName; fileName: string; base64: string }>>
+      sync: (workspaceRoot: string | undefined, artifacts: SavedMapArtifactDownload[]) => Promise<{ ok: boolean }>
+    }
     visualization: Window['visualization']
     git: Window['git']
     terminal: Window['terminal']
@@ -237,6 +278,10 @@ interface Window {
       rename: (target: RemoteWorkspaceTarget, moduleName: string, fromPath: string, toPath: string, folderName?: string) => ReturnType<Window['moduleFiles']['rename']>
       delete: (target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string) => ReturnType<Window['moduleFiles']['delete']>
     }
+    maps: {
+      readArtifacts: (target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactPath[]) => Promise<Array<{ name: SavedMapArtifactName; fileName: string; base64: string }>>
+      sync: (target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactDownload[]) => Promise<{ ok: boolean }>
+    }
     modules: {
       list: (target: RemoteWorkspaceTarget, modules?: Array<{ sortOrder?: number | null; category: string; name: string; folderName: string; templateRepositoryUrl?: string | null; sourceType?: string | null; prebuiltArtifacts?: ModulePrebuiltArtifact[] | null }>) => ReturnType<Window['modules']['list']>
       install: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => Promise<{
@@ -257,22 +302,25 @@ interface Window {
         }
       }>
       createCustom: (target: RemoteWorkspaceTarget, input: { name: string; category: string; folderName: string; dockerImage?: string | null; packageName: string; launchFile: string }) => Promise<{ ok: boolean; workspacePath: string }>
-      start: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => Promise<{ ok: boolean; message: string }>
+      transfer: (target: RemoteWorkspaceTarget, sourceWorkspaceRoot: string | undefined, moduleName: string, folderName?: string) => Promise<{ ok: boolean; workspacePath: string }>
+      start: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => Promise<{ ok: boolean; message: string }>
       build: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => Promise<{ ok: boolean; message: string }>
       stop: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => Promise<{ ok: boolean; message: string }>
       stopMany: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => Promise<{ ok: boolean; message: string }>
       resetSession: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null; templateRepositoryUrl?: string | null }>) => Promise<{ ok: boolean; message: string }>
-      restart: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => Promise<{ ok: boolean; message: string }>
+      restart: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => Promise<{ ok: boolean; message: string }>
       logs: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => Promise<{ ok: boolean; logs: string; message?: string }>
     }
     visualization: {
       status: (target: RemoteWorkspaceTarget) => Promise<{ ok: boolean; running: boolean; stack: 'autoware' | 'nav2' | 'slam' | null; message?: string }>
-      start: (target: RemoteWorkspaceTarget, stack?: 'autoware' | 'nav2' | 'slam', rosDomainId?: string, environmentProfile?: unknown) => Promise<{ ok: boolean; running: boolean; stack: 'autoware' | 'nav2' | 'slam' | null; message?: string }>
+      start: (target: RemoteWorkspaceTarget, stack?: 'autoware' | 'nav2' | 'slam', rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null) => Promise<{ ok: boolean; running: boolean; stack: 'autoware' | 'nav2' | 'slam' | null; message?: string }>
       stop: (target: RemoteWorkspaceTarget) => Promise<{ ok: boolean; running: boolean; stack: 'autoware' | 'nav2' | 'slam' | null; message?: string }>
     }
     git: {
       status: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, selectedFilePath?: string | null) => ReturnType<Window['git']['status']>
-      submit: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string) => ReturnType<Window['git']['submit']>
+      submit: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string, repositoryUrl?: string) => ReturnType<Window['git']['submit']>
+      teamPublish: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string) => ReturnType<Window['git']['teamPublish']>
+      teamPull: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ReturnType<Window['git']['teamPull']>
       restoreFile: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, filePath?: string, status?: 'added' | 'modified' | 'deleted' | 'renamed' | 'untracked') => ReturnType<Window['git']['restoreFile']>
       submissions: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => ReturnType<Window['git']['submissions']>
       commitDiff: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, commitHash?: string) => ReturnType<Window['git']['commitDiff']>

src/renderer/src/features/AiGuideView.tsx

@@ -80,38 +80,38 @@ export default function AiGuideView(props: Props): React.JSX.Element {
         <button type="button" aria-label="닫기" title="닫기" onClick={onClose} className="grid size-7 cursor-pointer place-items-center rounded text-white/55 transition hover:bg-white/[0.08] hover:text-white"><X size={16} /></button>
       </header>
       <div className="flex min-h-0 flex-1">
-        <aside className="flex w-[252px] shrink-0 flex-col border-r border-white/10 bg-[#191b2a]">
+        <aside data-help="ai-guide-context" className="flex w-[252px] shrink-0 flex-col border-r border-white/10 bg-[#191b2a]">
-          <div className="session-scrollbar min-h-0 flex-1 overflow-y-auto p-3">
+          <div className="thin-y-scrollbar min-h-0 flex-1 overflow-y-auto p-3">
-            <div className="rounded-lg border border-violet-300/20 bg-violet-400/[0.08] px-3 pb-3 pt-2">
+            <div className="rounded-lg border border-cyan-300/18 bg-cyan-400/[0.07] px-3 pb-3 pt-2">
-              <span className="text-[10px] font-bold tracking-[0.08em] text-violet-200">현재 학습</span>
+              <span className="text-[10px] font-bold tracking-[0.08em] text-cyan-200">현재 학습</span>
               <strong className="mt-2 block text-[13px] leading-snug text-white/88">{contextLabel}</strong>
               <p className="mt-1.5 text-[11px] leading-relaxed text-white/46">{courseTitle ?? '강좌를 선택하면 학습 내용에 맞춰 안내합니다.'}</p>
             </div>
-            <button type="button" disabled={busy || disabled} onClick={onClear} className="group mt-3 flex min-h-10 w-full cursor-pointer items-center gap-2 rounded-md px-2 text-left text-[12px] font-semibold text-white/58 transition hover:bg-white/[0.07] hover:text-white disabled:cursor-not-allowed disabled:opacity-35"><Plus size={15} className="shrink-0 text-emerald-300" /><span className="min-w-0 flex-1">새 채팅</span><ChevronRight size={14} className="shrink-0 opacity-0 transition group-hover:opacity-70" /></button>
+            <button type="button" disabled={busy || disabled} onClick={onClear} className="group mt-3 flex min-h-10 w-full cursor-pointer items-center gap-2 rounded-md px-2 text-left text-[12px] font-semibold text-white/58 transition hover:bg-white/[0.07] hover:text-white disabled:cursor-not-allowed disabled:opacity-35"><Plus size={15} className="shrink-0 text-violet-300" /><span className="min-w-0 flex-1">새 채팅</span><ChevronRight size={14} className="shrink-0 opacity-0 transition group-hover:opacity-70" /></button>
             <div className="mt-5"><span className="px-1 text-[10px] font-bold tracking-[0.08em] text-white/38">빠른 질문</span><div className="mt-2 grid gap-1">
               {quickQuestions.map(({ Icon, label, prompt }) => <button key={label} type="button" disabled={disabled || busy || !weekNumber} onClick={() => onQuickSubmit(prompt)} className="group flex min-h-10 w-full cursor-pointer items-center gap-2 rounded-md px-2 text-left text-[12px] font-semibold text-white/58 transition hover:bg-white/[0.07] hover:text-white disabled:cursor-not-allowed disabled:opacity-35"><Icon size={15} className="shrink-0 text-violet-300" /><span className="min-w-0 flex-1">{label}</span><ChevronRight size={14} className="shrink-0 opacity-0 transition group-hover:opacity-70" /></button>)}
             </div></div>
             <div className="mt-6 border-t border-white/[0.08] pt-4"><span className="px-1 text-[10px] font-bold tracking-[0.08em] text-white/38">최근 채팅</span><div className="mt-2 grid gap-1">
-              {activeConversation ? <button type="button" onClick={() => selectConversation(null)} className={['min-w-0 cursor-pointer rounded-md px-2 py-2 text-left transition', !viewingHistory ? 'bg-violet-400/16 text-violet-100' : 'text-white/48 hover:bg-white/[0.06] hover:text-white/75'].join(' ')}><span className="block truncate text-[11px] font-semibold">{activeConversation.title || '새 채팅'}</span><span className="mt-0.5 block text-[10px] text-white/32">현재 채팅</span></button> : null}
+              {activeConversation ? <button type="button" onClick={() => selectConversation(null)} className={['min-w-0 cursor-pointer rounded-md px-2 py-2 text-left transition', !viewingHistory ? 'bg-cyan-400/10 text-cyan-100/85' : 'text-white/48 hover:bg-white/[0.06] hover:text-white/75'].join(' ')}><span className="block truncate text-[11px] font-semibold">{activeConversation.title || '새 채팅'}</span><span className="mt-0.5 block text-[10px] text-white/32">현재 채팅</span></button> : null}
-              {history.map((thread) => <div key={thread.id} className={['group flex min-w-0 items-center rounded-md transition', selectedHistoryId === thread.id ? 'bg-violet-400/16 text-violet-100' : 'text-white/48 hover:bg-white/[0.06] hover:text-white/75'].join(' ')}><button type="button" onClick={() => selectConversation(thread.id)} className="min-w-0 flex-1 cursor-pointer px-2 py-2 text-left"><span className="block truncate text-[11px] font-semibold">{thread.title || '이전 채팅'}</span><span className="mt-0.5 block text-[10px] text-white/32">{formatDate(thread.lastMessageAt)}</span></button><button type="button" title="채팅 삭제" aria-label="채팅 삭제" onClick={() => setDeleteConfirmThread(thread)} className="mr-1.5 grid size-6 shrink-0 cursor-pointer place-items-center rounded text-white/30 opacity-0 transition hover:bg-white/[0.08] hover:text-[#f87171] group-hover:opacity-100"><Trash2 size={13} /></button></div>)}
+              {history.map((thread) => <div key={thread.id} className={['group flex min-w-0 items-center rounded-md transition', selectedHistoryId === thread.id ? 'bg-cyan-400/10 text-cyan-100/85' : 'text-white/48 hover:bg-white/[0.06] hover:text-white/75'].join(' ')}><button type="button" onClick={() => selectConversation(thread.id)} className="min-w-0 flex-1 cursor-pointer px-2 py-2 text-left"><span className="block truncate text-[11px] font-semibold">{thread.title || '이전 채팅'}</span><span className="mt-0.5 block text-[10px] text-white/32">{formatDate(thread.lastMessageAt)}</span></button><button type="button" title="채팅 삭제" aria-label="채팅 삭제" onClick={() => setDeleteConfirmThread(thread)} className="mr-1.5 grid size-6 shrink-0 cursor-pointer place-items-center rounded text-white/30 opacity-0 transition hover:bg-white/[0.08] hover:text-[#f87171] group-hover:opacity-100"><Trash2 size={13} /></button></div>)}
             </div></div>
           </div>
         </aside>
-        <main className="relative flex min-w-0 flex-1 flex-col bg-[#10131b]">
+        <main data-help="ai-guide-conversation" className="relative flex min-w-0 flex-1 flex-col bg-[#10131b]">
           <div ref={conversationScrollRef} onScroll={(event) => {
             const target = event.currentTarget
             followConversationRef.current = target.scrollHeight - target.scrollTop - target.clientHeight < 96
-          }} className="session-scrollbar min-h-0 flex-1 overflow-y-auto px-6 pb-32 pt-7">
+          }} className="thin-y-scrollbar min-h-0 flex-1 overflow-y-auto px-6 pb-32 pt-7">
             {loading ? <div className="grid h-full min-h-[300px] place-items-center text-[12px] font-semibold text-white/40"><span className="flex items-center gap-2"><LoaderCircle size={15} className="animate-spin" /> 이전 채팅을 불러오는 중</span></div> : disabled ? <div className="grid h-full min-h-[300px] place-items-center text-center"><div><span className="mx-auto grid size-10 place-items-center rounded-lg bg-white/[0.06] text-white/42"><MessageSquareText size={19} /></span><strong className="mt-3 block text-[14px] text-white/75">AI 가이드를 준비하고 있습니다</strong></div></div> : <div className="mx-auto flex w-full max-w-[860px] flex-col gap-5">
               {messages.length === 0 && <div className="py-9 text-center"><span className="mx-auto grid size-11 place-items-center rounded-xl border border-violet-300/25 bg-violet-400/10 text-violet-200"><Sparkles size={20} /></span><h2 className="mt-4 text-[16px] font-bold text-white/86">무엇이 궁금한가요?</h2><p className="mt-1 text-[12px] text-white/42">개념, 실습 순서, 오류 원인처럼 학습에 필요한 내용을 질문하세요.</p></div>}
               {messages.map((message) => <article key={message.id} ref={message.role === 'user' ? (node) => { questionRefs.current[message.id] = node } : undefined} className={message.role === 'user' ? 'flex w-full justify-end' : 'w-full'}><div className={message.role === 'user' ? 'max-w-[78%] rounded-xl rounded-br-sm bg-[#5b4aa8] px-3.5 py-2.5 text-[12px] font-medium leading-relaxed text-white shadow-[0_8px_20px_rgba(63,49,139,0.28)]' : 'w-full rounded-xl rounded-tl-sm border border-white/10 bg-[#1d2230] px-4 py-3'}>{message.role === 'user' ? <p className="whitespace-pre-wrap">{message.content}</p> : <><>{(message.isTyping || message.id === typingMessageId) && <span className="mb-2 flex items-center gap-1.5 text-[11px] font-semibold text-violet-200"><LoaderCircle size={13} className="animate-spin" /> 생각 중</span>}</><ExpandableMarkdownMessage content={message.content || '응답을 작성하고 있습니다.'} dark defaultCollapsed={!message.keepExpanded && message.id !== latestAssistantMessageId} /></>}</div>{message.status === 'CANCELED' && <p className="mt-1 text-[10px] font-medium text-white/32">응답이 중단됨</p>}</article>)}
               {busy && <article className="w-full"><div className="inline-flex items-center gap-2 rounded-xl rounded-tl-sm border border-white/10 bg-[#1d2230] px-4 py-3 text-[12px] font-semibold text-violet-200"><LoaderCircle size={15} className="animate-spin" /> 생각 중</div></article>}
             </div>}
           </div>
-          <div className="pointer-events-none absolute inset-x-0 bottom-3 z-10 px-6"><div className="pointer-events-auto mx-auto max-w-[900px]"><QaInputBox dark compact busy={busy} disabled={disabled || viewingHistory || switchingConversation} onStop={onStop} onSubmit={onSubmit} /></div></div>
+          <div className="pointer-events-none absolute inset-x-0 bottom-3 z-10 px-6"><div className="pointer-events-auto mx-auto max-w-[900px]"><QaInputBox dark compact accent="cyan" busy={busy} disabled={disabled || viewingHistory || switchingConversation} onStop={onStop} onSubmit={onSubmit} /></div></div>
           {switchingConversation && <div className="absolute inset-0 z-20 grid place-items-center bg-[#10131b]/78 backdrop-blur-[2px]"><span className="flex items-center gap-2 rounded-lg border border-white/10 bg-[#252238] px-4 py-3 text-[12px] font-semibold text-white/76"><LoaderCircle size={15} className="animate-spin text-violet-200" /> 채팅 불러오는 중</span></div>}
         </main>
-        <aside className="flex w-[232px] shrink-0 flex-col border-l border-white/10 bg-[#191b2a]"><div className="flex h-10 shrink-0 items-center border-b border-white/10 px-3"><span className="text-[11px] font-bold text-white/44">질문 목록</span></div><div className="session-scrollbar min-h-0 flex-1 overflow-y-auto p-2">{questionMessages.length ? <div className="grid gap-1">{questionMessages.map((message) => <button key={message.id} type="button" onClick={() => { setSelectedQuestionId(message.id); questionRefs.current[message.id]?.scrollIntoView({ behavior: 'smooth', block: 'center' }) }} className={['w-full min-w-0 cursor-pointer overflow-hidden rounded-md px-2.5 py-2 text-left transition', selectedQuestionId === message.id ? 'bg-violet-400/16 text-violet-100' : 'text-white/52 hover:bg-white/[0.06] hover:text-white/78'].join(' ')}><span className="flex w-full min-w-0 items-start gap-2"><span className="min-w-0 flex-1 truncate text-[11px] font-medium leading-relaxed">{message.content}</span><time className="shrink-0 pt-0.5 text-[10px] font-medium text-white/32">{formatTime(message.createdAt)}</time></span></button>)}</div> : <div className="grid min-h-[160px] place-items-center px-3 text-center text-[11px] leading-relaxed text-white/34">질문을 보내면 이곳에 표시됩니다.</div>}</div></aside>
+        <aside data-help="ai-guide-questions" className="flex w-[232px] shrink-0 flex-col border-l border-white/10 bg-[#191b2a]"><div className="flex h-10 shrink-0 items-center border-b border-white/10 px-3"><span className="text-[11px] font-bold text-white/44">질문 목록</span></div><div className="thin-y-scrollbar min-h-0 flex-1 overflow-y-auto p-2">{questionMessages.length ? <div className="grid gap-1">{questionMessages.map((message) => <button key={message.id} type="button" onClick={() => { setSelectedQuestionId(message.id); questionRefs.current[message.id]?.scrollIntoView({ behavior: 'smooth', block: 'center' }) }} className={['w-full min-w-0 cursor-pointer overflow-hidden rounded-md px-2.5 py-2 text-left transition', selectedQuestionId === message.id ? 'bg-cyan-400/10 text-cyan-100/85' : 'text-white/52 hover:bg-white/[0.06] hover:text-white/78'].join(' ')}><span className="flex w-full min-w-0 items-start gap-2"><span className="min-w-0 flex-1 truncate text-[11px] font-medium leading-relaxed">{message.content}</span><time className="shrink-0 pt-0.5 text-[10px] font-medium text-white/32">{formatTime(message.createdAt)}</time></span></button>)}</div> : <div className="grid min-h-[160px] place-items-center px-3 text-center text-[11px] leading-relaxed text-white/34">질문을 보내면 이곳에 표시됩니다.</div>}</div></aside>
       </div>
       {deleteConfirmThread && <div className="absolute inset-0 z-50 grid place-items-center bg-black/36"><section className="w-[360px] overflow-hidden rounded-lg border border-white/10 bg-[#1b2a42] text-white shadow-[0_24px_70px_rgba(0,0,0,0.42)]"><div className="flex items-center gap-2 border-b border-white/10 px-4 py-3"><Trash2 size={15} className="text-[#e87979]" /><strong className="text-[13px] font-bold">채팅 삭제</strong></div><div className="p-4"><p className="text-[13px] font-semibold text-white">이 채팅 내역을 삭제할까요?</p><p className="mt-2 truncate text-[12px] font-medium text-white/52">{deleteConfirmThread.title || '이전 채팅'}</p><p className="mt-2 text-[12px] font-medium leading-relaxed text-white/45">삭제한 채팅과 답변은 복구할 수 없습니다.</p><div className="mt-4 flex justify-end gap-2"><button type="button" onClick={() => setDeleteConfirmThread(null)} className="h-8 cursor-pointer rounded-md border border-white/12 px-3 text-[12px] font-bold text-white/62 transition hover:bg-white/8 hover:text-white">취소</button><button type="button" onClick={() => { onDeleteHistory(deleteConfirmThread.id); setDeleteConfirmThread(null) }} className="h-8 cursor-pointer rounded-md bg-[#d14b4b] px-3 text-[12px] font-bold text-white transition hover:bg-[#bd3838]">삭제</button></div></div></section></div>}
     </section>

src/renderer/src/features/curriculum/CurriculumHomeScreen.tsx

@@ -19,7 +19,6 @@ type CurriculumHomeWeek = {
       description: string
     }>
     deliverable: string
-    requiresSourceSubmission?: boolean
     sourceSubmitted?: boolean
     sourceSubmittedAt?: string | null
   }

src/renderer/src/features/curriculum/LearningInfoCard.tsx

@@ -1,4 +1,4 @@
-import { BookOpen, Car, Clock3, FileText, Play, Upload } from 'lucide-react'
+import { BookOpen, Car, Clock3, FileText, Play } from 'lucide-react'
 import type React from 'react'
 
 type LearningInfoWeek = {
@@ -7,10 +7,6 @@ type LearningInfoWeek = {
   tags: string[]
   progress: number
   duration: string
-  detail: {
-    requiresSourceSubmission?: boolean
-    sourceSubmitted?: boolean
-  }
 }
 
 type LearningInfoCardProps = {
@@ -59,24 +55,16 @@ export default function LearningInfoCard({
         </div>
       </div>
 
-      <div className="my-[17px] overflow-hidden rounded-lg border border-[#dfe3ed] bg-[#fbfcff] pb-2 pt-2">
+      <div className="my-[17px] overflow-hidden rounded-lg border border-[#dfe3ed] bg-[#fbfcff] py-1">
         {[
           { label: '플랫폼', value: week.tags[0] ?? '-', Icon: Car },
-          { label: '예상 학습 시간', value: week.duration, Icon: Clock3 },
+          { label: '예상 학습 시간', value: week.duration, Icon: Clock3 }
-          ...(week.detail.requiresSourceSubmission
-            ? [{
-                label: '제출 여부',
-                value: week.detail.sourceSubmitted ? '제출 완료' : '미제출',
-                Icon: Upload,
-                valueClassName: week.detail.sourceSubmitted ? 'text-[#178c78]' : 'text-[#e11d48]'
-              }]
-            : [])
         ].map(({ label, value, Icon, valueClassName }) => (
           <div
             key={label}
             className={[
               'flex items-center justify-between gap-3 border-b border-[#edf0f5] px-3.5 last:border-b-0',
-              label === '제출 여부' ? 'min-h-[42px] pb-1 pt-0' : 'min-h-[30px] py-0'
+              'min-h-[34px] py-0'
             ].join(' ')}
           >
             <span className="flex min-w-0 items-center gap-2 text-[12px] font-medium text-[#4f596b]">

src/renderer/src/features/curriculum/types.ts

@@ -52,7 +52,6 @@ export type CurriculumWeek = {
     references?: DownloadResource[]
     exampleCodes?: DownloadResource[]
     deliverable: string
-    requiresSourceSubmission: boolean
     sourceSubmitted?: boolean
     sourceSubmittedAt?: string | null
   }
@@ -69,6 +68,7 @@ export type CurriculumWeek = {
     dockerImage?: string | null
     packageName?: string | null
     launchFile?: string | null
+    runtimeTarget?: 'LOCAL' | 'PLATFORM' | 'SHARED' | null
   }>
   environmentProfiles?: EnvironmentProfile[]
   maps?: Array<{
@@ -81,6 +81,7 @@ export type CurriculumWeek = {
     custom?: boolean
     layout?: unknown
   }>
+  isTeamProject?: boolean
 }
 
 export type CurriculumResponse = {
@@ -102,6 +103,10 @@ export type CurriculumResponse = {
   activeWeek?: number | null
   activeLearningStep?: string | null
   learningStats?: LearningStat[]
+  studentGroup?: {
+    id: string
+    name: string
+  } | null
   platforms?: PlatformOption[]
 }
 

src/renderer/src/features/help/contextHelp.ts

@@ -2,10 +2,12 @@ import type { DriveStep } from 'driver.js'
 
 export function getContextHelpSteps({
   platformModalOpen,
-  localPcLayoutOpen
+  localPcLayoutOpen,
+  aiGuideOpen
 }: {
   platformModalOpen: boolean
   localPcLayoutOpen: boolean
+  aiGuideOpen: boolean
 }): DriveStep[] {
   if (platformModalOpen) {
     return [
@@ -20,6 +22,35 @@ export function getContextHelpSteps({
     ]
   }
 
+  if (aiGuideOpen) {
+    return [
+      {
+        element: '[data-help="ai-guide-context"]',
+        popover: {
+          title: '학습 맥락과 빠른 질문',
+          description: '현재 강좌와 주차 정보를 확인하고, 자주 묻는 질문을 바로 선택할 수 있습니다. 이전 대화도 이곳에서 다시 열 수 있습니다.',
+          side: 'right'
+        }
+      },
+      {
+        element: '[data-help="ai-guide-conversation"]',
+        popover: {
+          title: 'AI 가이드 대화',
+          description: '학습 중 궁금한 내용을 입력하면 현재 강좌와 주차 맥락을 바탕으로 답변합니다.',
+          side: 'left'
+        }
+      },
+      {
+        element: '[data-help="ai-guide-questions"]',
+        popover: {
+          title: '질문 목록',
+          description: '이전에 입력한 질문 목록입니다. 항목을 누르면 해당 질문과 답변 위치로 바로 이동합니다.',
+          side: 'left'
+        }
+      }
+    ]
+  }
+
   if (localPcLayoutOpen) {
     return [
       {
@@ -46,6 +77,14 @@ export function getContextHelpSteps({
           side: 'left'
         }
       },
+      {
+        element: '[data-help="module-parking"]',
+        popover: {
+          title: '모듈 보관',
+          description: '사용하지 않는 모듈을 이 영역으로 드래그하면 전체 설치·실행·중지 대상에서 제외됩니다. 보관한 모듈은 개별적으로 제어할 수 있습니다.',
+          side: 'left'
+        }
+      },
       {
         element: '[data-help="workspace-chat"]',
         popover: {

src/renderer/src/features/platforms/PlatformSelectionPanel.tsx

@@ -83,7 +83,8 @@ export default function PlatformSelectionPanel({
           const { id, status, action, state, iconKey } = platform
           const Icon = PLATFORM_ICONS[iconKey] ?? Monitor
           const locked = state === 'locked'
-          const statusPending = platform.platformKey !== 'futuredrive-local-pc' && !checkedRemotePlatformStatusIds.has(id)
+          const statusPending = platform.platformKey !== 'futuredrive-local-pc'
+            && !checkedRemotePlatformStatusIds.has(id)
           const unavailable = !statusPending && isPlatformUnavailable(platform)
           const actionDisabled = statusPending || locked || unavailable
           const runningInSelectionList = runningPlatforms.some((runningPlatform) => runningPlatform.id === platform.id)

src/renderer/src/features/platforms/types.ts

@@ -3,7 +3,13 @@ export type StudioSourceSettings = {
   giteaBaseUrl: string
   giteaOwner: string
   gpuEnabled: boolean
+  editorWordWrap: boolean
+  editorFontSize: number
+  editorTabSize: number
+  editorMinimap: boolean
   rosDomainId: string
+  rosLinkedPlatformId?: string | null
+  visualizationBridgeLocation?: 'local' | 'platform'
   agentUrl?: string | null
   sshUser?: string | null
   sshPort?: string | null
@@ -18,6 +24,14 @@ export type EnvironmentProfile = {
   config: Record<string, unknown>
 }
 
+export type VehicleRuntimeProfile = {
+  profileKey: string
+  driveType: 'ackermann' | 'differential'
+  wheelbaseMeters: number
+  maxSpeedMetersPerSecond: number
+  maxSteeringAngleRadians: number
+}
+
 export type PlatformOption = {
   id: string
   platformKey: string
@@ -30,6 +44,7 @@ export type PlatformOption = {
   state: 'ready' | 'request' | 'reserved' | 'locked'
   sourceSettings?: Partial<StudioSourceSettings> | null
   environmentProfiles?: EnvironmentProfile[]
+  vehicleRuntimeProfile?: VehicleRuntimeProfile | null
   environmentConfigOverride?: Record<string, unknown> | null
   connection?: {
     registered: boolean

src/renderer/src/features/workspace/ModuleDeleteConfirm.tsx

@@ -4,6 +4,7 @@ import type React from 'react'
 
 type DeletableModule = {
   name: string
+  state?: 'running' | 'stopped' | 'uninstalled'
 }
 
 type ModuleDeleteConfirmProps<Module extends DeletableModule> = {
@@ -40,9 +41,11 @@ export default function ModuleDeleteConfirm<Module extends DeletableModule>({
             {module.name} 삭제할까요?
           </p>
           <p className={['mt-2 text-[12px] font-medium leading-relaxed', dark ? 'text-white/45' : 'text-[#727b8c]'].join(' ')}>
-            워크스페이스에 설치된 모듈 폴더가 삭제됩니다.
+            {module.state === 'uninstalled'
+              ? '등록된 커스텀 모듈 정보를 삭제합니다.'
+              : '워크스페이스에 설치된 모듈 폴더가 삭제됩니다.'}
           </p>
-          {allowRepositoryDeletion && <label
+          {allowRepositoryDeletion && module.state !== 'uninstalled' && <label
             className={[
               'mt-4 flex cursor-pointer items-start gap-2 rounded-md border p-3',
               dark ? 'border-white/10 bg-white/[0.03]' : 'border-[#d8dee9] bg-[#f8fafc]'

src/renderer/src/features/workspace/ModuleListRow.tsx

@@ -1,6 +1,8 @@
 import { Download, FolderOpen, Hammer, Play, RefreshCw, Square, Trash2 } from 'lucide-react'
 import type { LucideIcon } from 'lucide-react'
+import { useEffect, useRef, useState } from 'react'
 import type React from 'react'
+import { createPortal } from 'react-dom'
 
 export type ModuleListRowItem = {
   state: 'running' | 'stopped' | 'uninstalled'
@@ -72,15 +74,73 @@ function actionButtonClass(dark: boolean, tone: ModuleActionTone, busy: boolean)
 }
 
 function TooltipLabel({ dark, children }: { dark: boolean; children: React.ReactNode }): React.JSX.Element {
+  const anchorRef = useRef<HTMLSpanElement>(null)
+  const [position, setPosition] = useState<{ left: number; top: number } | null>(null)
+
+  useEffect(() => {
+    const anchor = anchorRef.current?.parentElement
+    if (!(anchor instanceof HTMLElement)) return
+
+    const showTooltip = (): void => {
+      const bounds = anchor.getBoundingClientRect()
+      setPosition({
+        left: Math.min(window.innerWidth - 8, Math.max(8, bounds.left + (bounds.width / 2))),
+        top: bounds.top - 8
+      })
+    }
+    const hideTooltip = (): void => setPosition(null)
+
+    anchor.addEventListener('mouseenter', showTooltip)
+    anchor.addEventListener('mouseleave', hideTooltip)
+    anchor.addEventListener('focus', showTooltip)
+    anchor.addEventListener('blur', hideTooltip)
+
+    return () => {
+      anchor.removeEventListener('mouseenter', showTooltip)
+      anchor.removeEventListener('mouseleave', hideTooltip)
+      anchor.removeEventListener('focus', showTooltip)
+      anchor.removeEventListener('blur', hideTooltip)
+    }
+  }, [])
+
+  useEffect(() => {
+    if (!position) return
+
+    const updateTooltipPosition = (): void => {
+      const anchor = anchorRef.current?.parentElement
+      if (!(anchor instanceof HTMLElement)) return
+      const bounds = anchor.getBoundingClientRect()
+      setPosition({
+        left: Math.min(window.innerWidth - 8, Math.max(8, bounds.left + (bounds.width / 2))),
+        top: bounds.top - 8
+      })
+    }
+
+    window.addEventListener('resize', updateTooltipPosition)
+    window.addEventListener('scroll', updateTooltipPosition, true)
+    return () => {
+      window.removeEventListener('resize', updateTooltipPosition)
+      window.removeEventListener('scroll', updateTooltipPosition, true)
+    }
+  }, [position])
+
   return (
-    <span
+    <>
-      className={[
+      <span ref={anchorRef} aria-hidden="true" className="absolute h-0 w-0 overflow-hidden" />
-        'pointer-events-none absolute -top-8 left-1/2 z-20 -translate-x-1/2 whitespace-nowrap rounded px-2 py-1 text-[11px] font-bold opacity-0 shadow-[0_8px_18px_rgba(0,0,0,0.22)] transition group-hover/action:opacity-100',
+      {position && createPortal(
-        dark ? 'bg-[#111315] text-white' : 'bg-[#111520] text-white'
+        <span
-      ].join(' ')}
+          role="tooltip"
-    >
+          style={{ left: position.left, top: position.top }}
-      {children}
+          className={[
-    </span>
+            'pointer-events-none fixed z-[10030] -translate-x-1/2 -translate-y-full whitespace-nowrap rounded px-2 py-1 text-[11px] font-bold shadow-[0_8px_18px_rgba(0,0,0,0.22)]',
+            dark ? 'bg-[#111315] text-white' : 'bg-[#111520] text-white'
+          ].join(' ')}
+        >
+          {children}
+        </span>,
+        document.body
+      )}
+    </>
   )
 }
 
@@ -139,6 +199,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
     ? { label: module.sourceType === 'CUSTOM' ? '소스 생성' : '설치', Icon: Download, tone: 'install' as ModuleActionTone }
     : { label: '삭제', Icon: Trash2, tone: 'delete' as ModuleActionTone }
   const installActionDisabled = busy || (module.state !== 'uninstalled' && module.state !== 'stopped')
+  const canDeleteUninstalledCustomModule = module.sourceType === 'CUSTOM' && module.state === 'uninstalled'
 
   return (
     <div
@@ -185,7 +246,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
           <span className={['truncate text-[12px] font-semibold', dark ? 'text-white/86' : 'text-[#111520]'].join(' ')}>{module.name}</span>
           {module.sourceType === 'CUSTOM' && (
             <span className={['shrink-0 rounded border px-1.5 py-[1px] text-[9px] font-bold', dark ? 'border-[#a78bfa]/35 bg-[#a78bfa]/12 text-[#c4b5fd]' : 'border-[#8b5cf6]/22 bg-[#f3efff] text-[#7350c8]'].join(' ')}>
-              커스텀
+              사용자모듈
             </span>
           )}
         </span>
@@ -278,25 +339,56 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
             )
           })()
         ))}
-      </span>
+        {canDeleteUninstalledCustomModule && (
-      <span className="flex justify-center">
+          <button
-        <button
+            type="button"
-          type="button"
+            disabled={installActionDisabled}
-          disabled={installActionDisabled}
+            onClick={(event) => {
-          onClick={(event) => {
+              event.stopPropagation()
-            event.stopPropagation()
-            if (module.state === 'uninstalled') {
               onInstallModule(module)
-              return
+            }}
-            }
+            aria-label={installAction.label}
-            onDeleteModule(module)
+            className={actionButtonClass(dark, installAction.tone, installActionDisabled)}
-          }}
+          >
-          aria-label={installAction.label}
+            {busy ? <RefreshCw size={14} className="animate-spin" /> : <installAction.Icon size={14} />}
-          className={actionButtonClass(dark, installAction.tone, installActionDisabled)}
+            <TooltipLabel dark={dark}>{installAction.label}</TooltipLabel>
-        >
+          </button>
-          {busy ? <RefreshCw size={14} className="animate-spin" /> : <installAction.Icon size={14} />}
+        )}
-          <TooltipLabel dark={dark}>{installAction.label}</TooltipLabel>
+      </span>
-        </button>
+      <span className="flex justify-center gap-1.5">
+        {canDeleteUninstalledCustomModule ? (
+          <button
+            type="button"
+            disabled={busy}
+            onClick={(event) => {
+              event.stopPropagation()
+              onDeleteModule(module)
+            }}
+            aria-label="삭제"
+            className={actionButtonClass(dark, 'delete', busy)}
+          >
+            <Trash2 size={14} />
+            <TooltipLabel dark={dark}>삭제</TooltipLabel>
+          </button>
+        ) : (
+          <button
+            type="button"
+            disabled={installActionDisabled}
+            onClick={(event) => {
+              event.stopPropagation()
+              if (module.state === 'uninstalled') {
+                onInstallModule(module)
+                return
+              }
+              onDeleteModule(module)
+            }}
+            aria-label={installAction.label}
+            className={actionButtonClass(dark, installAction.tone, installActionDisabled)}
+          >
+            {busy ? <RefreshCw size={14} className="animate-spin" /> : <installAction.Icon size={14} />}
+            <TooltipLabel dark={dark}>{installAction.label}</TooltipLabel>
+          </button>
+        )}
       </span>
     </div>
   )

src/renderer/src/features/workspace/ModuleListView.tsx

@@ -1,4 +1,4 @@
-import { CirclePlus, X } from 'lucide-react'
+import { X } from 'lucide-react'
 import { useEffect, useState } from 'react'
 import type React from 'react'
 import ModuleDeleteConfirm from './ModuleDeleteConfirm'
@@ -9,20 +9,27 @@ import ModuleListToolbar, { type ModuleFilter } from './ModuleListToolbar'
 import ModuleParameterDialog from './ModuleParameterDialog'
 import { createParameterId, parseModuleParameters } from './moduleParameters'
 import type { ModuleParameterPair, ModuleRow } from './types'
+import { WorkspaceMapPreview, type WorkspaceMapOption } from './WorldMapSelectorModal'
 
 type ModuleListViewProps = {
   dark: boolean
   modules: ModuleRow[]
+  parkedModules: ModuleRow[]
   loading: boolean
   installingModuleName: string | null
   controllingModuleNames: string[]
   listError: string | null
   installError: string | null
+  onDismissError: () => void
+  selectedMap: WorkspaceMapOption
+  showSelectedMapPreview?: boolean
   allowRepositoryDeletion?: boolean
+  allowCustomModuleCreation?: boolean
   onAddModuleTab: (module: ModuleRow) => void
   onOpenSource: (module: ModuleRow) => void
   onInstallModule: (module: ModuleRow) => void
   onDeleteModule: (module: ModuleRow, options: { deleteRepository: boolean }) => void
+  getStoredParameters?: (module: ModuleRow) => ModuleParameterPair[] | undefined
   onUpdateModuleParameters: (module: ModuleRow, parameters: ModuleParameterPair[]) => void
   onStartModule: (module: ModuleRow) => void
   onBuildModule: (module: ModuleRow) => void
@@ -32,6 +39,9 @@ type ModuleListViewProps = {
   onStartAll: () => void
   onStopAll: () => void
   onReorderModules: (source: ModuleRow, target: ModuleRow) => void
+  onParkModule: (module: ModuleRow) => void
+  onRestoreParkedModule: (module: ModuleRow) => void
+  parkingHeightStorageKey?: string
   onOpenWorldEditor: () => void
   onCreateCustomModule: (input: CustomModuleInput) => Promise<void>
 }
@@ -39,16 +49,22 @@ type ModuleListViewProps = {
 export default function ModuleListView({
   dark,
   modules,
+  parkedModules,
   loading,
   installingModuleName,
   controllingModuleNames,
   listError,
   installError,
+  onDismissError,
+  selectedMap,
+  showSelectedMapPreview = true,
   allowRepositoryDeletion = true,
+  allowCustomModuleCreation = true,
   onAddModuleTab,
   onOpenSource,
   onInstallModule,
   onDeleteModule,
+  getStoredParameters,
   onUpdateModuleParameters,
   onStartModule,
   onBuildModule,
@@ -58,6 +74,9 @@ export default function ModuleListView({
   onStartAll,
   onStopAll,
   onReorderModules,
+  onParkModule,
+  onRestoreParkedModule,
+  parkingHeightStorageKey,
   onOpenWorldEditor,
   onCreateCustomModule
 }: ModuleListViewProps): React.JSX.Element {
@@ -67,7 +86,10 @@ export default function ModuleListView({
   const [moduleAddDialogOpen, setModuleAddDialogOpen] = useState(false)
   const [draggedModule, setDraggedModule] = useState<ModuleRow | null>(null)
   const [dropTargetModuleName, setDropTargetModuleName] = useState<string | null>(null)
+  const [dropZone, setDropZone] = useState<'active' | 'parking' | null>(null)
+  const [parkingHeight, setParkingHeight] = useState(232)
   const filteredModuleRows = moduleFilter === 'all' ? modules : modules.filter((row) => row.state === moduleFilter)
+  const filteredParkedRows = moduleFilter === 'all' ? parkedModules : parkedModules.filter((row) => row.state === moduleFilter)
   const canReorder = moduleFilter === 'all' && !loading
   const uninstalledCount = modules.filter((row) => row.state === 'uninstalled').length
   const runningCount = modules.filter((row) => row.state === 'running').length
@@ -75,6 +97,93 @@ export default function ModuleListView({
   const installingAll = installingModuleName === '__all__'
   const bulkControlling = installingModuleName === '__start_all__' || installingModuleName === '__stop_all__'
 
+  useEffect(() => {
+    if (!parkingHeightStorageKey) {
+      setParkingHeight(232)
+      return
+    }
+    const storedValue = window.localStorage.getItem(parkingHeightStorageKey)
+    const storedHeight = storedValue === null ? Number.NaN : Number(storedValue)
+    setParkingHeight(Number.isFinite(storedHeight) ? Math.min(520, Math.max(84, storedHeight)) : 232)
+  }, [parkingHeightStorageKey])
+
+  const updateParkingHeight = (nextHeight: number): void => {
+    const height = Math.min(520, Math.max(84, nextHeight))
+    setParkingHeight(height)
+    if (!parkingHeightStorageKey) return
+    try {
+      window.localStorage.setItem(parkingHeightStorageKey, String(height))
+    } catch {
+      // Keep the resized height for the current workspace session.
+    }
+  }
+
+  const finishDrag = (): void => {
+    setDraggedModule(null)
+    setDropTargetModuleName(null)
+    setDropZone(null)
+  }
+  const beginParkingResize = (event: React.PointerEvent<HTMLDivElement>): void => {
+    event.preventDefault()
+    const startY = event.clientY
+    const startHeight = parkingHeight
+    const onPointerMove = (moveEvent: PointerEvent): void => {
+      updateParkingHeight(startHeight - (moveEvent.clientY - startY))
+    }
+    const onPointerUp = (): void => {
+      window.removeEventListener('pointermove', onPointerMove)
+      window.removeEventListener('pointerup', onPointerUp)
+    }
+    window.addEventListener('pointermove', onPointerMove)
+    window.addEventListener('pointerup', onPointerUp)
+  }
+  const renderModuleRow = (row: ModuleRow, parked: boolean): React.JSX.Element => (
+    <ModuleListRow
+      key={row.folderName ?? row.name}
+      dark={dark}
+      module={row}
+      draggable={canReorder}
+      dragging={draggedModule?.name === row.name}
+      dropTarget={dropTargetModuleName === row.name && draggedModule?.name !== row.name && dropZone === (parked ? 'parking' : 'active')}
+      onDragStart={() => setDraggedModule(row)}
+      onDragOver={() => {
+        if (!draggedModule || draggedModule.name === row.name) return
+        setDropTargetModuleName(row.name)
+        setDropZone(parked ? 'parking' : 'active')
+      }}
+      onDrop={() => {
+        if (draggedModule) {
+          if (parked) onParkModule(draggedModule)
+          else onRestoreParkedModule(draggedModule)
+          if (draggedModule.name !== row.name) onReorderModules(draggedModule, row)
+        }
+        finishDrag()
+      }}
+      onDragEnd={finishDrag}
+      installing={installingModuleName === row.name || (!parked && installingAll && row.state === 'uninstalled')}
+      controlling={controllingModuleNames.includes(row.name)}
+      bulkControlling={bulkControlling && !parked}
+      onAddModuleTab={onAddModuleTab}
+      onOpenSource={onOpenSource}
+      onOpenParameters={(module) => {
+        const storedParameters = getStoredParameters?.(module)
+        const parsedParameters = storedParameters ?? parseModuleParameters(module.parameters)
+        setParameterDialog({
+          module,
+          parameters: parsedParameters.length
+            ? parsedParameters
+            : [{ id: createParameterId(), name: '', value: '', enabled: true }]
+        })
+      }}
+      onInstallModule={onInstallModule}
+      onDeleteModule={setDeleteConfirmModule}
+      onStartModule={onStartModule}
+      onBuildModule={onBuildModule}
+      onStopModule={onStopModule}
+      onRestartModule={onRestartModule}
+    />
+  )
+
   useEffect(() => {
     const handleEscape = (event: KeyboardEvent): void => {
       if (event.key !== 'Escape') return
@@ -100,15 +209,24 @@ export default function ModuleListView({
 
   return (
     <section className={['relative flex h-full min-h-0 flex-col', dark ? 'bg-[#1f1f1f]' : 'bg-[#f7f8fb]'].join(' ')}>
-      <div className={['flex h-[69px] items-center justify-between p-3', dark ? 'bg-[#252525]' : 'bg-[#eef1f6]'].join(' ')}>
+      <div className={['flex h-[69px] items-center justify-between gap-4 p-3', dark ? 'bg-[#252525]' : 'bg-[#eef1f6]'].join(' ')}>
         <div>
           <strong className={['block text-[13px] font-bold', dark ? 'text-white' : 'text-[#111520]'].join(' ')}>모듈 리스트</strong>
           <span className={['mt-1 block text-[11px] font-medium', dark ? 'text-white/40' : 'text-[#727b8c]'].join(' ')}>자율주행 알고리즘 모듈 관리</span>
         </div>
+        {showSelectedMapPreview && (
+          <div className="flex min-w-0 items-center gap-2">
+            <div className="min-w-0 text-right">
+              <span className={['block text-[10px] font-bold', dark ? 'text-white/40' : 'text-[#788396]'].join(' ')}>현재 맵</span>
+              <strong className={['block max-w-[176px] truncate text-[12px] font-bold', dark ? 'text-white/85' : 'text-[#263247]'].join(' ')}>{selectedMap.name}</strong>
+            </div>
+            <WorkspaceMapPreview map={selectedMap} selected={false} compact borderless />
+          </div>
+        )}
       </div>
 
-      <div className="-mt-2 flex min-h-0 flex-1 overflow-auto">
+      <div className="-mt-2 flex min-h-0 flex-1 overflow-x-auto overflow-y-hidden">
-        <div className={['flex min-h-full min-w-[760px] flex-1 flex-col overflow-hidden border-b', dark ? 'border-white/10 bg-[#242424]' : 'border-[#d8dee9] bg-white'].join(' ')}>
+        <div className={['flex h-full min-w-[760px] flex-1 flex-col overflow-hidden border-b', dark ? 'border-white/10 bg-[#242424]' : 'border-[#d8dee9] bg-white'].join(' ')}>
           <ModuleListToolbar
             dark={dark}
             filter={moduleFilter}
@@ -125,71 +243,87 @@ export default function ModuleListView({
           />
           <ModuleListHeader dark={dark} />
           {(listError || installError) && (
-            <div className={['border-b px-3 py-2 text-[12px] font-semibold', dark ? 'border-white/10 bg-[#3a2525] text-[#ffb4b4]' : 'border-[#ffd4d4] bg-[#fff4f4] text-[#b42323]'].join(' ')}>
+            <div className={['flex items-start justify-between gap-3 border-b px-3 py-2 text-[12px] font-semibold', dark ? 'border-white/10 bg-[#3a2525] text-[#ffb4b4]' : 'border-[#ffd4d4] bg-[#fff4f4] text-[#b42323]'].join(' ')}>
-              {listError || installError}
+              <p className="min-w-0 break-words">{listError || installError}</p>
+              <button
+                type="button"
+                aria-label="오류 닫기"
+                onClick={onDismissError}
+                className={['mt-0.5 shrink-0 cursor-pointer transition hover:opacity-100', dark ? 'text-[#ffb4b4]/60' : 'text-[#b42323]/60'].join(' ')}
+              >
+                <X size={15} />
+              </button>
             </div>
           )}
 
-          <div className={[dark ? 'divide-y divide-white/7' : 'divide-y divide-[#eef1f6]', 'flex min-h-0 flex-1 flex-col'].join(' ')}>
+          <div className="flex min-h-0 flex-1 flex-col">
-            {loading ? (
+            <div
-              <ModuleListEmptyState dark={dark} loading />
+              className="thin-y-scrollbar min-h-0 flex-1 overflow-y-auto"
-            ) : filteredModuleRows.length === 0 ? (
+              onDragOver={(event) => {
-              <ModuleListEmptyState dark={dark} />
+                if (!draggedModule) return
-            ) : filteredModuleRows.map((row) => (
+                event.preventDefault()
-              <ModuleListRow
+                setDropTargetModuleName(null)
-                key={row.name}
+                setDropZone('active')
-                dark={dark}
+              }}
-                module={row}
+              onDrop={(event) => {
-                draggable={canReorder}
+                if (!draggedModule) return
-                dragging={draggedModule?.name === row.name}
+                event.preventDefault()
-                dropTarget={dropTargetModuleName === row.name && draggedModule?.name !== row.name}
+                onRestoreParkedModule(draggedModule)
-                onDragStart={() => setDraggedModule(row)}
+                finishDrag()
-                onDragOver={() => {
+              }}
-                  if (draggedModule && draggedModule.name !== row.name) setDropTargetModuleName(row.name)
+            >
-                }}
+              <div className={[dark ? 'divide-y divide-white/7' : 'divide-y divide-[#eef1f6]', 'flex min-h-full flex-col'].join(' ')}>
-                onDrop={() => {
+                {loading ? (
-                  if (draggedModule && draggedModule.name !== row.name) onReorderModules(draggedModule, row)
+                  <ModuleListEmptyState dark={dark} loading />
-                  setDraggedModule(null)
+                ) : filteredModuleRows.length === 0 ? (
-                  setDropTargetModuleName(null)
+                  <ModuleListEmptyState dark={dark} />
-                }}
+                ) : filteredModuleRows.map((row) => renderModuleRow(row, false))}
-                onDragEnd={() => {
+                {!loading && allowCustomModuleCreation && (
-                  setDraggedModule(null)
+                  <div className={['flex justify-end px-3 pb-6 pt-2', dark ? 'bg-[#242424]' : 'bg-[#fbfcff]'].join(' ')}>
-                  setDropTargetModuleName(null)
+                    <button
-                }}
+                      type="button"
-                installing={installingModuleName === row.name || (installingAll && row.state === 'uninstalled')}
+                      onClick={() => setModuleAddDialogOpen(true)}
-                controlling={controllingModuleNames.includes(row.name)}
+                      className={['inline-flex cursor-pointer items-center text-[12px] font-bold underline underline-offset-4 transition', dark ? 'text-[#6ea8ff] hover:text-white' : 'text-[#1d4ed8] hover:text-[#1e40af]'].join(' ')}
-                bulkControlling={bulkControlling}
+                    >
-                onAddModuleTab={onAddModuleTab}
+                      + 모듈 추가
-                onOpenSource={onOpenSource}
+                    </button>
-                onOpenParameters={(module) => {
+                  </div>
-                  const parsedParameters = parseModuleParameters(module.parameters)
+                )}
-                  setParameterDialog({
-                    module,
-                    parameters: parsedParameters.length
-                      ? parsedParameters
-                      : [{ id: createParameterId(), name: '', value: '' }]
-                  })
-                }}
-                onInstallModule={onInstallModule}
-                onDeleteModule={setDeleteConfirmModule}
-                onStartModule={onStartModule}
-                onBuildModule={onBuildModule}
-                onStopModule={onStopModule}
-                onRestartModule={onRestartModule}
-              />
-            ))}
-            {!loading && (
-              <div className={['flex justify-center pb-4 pt-2', dark ? 'bg-[#242424]' : 'bg-[#fbfcff]'].join(' ')}>
-                <button
-                  type="button"
-                  onClick={() => setModuleAddDialogOpen(true)}
-                  className={['inline-flex cursor-pointer items-center gap-1.5 text-[12px] font-bold underline-offset-4 transition hover:underline', dark ? 'text-[#8ab8ff] hover:text-white' : 'text-[#2563eb] hover:text-[#1d4ed8]'].join(' ')}
-                >
-                  <CirclePlus size={14} aria-hidden="true" />
-                  모듈 추가
-                </button>
               </div>
-            )}
+            </div>
+
+            <div
+              data-help="module-parking"
+              className={['relative shrink-0 border-t-[3px]', dark ? 'border-white/20 bg-[#202020]' : 'border-[#c5cedc] bg-[#fbfcff]'].join(' ')}
+              style={{ height: parkingHeight }}
+              onDragOver={(event) => {
+                if (!draggedModule) return
+                event.preventDefault()
+                setDropTargetModuleName(null)
+                setDropZone('parking')
+              }}
+              onDrop={(event) => {
+                if (!draggedModule) return
+                event.preventDefault()
+                onParkModule(draggedModule)
+                finishDrag()
+              }}
+            >
+              <div
+                role="separator"
+                aria-orientation="horizontal"
+                aria-label="보관 영역 크기 조절"
+                onPointerDown={beginParkingResize}
+                className={['absolute -top-2 left-0 right-0 z-10 h-5 cursor-row-resize', dropZone === 'parking' ? (dark ? 'bg-[#3b82f6]/16' : 'bg-[#3b82f6]/10') : ''].join(' ')}
+              />
+              <div className={[dark ? 'divide-y divide-white/7' : 'divide-y divide-[#eef1f6]', 'thin-y-scrollbar h-full overflow-y-auto'].join(' ')}>
+                {filteredParkedRows.length > 0 ? filteredParkedRows.map((row) => renderModuleRow(row, true)) : (
+                  <div className={['grid h-full place-items-center px-4 text-center text-[12px] font-medium', dark ? 'text-white/28' : 'text-[#7b8799]/55'].join(' ')}>
+                    모듈을 이곳으로 드래그하면 전체 제어 대상에서 제외됩니다
+                  </div>
+                )}
+              </div>
+            </div>
           </div>
         </div>
       </div>
@@ -218,7 +352,7 @@ export default function ModuleListView({
           }}
         />
       )}
-      {moduleAddDialogOpen && (
+      {allowCustomModuleCreation && moduleAddDialogOpen && (
         <ModuleAddDialog
           dark={dark}
           onClose={() => setModuleAddDialogOpen(false)}

src/renderer/src/features/workspace/ModuleParameterDialog.tsx

@@ -30,7 +30,7 @@ export default function ModuleParameterDialog<Module extends ParameterModule>({
     <div className="absolute inset-0 z-50 grid place-items-center bg-black/36">
       <section
         className={[
-          'w-[460px] overflow-hidden rounded-lg border shadow-[0_24px_70px_rgba(0,0,0,0.42)]',
+          'w-[500px] overflow-hidden rounded-lg border shadow-[0_24px_70px_rgba(0,0,0,0.42)]',
           dark ? 'border-white/10 bg-[#252525] text-white' : 'border-[#d8dee9] bg-white text-[#111520]'
         ].join(' ')}
       >
@@ -42,13 +42,14 @@ export default function ModuleParameterDialog<Module extends ParameterModule>({
         </div>
         <div className="p-4">
           <div className="grid gap-2">
-            <div className={['grid grid-cols-[minmax(0,1fr)_minmax(0,1fr)_32px] gap-2 text-[11px] font-bold', dark ? 'text-white/42' : 'text-[#727b8c]'].join(' ')}>
+            <div className={['grid grid-cols-[minmax(0,1fr)_minmax(0,1fr)_38px_32px] gap-2 text-[11px] font-bold', dark ? 'text-white/42' : 'text-[#727b8c]'].join(' ')}>
               <span>파라미터명</span>
               <span>값</span>
+              <span className="text-center">사용</span>
               <span />
             </div>
             {parameters.map((parameter) => (
-              <div key={parameter.id} className="grid grid-cols-[minmax(0,1fr)_minmax(0,1fr)_32px] gap-2">
+              <div key={parameter.id} className="grid grid-cols-[minmax(0,1fr)_minmax(0,1fr)_38px_32px] gap-2">
                 <input
                   value={parameter.name}
                   onChange={(event) => setParameters((items) => items.map((item) => item.id === parameter.id ? { ...item, name: event.target.value } : item))}
@@ -67,6 +68,14 @@ export default function ModuleParameterDialog<Module extends ParameterModule>({
                   ].join(' ')}
                   placeholder=""
                 />
+                <label className="flex h-8 cursor-pointer items-center justify-center" title="실행에 포함">
+                  <input
+                    type="checkbox"
+                    checked={parameter.enabled !== false}
+                    onChange={(event) => setParameters((items) => items.map((item) => item.id === parameter.id ? { ...item, enabled: event.target.checked } : item))}
+                    className="h-3.5 w-3.5 cursor-pointer accent-[#2563eb]"
+                  />
+                </label>
                 <button
                   type="button"
                   onClick={() => setParameters((items) => items.filter((item) => item.id !== parameter.id))}
@@ -81,7 +90,7 @@ export default function ModuleParameterDialog<Module extends ParameterModule>({
             ))}
             <button
               type="button"
-              onClick={() => setParameters((items) => [...items, { id: createParameterId(), name: '', value: '' }])}
+              onClick={() => setParameters((items) => [...items, { id: createParameterId(), name: '', value: '', enabled: true }])}
               className={[
                 'mt-1 flex h-8 cursor-pointer items-center justify-center gap-1.5 rounded-md border text-[12px] font-bold transition',
                 dark ? 'border-white/12 text-white/62 hover:bg-white/8 hover:text-white' : 'border-[#cfd6e4] text-[#687284] hover:bg-[#eef1f7] hover:text-[#111520]'

src/renderer/src/features/workspace/WorkspaceEditorPane.tsx

@@ -10,6 +10,10 @@ type Props = {
   activeImagePreviewSource?: string
   editorLanguage: string
   editorValue: string | undefined
+  wordWrap: boolean
+  fontSize: number
+  tabSize: number
+  minimapEnabled: boolean
   exampleActive: boolean
   beforeMount: BeforeMount
   onMount: OnMount
@@ -25,6 +29,10 @@ function WorkspaceEditorPane({
   activeImagePreviewSource,
   editorLanguage,
   editorValue,
+  wordWrap,
+  fontSize,
+  tabSize,
+  minimapEnabled,
   exampleActive,
   beforeMount,
   onMount,
@@ -77,13 +85,13 @@ function WorkspaceEditorPane({
           options={{
             automaticLayout: true,
             fontFamily: 'JetBrains Mono, Consolas, Monaco, monospace',
-            fontSize: 13,
+            fontSize,
-            minimap: { enabled: true },
+            minimap: { enabled: minimapEnabled },
             renderLineHighlight: 'all',
             roundedSelection: false,
             scrollBeyondLastLine: false,
-            tabSize: 4,
+            tabSize,
-            wordWrap: 'on',
+            wordWrap: wordWrap ? 'on' : 'off',
             readOnly: exampleActive
           }}
         />

src/renderer/src/features/workspace/WorkspaceModals.tsx

@@ -249,7 +249,6 @@ function ModalButtonRow({
 }
 
 type SubmitConfirmModalProps = WorkspaceModalTheme & {
-  requiresSourceSubmission: boolean
   submitting: boolean
   onCancel: () => void
   onConfirm: () => void
@@ -260,7 +259,6 @@ export function SubmitConfirmModal({
   borderSoft,
   textStrong,
   textDim,
-  requiresSourceSubmission,
   submitting,
   onCancel,
   onConfirm
@@ -275,14 +273,14 @@ export function SubmitConfirmModal({
       >
         <div className={['flex items-center gap-2 border-b px-4 py-3', borderSoft].join(' ')}>
           <Upload size={15} className="text-[#7aa7ff]" />
-          <strong className="text-[13px] font-bold">{requiresSourceSubmission ? '제출' : '학습 완료'}</strong>
+          <strong className="text-[13px] font-bold">학습 완료</strong>
         </div>
         <div className="p-4">
           <p className={['text-[13px] font-semibold', textStrong].join(' ')}>
-            {requiresSourceSubmission ? '변경사항을 제출할까요?' : '학습을 완료하시겠습니까?'}
+            현재 주차의 학습을 완료할까요?
           </p>
           <p className={['mt-2 text-[12px] font-medium leading-relaxed', textDim].join(' ')}>
-            {requiresSourceSubmission ? '변경된 모듈만 원격 저장소에 제출합니다.' : '현재 주차의 학습 완료 상태로 기록합니다.'}
+            완료 후에는 이 주차의 학습을 다시 완료 처리할 수 없습니다.
           </p>
           <div className="mt-4 flex justify-end gap-2">
             <button
@@ -301,7 +299,7 @@ export function SubmitConfirmModal({
               onClick={onConfirm}
               className="h-8 cursor-pointer rounded-md bg-[#2563eb] px-3 text-[12px] font-bold text-white transition hover:bg-[#1d4ed8] disabled:cursor-default disabled:opacity-60"
             >
-              {requiresSourceSubmission ? '제출' : '완료'}
+              학습 완료
             </button>
           </div>
         </div>

src/renderer/src/features/workspace/WorkspaceNav.tsx

@@ -9,6 +9,7 @@ type WorkspaceNavProps = {
   activeActivity: WorkspaceActivity
   selectedModuleExists: boolean
   installedGitModuleCount: number
+  teamProject: boolean
   moduleTabCount: number
   gitChangedFileCount: number
   workspaceNavFlash: boolean
@@ -35,6 +36,7 @@ export default function WorkspaceNav({
   activeActivity,
   selectedModuleExists,
   installedGitModuleCount,
+  teamProject,
   moduleTabCount,
   gitChangedFileCount,
   workspaceNavFlash,
@@ -57,7 +59,7 @@ export default function WorkspaceNav({
           id === 'workspace' ||
           id === 'examples' ||
           id === 'settings' ||
-          (id === 'git' && installedGitModuleCount > 0) ||
+          (id === 'git' && (teamProject || installedGitModuleCount > 0)) ||
           ((id === 'search' || id === 'logs') && selectedModuleExists)
 
         return (

src/renderer/src/features/workspace/WorkspaceQaPanel.tsx

@@ -188,7 +188,7 @@ export default function WorkspaceQaPanel({
           })}
         </div>
       </div>
-      <div ref={workspaceChatScrollRef} className="min-h-0 flex-1 overflow-auto p-3" onContextMenu={openContextMenu}>
+      <div ref={workspaceChatScrollRef} className="thin-y-scrollbar min-h-0 flex-1 overflow-auto p-3" onContextMenu={openContextMenu}>
         {qaMessagesLoading ? (
           <div className={['flex h-full min-h-[160px] items-center justify-center text-center text-[12px] font-semibold', dark ? 'text-white/48' : 'text-[#687284]'].join(' ')}>
             <div>

src/renderer/src/features/workspace/WorkspaceSettingsView.tsx

@@ -1,4 +1,5 @@
 import type { StudioSourceSettings } from '../platforms/types'
+import type { PlatformOption } from '../platforms/types'
 import { StudioSettingsField, StudioSettingsSwitch } from './StudioSettingsControls'
 
 type Props = {
@@ -9,9 +10,8 @@ type Props = {
   platformName: string
   configuredDraftWorkspaceRoot: string
   sourceSettingsDraft: StudioSourceSettings
-  platformSourceSettingsDefaults: StudioSourceSettings
+  remotePlatforms: PlatformOption[]
   onUpdateSourceSetting: <Key extends keyof StudioSourceSettings>(key: Key, value: StudioSourceSettings[Key]) => void
-  onResetSourceSettings: (settings: StudioSourceSettings) => void
   onSaveSourceSettings: () => void
 }
 
@@ -23,9 +23,8 @@ function WorkspaceSettingsView({
   platformName,
   configuredDraftWorkspaceRoot,
   sourceSettingsDraft,
-  platformSourceSettingsDefaults,
+  remotePlatforms,
   onUpdateSourceSetting,
-  onResetSourceSettings,
   onSaveSourceSettings
 }: Props): React.JSX.Element {
   return (
@@ -60,18 +59,22 @@ function WorkspaceSettingsView({
             ) : (
               <>
                 <div className="mt-5 grid gap-4">
-                  <StudioSettingsField
+                  <div className="grid gap-4 sm:grid-cols-2">
-                    label="사용자 워크스페이스 루트"
+                    <StudioSettingsField
-                    value={configuredDraftWorkspaceRoot}
+                      label="사용자 워크스페이스 루트"
-                    onChange={(value) => onUpdateSourceSetting('workspaceRoot', value)}
+                      description="모듈 소스와 빌드 결과가 저장되는 기본 경로입니다."
-                    dark={dark}
+                      value={configuredDraftWorkspaceRoot}
-                  />
+                      onChange={(value) => onUpdateSourceSetting('workspaceRoot', value)}
-                  <StudioSettingsField
+                      dark={dark}
-                    label="ROS Domain ID"
+                    />
-                    value={sourceSettingsDraft.rosDomainId}
+                    <StudioSettingsField
-                    onChange={(value) => onUpdateSourceSetting('rosDomainId', value.replace(/[^\d]/g, '').slice(0, 3))}
+                      label="ROS Domain ID"
-                    dark={dark}
+                      description="같은 번호의 ROS 모듈끼리 토픽과 서비스를 공유합니다."
-                  />
+                      value={sourceSettingsDraft.rosDomainId}
+                      onChange={(value) => onUpdateSourceSetting('rosDomainId', value.replace(/[^\d]/g, '').slice(0, 3))}
+                      dark={dark}
+                    />
+                  </div>
                   <StudioSettingsSwitch
                     label="GPU 가속"
                     description="ON이면 Docker 실행 시 NVIDIA GPU를 사용합니다."
@@ -81,14 +84,93 @@ function WorkspaceSettingsView({
                   />
                 </div>
 
-                <div className="mt-5 flex justify-end gap-2">
+                <div className={['mt-5 border-t pt-5', dark ? 'border-white/[0.03]' : 'border-[#f6f8fb]'].join(' ')}>
-                  <button
+                  <h3 className={['text-[16px] font-black', textStrong].join(' ')}>플랫폼</h3>
-                    type="button"
+                  <div className="mt-5 grid gap-4 sm:grid-cols-2">
-                    onClick={() => onResetSourceSettings(platformSourceSettingsDefaults)}
+                    <label className="block">
-                    className={['h-9 cursor-pointer rounded-md border px-4 text-[12px] font-bold transition', dark ? 'border-white/12 text-white/58 hover:bg-white/7 hover:text-white' : 'border-[#d7dde8] bg-white text-[#4f596b] hover:bg-[#f8f9fc] hover:text-[#111520]'].join(' ')}
+                      <span className={['block text-[12px] font-black', dark ? 'text-white/70' : 'text-[#4f596b]'].join(' ')}>연동 대상 플랫폼</span>
-                  >
+                      <span className={['mt-1 block text-[11px] font-medium leading-relaxed', dark ? 'text-white/38' : 'text-[#7a8393]'].join(' ')}>선택한 플랫폼과 같은 ROS Domain으로 모듈을 실행합니다.</span>
-                    기본값
+                      <select
-                  </button>
+                      value={sourceSettingsDraft.rosLinkedPlatformId ?? ''}
+                      onChange={(event) => onUpdateSourceSetting('rosLinkedPlatformId', event.target.value || null)}
+                      className={['mt-2 h-10 w-full rounded-md border px-3 text-[13px] font-semibold outline-none', dark ? 'border-white/12 bg-[#1f1f1f] text-white/78' : 'border-[#d7dde8] bg-white text-[#111520]'].join(' ')}
+                      style={{ colorScheme: dark ? 'dark' : 'light' }}
+                    >
+                      <option value="" className={dark ? 'bg-[#252525] text-white' : 'bg-white text-[#273142]'}>연동하지 않음</option>
+                      {remotePlatforms.map((platform) => (
+                        <option key={platform.id} value={platform.id} className={dark ? 'bg-[#252525] text-white' : 'bg-white text-[#273142]'}>{platform.title}</option>
+                      ))}
+                      </select>
+                    </label>
+                    <label className="block">
+                      <span className={['block text-[12px] font-black', dark ? 'text-white/70' : 'text-[#4f596b]'].join(' ')}>시각화 브리지 실행 위치</span>
+                      <span className={['mt-1 block text-[11px] font-medium leading-relaxed', dark ? 'text-white/38' : 'text-[#7a8393]'].join(' ')}>로컬과 플랫폼 모듈을 함께 쓸 때 실행 PC 브리지를 사용하세요.</span>
+                      <select
+                      value={sourceSettingsDraft.visualizationBridgeLocation ?? 'local'}
+                      onChange={(event) => onUpdateSourceSetting('visualizationBridgeLocation', event.target.value === 'platform' ? 'platform' : 'local')}
+                      className={['mt-2 h-10 w-full rounded-md border px-3 text-[13px] font-semibold outline-none', dark ? 'border-white/12 bg-[#1f1f1f] text-white/78' : 'border-[#d7dde8] bg-white text-[#111520]'].join(' ')}
+                      style={{ colorScheme: dark ? 'dark' : 'light' }}
+                    >
+                      <option value="local" className={dark ? 'bg-[#252525] text-white' : 'bg-white text-[#273142]'}>실행 PC</option>
+                      <option value="platform" disabled={!sourceSettingsDraft.rosLinkedPlatformId} className={dark ? 'bg-[#252525] text-white' : 'bg-white text-[#273142]'}>연동 플랫폼</option>
+                      </select>
+                    </label>
+                  </div>
+                </div>
+
+                <div className={['mt-5 border-t pt-5', dark ? 'border-white/[0.03]' : 'border-[#f6f8fb]'].join(' ')}>
+                  <h3 className={['text-[16px] font-black', textStrong].join(' ')}>에디터</h3>
+                  <div className="mt-5 grid gap-4 sm:grid-cols-2">
+                    <label className="block">
+                      <span className={['block text-[12px] font-black', dark ? 'text-white/70' : 'text-[#4f596b]'].join(' ')}>글꼴 크기</span>
+                      <span className={['mt-1 block text-[11px] font-medium leading-relaxed', dark ? 'text-white/38' : 'text-[#7a8393]'].join(' ')}>코드 편집기에 표시할 글자 크기입니다.</span>
+                      <select
+                        value={sourceSettingsDraft.editorFontSize}
+                        onChange={(event) => onUpdateSourceSetting('editorFontSize', Number(event.target.value))}
+                        className={['mt-2 h-10 w-full rounded-md border px-3 text-[13px] font-semibold outline-none', dark ? 'border-white/12 bg-[#1f1f1f] text-white/78' : 'border-[#d7dde8] bg-white text-[#111520]'].join(' ')}
+                        style={{ colorScheme: dark ? 'dark' : 'light' }}
+                      >
+                        {[12, 13, 14, 15, 16].map((size) => (
+                          <option key={size} value={size} className={dark ? 'bg-[#252525] text-white' : 'bg-white text-[#273142]'}>{size}px</option>
+                        ))}
+                      </select>
+                    </label>
+                    <label className="block">
+                      <span className={['block text-[12px] font-black', dark ? 'text-white/70' : 'text-[#4f596b]'].join(' ')}>탭 크기</span>
+                      <span className={['mt-1 block text-[11px] font-medium leading-relaxed', dark ? 'text-white/38' : 'text-[#7a8393]'].join(' ')}>탭 입력 시 사용할 공백 칸 수입니다.</span>
+                      <select
+                        value={sourceSettingsDraft.editorTabSize}
+                        onChange={(event) => onUpdateSourceSetting('editorTabSize', Number(event.target.value))}
+                        className={['mt-2 h-10 w-full rounded-md border px-3 text-[13px] font-semibold outline-none', dark ? 'border-white/12 bg-[#1f1f1f] text-white/78' : 'border-[#d7dde8] bg-white text-[#111520]'].join(' ')}
+                        style={{ colorScheme: dark ? 'dark' : 'light' }}
+                      >
+                        {[2, 4, 8].map((size) => (
+                          <option key={size} value={size} className={dark ? 'bg-[#252525] text-white' : 'bg-white text-[#273142]'}>{size}칸</option>
+                        ))}
+                      </select>
+                    </label>
+                  </div>
+                  <div className="mt-4">
+                    <StudioSettingsSwitch
+                      label="줄바꿈"
+                      description="긴 줄을 편집기 너비에 맞춰 다음 줄에 표시합니다."
+                      checked={sourceSettingsDraft.editorWordWrap}
+                      onChange={(checked) => onUpdateSourceSetting('editorWordWrap', checked)}
+                      dark={dark}
+                    />
+                    <div className="mt-4">
+                      <StudioSettingsSwitch
+                        label="미니맵 표시"
+                        description="편집기 오른쪽에 코드 축소 지도를 표시합니다."
+                        checked={sourceSettingsDraft.editorMinimap}
+                        onChange={(checked) => onUpdateSourceSetting('editorMinimap', checked)}
+                        dark={dark}
+                      />
+                    </div>
+                  </div>
+                </div>
+
+                <div className="mt-8 flex justify-end">
                   <button
                     type="button"
                     onClick={onSaveSourceSettings}

src/renderer/src/features/workspace/WorkspaceSourceControlView.tsx

@@ -1,4 +1,4 @@
-import { RefreshCw } from 'lucide-react'
+import { Download, RefreshCw, Upload } from 'lucide-react'
 import type { ModuleRow } from './types'
 
 type GitChangedFile = {
@@ -60,6 +60,11 @@ type Props = {
   textStrong: string
   textMid: string
   textDim: string
+  teamProject: boolean
+  teamSyncing: boolean
+  gitSubmitting: boolean
+  learningSubmitted: boolean
+  hasInstalledGitModules: boolean
   gitPanelTab: 'source' | 'history'
   gitChangedFileCount: number
   gitChangedModules: ModuleRow[]
@@ -77,6 +82,9 @@ type Props = {
   selectedGitSubmissionDiff: string
   onGitPanelTabChange: (tab: 'source' | 'history') => void
   onRefresh: () => void
+  onTeamPublish: () => void
+  onTeamPull: () => void
+  onCommitPush: () => void
   onSelectGitFile: (moduleName: string, filePath: string) => void
   onOpenGitChangedFile: (moduleName: string, filePath: string) => void
   onOpenGitFileContextMenu: (module: ModuleRow, file: GitChangedFile, x: number, y: number) => void
@@ -94,6 +102,11 @@ function WorkspaceSourceControlView({
   textStrong,
   textMid,
   textDim,
+  teamProject,
+  teamSyncing,
+  gitSubmitting,
+  learningSubmitted,
+  hasInstalledGitModules,
   gitPanelTab,
   gitChangedFileCount,
   gitChangedModules,
@@ -111,6 +124,9 @@ function WorkspaceSourceControlView({
   selectedGitSubmissionDiff,
   onGitPanelTabChange,
   onRefresh,
+  onTeamPublish,
+  onTeamPull,
+  onCommitPush,
   onSelectGitFile,
   onOpenGitChangedFile,
   onOpenGitFileContextMenu,
@@ -121,7 +137,8 @@ function WorkspaceSourceControlView({
   getGitStatusTone,
   formatGitCommitDate
 }: Props): React.JSX.Element {
-  const refreshing = gitPanelTab === 'history' ? gitSubmissionsLoading : gitLoading
+  const refreshing = !teamProject && gitPanelTab === 'history' ? gitSubmissionsLoading : gitLoading
+  const historyLoading = teamProject ? gitLoading : gitSubmissionsLoading
 
   return (
     <section
@@ -133,7 +150,7 @@ function WorkspaceSourceControlView({
           <div className="flex items-end">
             {[
               { key: 'source' as const, label: '소스 제어' },
-              { key: 'history' as const, label: '제출 내역' }
+              { key: 'history' as const, label: teamProject ? '팀 변경 내역' : '제출 내역' }
             ].map((tab) => (
               <button
                 key={tab.key}
@@ -155,6 +172,57 @@ function WorkspaceSourceControlView({
             ))}
           </div>
           <div className="flex items-center gap-2 pb-2">
+            {!teamProject && (
+              <button
+                type="button"
+                onClick={onCommitPush}
+                disabled={learningSubmitted || gitSubmitting || !hasInstalledGitModules || gitChangedFileCount === 0}
+                className={[
+                  'flex h-7 items-center gap-1.5 rounded-md border px-3 text-[12px] font-bold transition',
+                  learningSubmitted || gitSubmitting || !hasInstalledGitModules || gitChangedFileCount === 0 ? 'cursor-default opacity-45' : 'cursor-pointer',
+                  dark
+                    ? 'border-[#60a5fa]/45 bg-[#2563eb]/15 text-[#bfdbfe] hover:bg-[#2563eb]/26 hover:text-white'
+                    : 'border-[#93c5fd] bg-[#eff6ff] text-[#1d5fae] hover:bg-[#dbeafe] hover:text-[#174a87]'
+                ].join(' ')}
+              >
+                {gitSubmitting ? <RefreshCw size={14} className="animate-spin" /> : <Upload size={14} />}
+                제출
+              </button>
+            )}
+            {teamProject && (
+              <>
+                <button
+                  type="button"
+                  onClick={onTeamPull}
+                  disabled={teamSyncing || !hasInstalledGitModules}
+                  className={[
+                    'flex h-7 items-center gap-1.5 rounded-md border px-3 text-[12px] font-bold transition',
+                    teamSyncing || !hasInstalledGitModules ? 'cursor-default opacity-45' : 'cursor-pointer',
+                    dark
+                      ? 'border-white/15 bg-white/[0.04] text-white/70 hover:border-white/25 hover:bg-white/10 hover:text-white'
+                      : 'border-[#cfd6e4] bg-white text-[#4f596b] hover:bg-[#eef1f7] hover:text-[#111520]'
+                  ].join(' ')}
+                >
+                  <Download size={14} />
+                  팀 변경 사항 받기
+                </button>
+                <button
+                  type="button"
+                  onClick={onTeamPublish}
+                  disabled={learningSubmitted || teamSyncing || !hasInstalledGitModules || gitChangedFileCount === 0}
+                  className={[
+                    'flex h-7 items-center gap-1.5 rounded-md border px-3 text-[12px] font-bold transition',
+                    learningSubmitted || teamSyncing || !hasInstalledGitModules || gitChangedFileCount === 0 ? 'cursor-default opacity-45' : 'cursor-pointer',
+                    dark
+                      ? 'border-[#60a5fa]/45 bg-[#2563eb]/15 text-[#bfdbfe] hover:bg-[#2563eb]/26 hover:text-white'
+                      : 'border-[#93c5fd] bg-[#eff6ff] text-[#1d5fae] hover:bg-[#dbeafe] hover:text-[#174a87]'
+                  ].join(' ')}
+                >
+                  {teamSyncing ? <RefreshCw size={14} className="animate-spin" /> : <Upload size={14} />}
+                  팀에 반영
+                </button>
+              </>
+            )}
             <button
               type="button"
               onClick={onRefresh}
@@ -178,7 +246,7 @@ function WorkspaceSourceControlView({
           <div className={['grid min-h-0 flex-1 grid-cols-[320px_minmax(0,1fr)]', dark ? 'bg-[#1f1f1f]' : 'bg-[#f7f8fb]'].join(' ')}>
             <aside className={['flex min-h-0 flex-col border-r', dark ? 'border-white/10 bg-[#242424]' : 'border-[#d8dee9] bg-white'].join(' ')}>
               <div className={['flex h-11 items-center justify-between border-b px-4', borderSoft, dark ? 'bg-[#2b2b2b]' : 'bg-[#f3f5f9]'].join(' ')}>
-                <span className={['truncate text-[12px] font-bold', textMid].join(' ')}>변경 파일</span>
+                <span className={['truncate text-[12px] font-bold', textMid].join(' ')}>{teamProject ? '내 변경 파일' : '변경 파일'}</span>
                 <span className={['text-[11px] font-bold', textDim].join(' ')}>{gitChangedFileCount}개</span>
               </div>
 
@@ -189,7 +257,11 @@ function WorkspaceSourceControlView({
                   </div>
                 )}
 
-                {gitLoading && !Object.keys(gitModuleStatuses).length ? (
+                {!hasInstalledGitModules ? (
+                  <div className={['grid min-h-full place-items-center px-6 text-center text-[12px] font-semibold leading-relaxed', textDim].join(' ')}>
+                    공동 저장소는 모듈을 설치하면 생성됩니다.
+                  </div>
+                ) : gitLoading && !Object.keys(gitModuleStatuses).length ? (
                   <div className={['grid min-h-full place-items-center text-[12px] font-semibold', textDim].join(' ')}>
                     Git 상태 불러오는 중
                   </div>
@@ -289,7 +361,7 @@ function WorkspaceSourceControlView({
           <div className={['grid min-h-0 flex-1 grid-cols-[320px_minmax(0,1fr)]', dark ? 'bg-[#1f1f1f]' : 'bg-[#f7f8fb]'].join(' ')}>
             <aside className={['flex min-h-0 flex-col border-r', dark ? 'border-white/10 bg-[#242424]' : 'border-[#d8dee9] bg-white'].join(' ')}>
               <div className={['flex h-11 items-center justify-between border-b px-4', borderSoft, dark ? 'bg-[#2b2b2b]' : 'bg-[#f3f5f9]'].join(' ')}>
-                <span className={['text-[12px] font-bold', textMid].join(' ')}>제출 목록</span>
+                <span className={['text-[12px] font-bold', textMid].join(' ')}>{teamProject ? '팀 변경 내역' : '제출 목록'}</span>
                 <span className={['text-[11px] font-bold', textDim].join(' ')}>{gitSubmissionGroups.length}개</span>
               </div>
               <div className="thin-y-scrollbar min-h-0 flex-1 overflow-y-auto p-3">
@@ -298,22 +370,22 @@ function WorkspaceSourceControlView({
                     {gitError}
                   </div>
                 )}
-                {gitSubmissionsLoading && !gitSubmissions.length ? (
+                {historyLoading && !gitSubmissions.length ? (
                   <div className={['grid min-h-full place-items-center text-[12px] font-semibold', textDim].join(' ')}>
-                    제출 내역 불러오는 중
+                    {teamProject ? '팀 변경 내역 불러오는 중' : '제출 내역 불러오는 중'}
                   </div>
                 ) : !gitSubmissionGroups.length ? (
                   <div className={['grid min-h-full place-items-center text-[12px] font-semibold', textDim].join(' ')}>
-                    제출 내역 없음
+                    {teamProject ? '팀 변경 내역 없음' : '제출 내역 없음'}
                   </div>
                 ) : (
                   <div className="grid gap-3">
                     {gitSubmissionGroups.map((group, groupIndex) => (
                       <div key={group.id} className={['overflow-hidden rounded-lg border', dark ? 'border-white/10' : 'border-[#e1e6ef]'].join(' ')}>
                         <div className={['px-3 py-2', dark ? 'bg-[#1f1f1f]' : 'bg-[#f8fafc]'].join(' ')}>
-                          <p className={['text-[12px] font-black', textStrong].join(' ')}>제출 {gitSubmissionGroups.length - groupIndex}</p>
+                          <p className={['text-[12px] font-black', textStrong].join(' ')}>{teamProject ? '팀 반영' : `제출 ${gitSubmissionGroups.length - groupIndex}`}</p>
                           <p className={['mt-0.5 text-[10px] font-bold', textDim].join(' ')}>
-                            {formatGitCommitDate(group.submittedAt)} · {group.submissions.length}개 모듈
+                            {formatGitCommitDate(group.submittedAt)} · {teamProject ? group.submissions[0]?.commit.author : `${group.submissions.length}개 모듈`}
                           </p>
                         </div>
                         <div className="grid gap-1 p-1.5">

src/renderer/src/features/workspace/WorkspaceTopBar.tsx

@@ -118,10 +118,10 @@ export default function WorkspaceTopBar({
         )}
         <span className={['ml-1 mr-1 h-4 w-px', dark ? 'bg-white/16' : 'bg-[#cfd6e4]'].join(' ')} />
         {submitVisible && (
-          <Tooltip label="제출" side="bottom">
+          <Tooltip label="학습 완료" side="bottom">
             <button
               type="button"
-              aria-label="제출"
+              aria-label="학습 완료"
               disabled={submitDisabled}
               onClick={onSubmit}
               className={[

src/renderer/src/features/workspace/WorkspaceVisualizationPanel.tsx

@@ -1,30 +1,28 @@
-import { Maximize2, Minimize2, PanelLeft, X } from 'lucide-react'
+import { CirclePlay, Minus, PanelLeft, Power, Square, X } from 'lucide-react'
 import type React from 'react'
+import { useEffect, useState } from 'react'
 
 export type VisualizationStack = 'autoware' | 'nav2' | 'slam' | 'slam3d'
-export type Nav2VisualizationMode = 'slam' | 'navigation'
 
 type WorkspaceVisualizationPanelProps = {
   dark: boolean
   textStrong: string
   textDim: string
   iconButtonClass: string
+  minimized: boolean
   large: boolean
   position: { x: number; y: number }
   size: { width: number; height: number }
-  stacks: VisualizationStack[]
+  available: boolean
-  activeStack: VisualizationStack
   running: boolean
   busy: boolean
   viewerUrl: string
-  nav2Mode: Nav2VisualizationMode
-  navigationMapSelected: boolean
   onDragStart: (event: React.MouseEvent<HTMLDivElement>) => void
   onToggleLarge: () => void
+  onMinimize: () => void
   onClose: () => void
-  onStackChange: (stack: VisualizationStack) => void
   onStart: () => void
-  onStop: () => void
+  onTerminate: () => Promise<void> | void
   onResizeStart: (event: React.MouseEvent<HTMLDivElement>, direction: 'n' | 's' | 'e' | 'w' | 'ne' | 'nw' | 'se' | 'sw') => void
 }
 
@@ -33,34 +31,32 @@ export default function WorkspaceVisualizationPanel({
   textStrong,
   textDim,
   iconButtonClass,
+  minimized,
   large,
   position,
   size,
-  stacks,
+  available,
-  activeStack,
   running,
   busy,
   viewerUrl,
-  nav2Mode,
-  navigationMapSelected,
   onDragStart,
   onToggleLarge,
+  onMinimize,
   onClose,
-  onStackChange,
   onStart,
-  onStop,
+  onTerminate,
   onResizeStart
 }: WorkspaceVisualizationPanelProps): React.JSX.Element {
-  const selectableStacks = navigationMapSelected
+  const [terminateConfirmOpen, setTerminateConfirmOpen] = useState(false)
-    ? ['nav2'] as VisualizationStack[]
+  const [activeViewerUrl, setActiveViewerUrl] = useState<string | null>(() => (running ? viewerUrl : null))
-    : stacks.filter((stack) => stack !== 'nav2')
+
-  const stackLabel = (stack: VisualizationStack): string => {
+  useEffect(() => {
-    if (stack === 'slam') return '2D SLAM'
+    if (!running || !viewerUrl) return
-    if (stack === 'slam3d') return '3D SLAM'
+    setActiveViewerUrl((current) => current === viewerUrl ? current : viewerUrl)
-    if (stack === 'nav2') return '주행'
+  }, [running, viewerUrl])
-    return 'Autoware'
+
-  }
   return (
+    <>
     <section
       className={[
         'absolute z-40 overflow-hidden rounded-lg border shadow-[0_18px_48px_rgba(0,0,0,0.32)]',
@@ -71,12 +67,14 @@ export default function WorkspaceVisualizationPanel({
             left: 0,
             right: 0,
             top: 40,
-            bottom: 0
+            bottom: 0,
+            display: minimized ? 'none' : undefined
           }
         : {
             left: position.x,
             top: position.y,
-            width: size.width
+            width: size.width,
+            display: minimized ? 'none' : undefined
           }}
     >
       <div
@@ -94,24 +92,42 @@ export default function WorkspaceVisualizationPanel({
         <div className="flex items-center gap-1">
           <button
             type="button"
-            aria-label="크게보기"
+            aria-label="최소화"
             onMouseDown={(event) => event.stopPropagation()}
-            onClick={onToggleLarge}
+            onClick={onMinimize}
             className={[iconButtonClass, 'group relative'].join(' ')}
           >
-            {large ? <Minimize2 size={14} /> : <Maximize2 size={14} />}
+            <Minus size={15} />
             <span className={['pointer-events-none absolute right-0 top-8 z-50 hidden whitespace-nowrap rounded-md border px-2 py-1 text-[11px] font-semibold shadow-[0_10px_24px_rgba(0,0,0,0.24)] group-hover:block', dark ? 'border-white/10 bg-[#303030] text-white/78' : 'border-[#d8dee9] bg-white text-[#4f596b]'].join(' ')}>
-              {large ? '작게보기' : '크게보기'}
+              최소화
             </span>
           </button>
           <button
             type="button"
-            aria-label="닫기"
+            aria-label={large ? '원래 크기' : '최대화'}
             onMouseDown={(event) => event.stopPropagation()}
-            onClick={onClose}
+            onClick={onToggleLarge}
-            className={iconButtonClass}
+            className={[iconButtonClass, 'group relative'].join(' ')}
+          >
+            <Square size={13} />
+            <span className={['pointer-events-none absolute right-0 top-8 z-50 hidden whitespace-nowrap rounded-md border px-2 py-1 text-[11px] font-semibold shadow-[0_10px_24px_rgba(0,0,0,0.24)] group-hover:block', dark ? 'border-white/10 bg-[#303030] text-white/78' : 'border-[#d8dee9] bg-white text-[#4f596b]'].join(' ')}>
+              {large ? '원래 크기' : '최대화'}
+            </span>
+          </button>
+          <button
+            type="button"
+            aria-label={running ? '시각화 종료' : '닫기'}
+            onMouseDown={(event) => event.stopPropagation()}
+            onClick={() => {
+              if (running) setTerminateConfirmOpen(true)
+              else onClose()
+            }}
+            className={[iconButtonClass, 'group relative'].join(' ')}
           >
             <X size={15} />
+            <span className={['pointer-events-none absolute right-0 top-8 z-50 hidden whitespace-nowrap rounded-md border px-2 py-1 text-[11px] font-semibold shadow-[0_10px_24px_rgba(0,0,0,0.24)] group-hover:block', dark ? 'border-white/10 bg-[#303030] text-white/78' : 'border-[#d8dee9] bg-white text-[#4f596b]'].join(' ')}>
+              {running ? '종료' : '닫기'}
+            </span>
           </button>
         </div>
       </div>
@@ -119,72 +135,39 @@ export default function WorkspaceVisualizationPanel({
         className={['flex flex-col bg-black', large ? 'h-[calc(100%-36px)]' : ''].join(' ')}
         style={large ? undefined : { height: size.height }}
       >
-        <div className="flex h-10 shrink-0 items-center justify-between border-b border-white/10 bg-[#101624] px-3">
-          {navigationMapSelected ? (
-            <span className="text-[11px] font-bold text-white/72">주행</span>
-          ) : selectableStacks.length > 1 ? (
-            <div className="flex items-center gap-1">
-              {selectableStacks.map((stack) => (
-                <button
-                  key={stack}
-                  type="button"
-                  disabled={busy}
-                  onClick={() => onStackChange(stack)}
-                  className={[
-                    'h-7 rounded-md px-2.5 text-[11px] font-bold transition',
-                    stack === activeStack
-                      ? 'bg-white/14 text-white'
-                      : 'text-white/52 hover:bg-white/8 hover:text-white/80',
-                    busy ? 'cursor-default opacity-55' : 'cursor-pointer'
-                  ].join(' ')}
-                >
-                  {stackLabel(stack)}
-                </button>
-              ))}
-            </div>
-          ) : <span />}
-          <div className="flex items-center gap-2">
-            {running ? (
-              <button
-                type="button"
-                disabled={busy || !stacks.length}
-                onClick={onStop}
-                className={[
-                  'h-7 cursor-pointer rounded-md px-3 text-[11px] font-black transition bg-[#7f1d1d] text-[#fecaca] hover:bg-[#991b1b]',
-                  busy || !stacks.length ? 'cursor-default opacity-60' : ''
-                ].join(' ')}
-              >
-                {busy ? '처리 중' : '종료'}
-              </button>
-            ) : (
-              <button
-                type="button"
-                disabled={busy || !stacks.length}
-                onClick={onStart}
-                className={[
-                  'h-7 cursor-pointer rounded-md px-3 text-[11px] font-black transition bg-[#14532d] text-[#bbf7d0] hover:bg-[#166534]',
-                  busy || !stacks.length ? 'cursor-default opacity-60' : ''
-                ].join(' ')}
-              >
-                {busy ? '처리 중' : '시작'}
-              </button>
-            )}
-          </div>
-        </div>
         <div className="relative min-h-0 flex-1">
           <iframe
-            key={`${activeStack}-${nav2Mode}-${running ? 'running' : 'offline'}`}
             title="Autonomy Studio Visualization"
-            src={running ? viewerUrl : 'about:blank'}
+            src={activeViewerUrl ?? 'about:blank'}
             className="h-full w-full border-0"
             allow="fullscreen"
+            onError={() => console.error('[visualization] viewer frame failed to load', activeViewerUrl)}
           />
           {!running && (
-            <div className="pointer-events-none absolute inset-0 grid place-items-center bg-black/34">
+            <div className="absolute inset-0 bg-black/34">
-              <div className="rounded-lg border border-white/10 bg-[#101624]/88 px-5 py-4 text-center shadow-[0_18px_48px_rgba(0,0,0,0.35)]">
+              {available ? (
-                <p className="text-[13px] font-black text-white">{stacks.length ? '시작하세요' : '해당 주차는 시각화를 지원하지 않습니다'}</p>
+                <>
-                <p className="mt-2 text-[11px] font-semibold text-white/50">{stacks.length ? '지도와 차량 상태가 표시됩니다.' : '강사 커리큘럼의 모듈 관리 탭에서 시각화 플랫폼을 선택해야 합니다.'}</p>
+                  <button
-              </div>
+                    type="button"
+                    disabled={busy}
+                    onClick={onStart}
+                    className="absolute left-1/2 top-1/2 inline-flex h-28 w-40 -translate-x-1/2 -translate-y-1/2 cursor-pointer flex-col items-center justify-center gap-2 text-[15px] font-bold text-white/56 transition hover:text-white disabled:cursor-default disabled:opacity-45 disabled:hover:text-white/56"
+                  >
+                    <CirclePlay size={40} />
+                    {busy ? '처리 중' : '실행하기'}
+                  </button>
+                  <div className="absolute inset-x-0 top-[70%] px-5 text-center">
+                    <p className="text-[13px] font-bold text-white/72">지도와 차량 상태가 표시됩니다.</p>
+                  </div>
+                </>
+              ) : (
+                <div className="grid h-full place-items-center px-5 text-center">
+                  <div>
+                    <p className="text-[13px] font-bold text-white/72">해당 주차는 시각화를 지원하지 않습니다</p>
+                    <p className="mt-2 text-[11px] font-medium text-white/52">강사 커리큘럼의 모듈 관리 탭에서 시각화 플랫폼을 선택해야 합니다.</p>
+                  </div>
+                </div>
+              )}
             </div>
           )}
         </div>
@@ -202,5 +185,24 @@ export default function WorkspaceVisualizationPanel({
         </>
       )}
     </section>
+    {terminateConfirmOpen && (
+      <div className="fixed inset-0 z-[70] grid place-items-center bg-black/42">
+        <section className={['w-[360px] overflow-hidden rounded-lg border shadow-[0_24px_70px_rgba(0,0,0,0.42)]', dark ? 'border-white/10 bg-[#252525] text-white' : 'border-[#dfe3ed] bg-white text-[#111520]'].join(' ')}>
+          <div className={['flex items-center gap-2 border-b px-4 py-3', dark ? 'border-white/10' : 'border-[#e5e8ef]'].join(' ')}>
+            <Power size={15} className="text-[#e87979]" />
+            <strong className="text-[13px] font-bold">시각화 종료</strong>
+          </div>
+          <div className="p-4">
+            <p className="text-[13px] font-semibold">시각화를 종료할까요?</p>
+            <p className={['mt-2 text-[12px] font-medium leading-relaxed', dark ? 'text-white/45' : 'text-[#727b8c]'].join(' ')}>종료 후에는 실행 버튼으로 다시 시작할 수 있습니다.</p>
+            <div className="mt-4 flex justify-end gap-2">
+              <button type="button" disabled={busy} onClick={() => setTerminateConfirmOpen(false)} className={['h-8 cursor-pointer rounded-md border px-3 text-[12px] font-bold transition disabled:cursor-default disabled:opacity-45', dark ? 'border-white/12 text-white/62 hover:bg-white/8 hover:text-white' : 'border-[#cfd6e4] text-[#687284] hover:bg-[#eef1f7] hover:text-[#111520]'].join(' ')}>취소</button>
+              <button type="button" disabled={busy} onClick={() => { setTerminateConfirmOpen(false); void onTerminate() }} className="h-8 cursor-pointer rounded-md bg-[#d14b4b] px-3 text-[12px] font-bold text-white transition hover:bg-[#bd3838] disabled:cursor-default disabled:opacity-45">종료</button>
+            </div>
+          </div>
+        </section>
+      </div>
+    )}
+    </>
   )
 }

src/renderer/src/features/workspace/WorldMapSelectorModal.tsx

@@ -1,6 +1,8 @@
 import { AlertTriangle, Check, House, Map, PencilRuler, Radio, Save, Trash2, X } from 'lucide-react'
 import { useEffect, useRef, useState } from 'react'
 
+export type SavedMapRuntimeKind = 'SIMULATION' | 'PLATFORM_2D' | 'PLATFORM_3D'
+
 export type WorkspaceMapOption = {
   key: string
   platformKey: 'NAV2'
@@ -15,8 +17,12 @@ export type WorkspaceMapOption = {
   sourceMapKey?: string
   yamlPath?: string
   pgmPath?: string
+  yamlUrl?: string
+  pgmUrl?: string
   databasePath?: string
+  databaseUrl?: string
   previewPgm?: string
+  runtimeKind?: SavedMapRuntimeKind
   layout?: unknown
   remoteSlam?: boolean
 }
@@ -49,9 +55,17 @@ export const NAV2_MAP_OPTIONS: WorkspaceMapOption[] = [
   }
 ]
 
-const LOCAL_CUSTOM_MAP = NAV2_MAP_OPTIONS.find((map) => map.key === 'nav2-custom')!
+export function WorkspaceMapPreview({
-
+  map,
-function MapPreview({ map, selected }: { map: WorkspaceMapOption; selected: boolean }): React.JSX.Element {
+  selected,
+  compact = false,
+  borderless = false
+}: {
+  map: WorkspaceMapOption
+  selected: boolean
+  compact?: boolean
+  borderless?: boolean
+}): React.JSX.Element {
   const Icon = map.remoteSlam ? Radio : map.saved ? Save : map.custom ? PencilRuler : map.viewerModel === 'turtlebot3_house' ? House : Map
   const saved = Boolean(map.saved || map.remoteSlam)
   const canvasRef = useRef<HTMLCanvasElement>(null)
@@ -116,8 +130,9 @@ function MapPreview({ map, selected }: { map: WorkspaceMapOption; selected: bool
     <span
       aria-hidden="true"
       className={[
-        'relative block h-16 w-24 shrink-0 overflow-hidden rounded border bg-[#d9dce0] shadow-inner',
+        'relative block shrink-0 overflow-hidden rounded border bg-[#d9dce0] shadow-inner',
-        selected ? 'border-[#6f9cff]' : 'border-white/15'
+        compact ? 'h-11 w-[66px]' : 'h-16 w-24',
+        borderless ? 'border-0' : selected ? 'border-[#6f9cff]' : 'border-white/15'
       ].join(' ')}
     >
       {map.previewPgm && <canvas ref={canvasRef} className="absolute inset-0 size-full" />}
@@ -143,7 +158,7 @@ function MapPreview({ map, selected }: { map: WorkspaceMapOption; selected: bool
           <span className="absolute bottom-[22%] right-[35%] h-[14%] w-[14%] bg-[#455363]" />
         </>
       ))}
-      {saved && <span className="absolute inset-x-0 bottom-0 bg-[#0f172a]/75 py-0.5 text-center text-[8px] font-extrabold tracking-[0.08em] text-white">SLAM</span>}
+      {saved && <span className={['absolute inset-x-0 bottom-0 bg-[#0f172a]/75 text-center font-extrabold tracking-[0.08em] text-white', compact ? 'py-px text-[6px]' : 'py-0.5 text-[8px]'].join(' ')}>{map.runtimeKind === 'PLATFORM_3D' ? '3D SLAM' : 'SLAM'}</span>}
       <span className={['absolute left-1.5 top-1.5 grid size-5 place-items-center rounded border border-white/35', selected ? 'bg-[#2563eb] text-white' : 'bg-[#111827]/75 text-white/85'].join(' ')}>
         <Icon className="size-3" />
       </span>
@@ -152,10 +167,10 @@ function MapPreview({ map, selected }: { map: WorkspaceMapOption; selected: bool
 }
 
 type WorldMapSelectorModalProps = {
-  platformKey: string
   weekNumber: number
-  maps?: WorkspaceMapOption[]
+  initialScope?: 'simulation' | 'platform'
-  showEnvironment?: boolean
+  simulationMaps: WorkspaceMapOption[]
+  platformMaps: WorkspaceMapOption[]
   selectedMapKey: string
   onSelect: (map: WorkspaceMapOption) => void
   onCreate?: () => void
@@ -163,22 +178,19 @@ type WorldMapSelectorModalProps = {
   onClose: () => void
 }
 
-export default function WorldMapSelectorModal({ platformKey, weekNumber, maps: configuredMaps, showEnvironment = true, selectedMapKey, onSelect, onCreate, onDelete, onClose }: WorldMapSelectorModalProps): React.JSX.Element {
+export default function WorldMapSelectorModal({ weekNumber, initialScope = 'simulation', simulationMaps, platformMaps, selectedMapKey, onSelect, onCreate, onDelete, onClose }: WorldMapSelectorModalProps): React.JSX.Element {
-  const maps = configuredMaps?.length
+  const [scope, setScope] = useState<'simulation' | 'platform'>(initialScope)
-    ? [...configuredMaps, ...(showEnvironment && !configuredMaps.some((map) => map.key === LOCAL_CUSTOM_MAP.key) ? [LOCAL_CUSTOM_MAP] : [])]
+  const maps = scope === 'simulation' ? simulationMaps : platformMaps
-    : (showEnvironment && platformKey.toUpperCase() === 'NAV2' ? NAV2_MAP_OPTIONS : [])
-  const environmentMaps = maps.filter((map) => !map.saved && !map.remoteSlam)
-  const savedMaps = maps.filter((map) => map.saved)
-  const remoteSlamMaps = maps.filter((map) => map.remoteSlam)
   const selectedMap = maps.find((map) => map.key === selectedMapKey) ?? null
-  const [tab, setTab] = useState<'environment' | 'saved'>(() => (!showEnvironment || selectedMap?.saved ? 'saved' : 'environment'))
-  const visibleMaps = tab === 'environment' ? environmentMaps : [...remoteSlamMaps, ...savedMaps]
   const [pendingMap, setPendingMap] = useState<WorkspaceMapOption | null>(() => selectedMap)
 
   useEffect(() => {
-    setTab(!showEnvironment || selectedMap?.saved ? 'saved' : 'environment')
+    setPendingMap(maps.find((map) => map.key === selectedMapKey) ?? null)
-    setPendingMap(selectedMap)
+  }, [maps, selectedMapKey])
-  }, [selectedMapKey, showEnvironment])
+
+  useEffect(() => {
+    setScope(initialScope)
+  }, [initialScope])
 
   return (
     <div className="fixed inset-0 z-[150] flex items-center justify-center bg-black/60 p-6" role="dialog" aria-modal="true" aria-label="맵 선택">
@@ -186,20 +198,18 @@ export default function WorldMapSelectorModal({ platformKey, weekNumber, maps: c
         <header className="flex items-center justify-between border-b border-white/10 px-6 py-4">
           <div>
             <h2 className="text-[16px] font-bold">맵 설정</h2>
-            <p className="mt-1 text-[12px] text-white/50">{weekNumber}주차에서 사용할 {platformKey.toUpperCase()} 학습 환경</p>
+            <p className="mt-1 text-[12px] text-white/50">{weekNumber}주차 학습 세션 맵</p>
           </div>
-          <button type="button" aria-label="닫기" title="닫기" onClick={onClose} className="grid size-8 place-items-center rounded-md text-white/55 transition hover:bg-white/10 hover:text-white">
+          <button type="button" aria-label="닫기" title="닫기" onClick={onClose} className="grid size-8 cursor-pointer place-items-center rounded-md text-white/55 transition hover:bg-white/10 hover:text-white">
             <X className="size-4" />
           </button>
         </header>
-        {showEnvironment && (
+        <div className="flex gap-1 border-b border-white/10 px-5 pt-3">
-          <div className="flex gap-1 border-b border-white/10 px-5 pt-3">
+          <button type="button" onClick={() => setScope('simulation')} className={['h-8 cursor-pointer border-b-2 px-2 text-[12px] font-bold transition', scope === 'simulation' ? 'border-[#3b7ffa] text-[#78a4ff]' : 'border-transparent text-white/45 hover:text-white/75'].join(' ')}>시뮬레이션</button>
-            <button type="button" onClick={() => setTab('environment')} className={['h-8 cursor-pointer border-b-2 px-2 text-[12px] font-bold transition', tab === 'environment' ? 'border-[#3b7ffa] text-[#78a4ff]' : 'border-transparent text-white/45 hover:text-white/75'].join(' ')}>학습 환경</button>
+          <button type="button" onClick={() => setScope('platform')} className={['h-8 cursor-pointer border-b-2 px-2 text-[12px] font-bold transition', scope === 'platform' ? 'border-[#3b7ffa] text-[#78a4ff]' : 'border-transparent text-white/45 hover:text-white/75'].join(' ')}>플랫폼</button>
-            <button type="button" onClick={() => setTab('saved')} className={['h-8 cursor-pointer border-b-2 px-2 text-[12px] font-bold transition', tab === 'saved' ? 'border-[#3b7ffa] text-[#78a4ff]' : 'border-transparent text-white/45 hover:text-white/75'].join(' ')}>저장된 맵</button>
+        </div>
-          </div>
-        )}
         <div className="thin-y-scrollbar min-h-[270px] max-h-[270px] space-y-2 overflow-y-auto p-5">
-          {visibleMaps.map((map) => {
+          {maps.map((map) => {
             const pending = map.key === pendingMap?.key
             const selected = map.key === selectedMapKey
             return (
@@ -212,7 +222,7 @@ export default function WorldMapSelectorModal({ platformKey, weekNumber, maps: c
                   pending ? 'border-[#3b7ffa] bg-[#3b7ffa]/12' : 'border-white/10 bg-[#111520] hover:border-white/25 hover:bg-white/[0.045]'
                 ].join(' ')}
               >
-                <MapPreview map={map} selected={pending} />
+                <WorkspaceMapPreview map={map} selected={pending} />
                 <span className="min-w-0 flex-1">
                   <span className="block text-[14px] font-bold">{map.name}</span>
                   <span className="mt-1 block text-[12px] leading-5 text-white/50">{map.description}</span>
@@ -227,10 +237,10 @@ export default function WorldMapSelectorModal({ platformKey, weekNumber, maps: c
               </button>
             )
           })}
-          {!visibleMaps.length && <div className="grid min-h-[160px] place-items-center text-[13px] font-medium text-white/40">저장된 SLAM 맵이 없습니다.</div>}
+          {!maps.length && <div className="grid min-h-[160px] place-items-center text-[13px] font-medium text-white/40">{scope === 'platform' ? '저장된 플랫폼 SLAM 맵이 없습니다.' : '사용 가능한 시뮬레이션 맵이 없습니다.'}</div>}
         </div>
         <footer className="flex items-center justify-between border-t border-white/10 px-5 py-3">
-          {tab === 'environment' && onCreate && (
+          {scope === 'simulation' && onCreate && (
             <button type="button" onClick={onCreate} className="inline-flex h-8 cursor-pointer items-center gap-1.5 rounded-md border border-white/12 px-3 text-[12px] font-bold text-white/70 transition hover:bg-white/8 hover:text-white">
               <PencilRuler className="size-3.5" />
               맵 편집

src/renderer/src/features/workspace/moduleParameters.ts

@@ -13,7 +13,8 @@ export function parseModuleParameters(tokens: string[]): ModuleParameterPair[] {
     return {
       id: createParameterId(),
       name: separatorIndex >= 0 ? token.slice(0, separatorIndex) : token,
-      value: separatorIndex >= 0 ? token.slice(separatorIndex + 2) : ''
+      value: separatorIndex >= 0 ? token.slice(separatorIndex + 2) : '',
+      enabled: true
     }
   })
 }
@@ -21,6 +22,7 @@ export function parseModuleParameters(tokens: string[]): ModuleParameterPair[] {
 export function serializeModuleParameters(parameters: ModuleParameterPair[]): string {
   return parameters
     .map((parameter) => {
+      if (parameter.enabled === false) return ''
       const name = parameter.name.trim()
       if (!name) return ''
       return `${name}:=${parameter.value.trim()}`

src/renderer/src/features/workspace/sourceSettings.ts

@@ -6,13 +6,23 @@ export const defaultStudioSourceSettings: StudioSourceSettings = {
   giteaBaseUrl: 'http://localhost:3000',
   giteaOwner: 'student',
   gpuEnabled: false,
-  rosDomainId: '77'
+  editorWordWrap: false,
+  editorFontSize: 13,
+  editorTabSize: 4,
+  editorMinimap: true,
+  rosDomainId: '77',
+  rosLinkedPlatformId: null,
+  visualizationBridgeLocation: 'local',
 }
 
 function normalizeCoursePathSegment(courseKey: string): string {
   return courseKey.trim().replace(/[^a-zA-Z0-9_-]+/g, '-') || 'default-course'
 }
 
+function normalizeTeamPathSegment(groupId: string): string {
+  return groupId.trim().replace(/[^a-zA-Z0-9_-]+/g, '-') || 'team'
+}
+
 export function makeWeekWorkspaceRoot(workspaceRoot: string, studentSlug: string, courseKey: string, weekNumber: number): string {
   const normalizedRoot = (workspaceRoot || defaultStudioSourceSettings.workspaceRoot).replace(/\/+$/, '')
   const suffix = `${studentSlug}/${normalizeCoursePathSegment(courseKey)}/week-${weekNumber}`
@@ -22,8 +32,16 @@ export function makeWeekWorkspaceRoot(workspaceRoot: string, studentSlug: string
   return `${normalizedRoot}/${suffix}`
 }
 
-export function makePlatformWorkspaceRoot(workspaceRoot: string, studentSlug: string, courseKey: string, weekNumber: number, platformKey: string): string {
+export function makeTeamWeekWorkspaceRoot(workspaceRoot: string, groupId: string, courseKey: string, weekNumber: number): string {
   const normalizedRoot = (workspaceRoot || defaultStudioSourceSettings.workspaceRoot).replace(/\/+$/, '')
+  const suffix = `teams/${normalizeTeamPathSegment(groupId)}/${normalizeCoursePathSegment(courseKey)}/week-${weekNumber}`
+  if (normalizedRoot === suffix || normalizedRoot.endsWith(`/${suffix}`)) return normalizedRoot
+  return `${normalizedRoot}/${suffix}`
+}
+
+export function makePlatformWorkspaceRoot(workspaceRoot: string, studentSlug: string, courseKey: string, weekNumber: number, platformKey: string, teamGroupId?: string | null): string {
+  const normalizedRoot = (workspaceRoot || defaultStudioSourceSettings.workspaceRoot).replace(/\/+$/, '')
+  if (teamGroupId) return makeTeamWeekWorkspaceRoot(normalizedRoot, teamGroupId, courseKey, weekNumber)
   if (platformKey === 'futuredrive-local-pc') return makeWeekWorkspaceRoot(normalizedRoot, studentSlug, courseKey, weekNumber)
   const suffix = `${normalizeCoursePathSegment(courseKey)}/week-${weekNumber}`
   if (normalizedRoot === suffix || normalizedRoot.endsWith(`/${suffix}`)) return normalizedRoot
@@ -32,12 +50,23 @@ export function makePlatformWorkspaceRoot(workspaceRoot: string, studentSlug: st
 
 export function normalizeStudioSourceSettings(settings?: Partial<StudioSourceSettings> | null): StudioSourceSettings {
   const giteaOwner = settings?.giteaOwner?.trim() || defaultStudioSourceSettings.giteaOwner
+  const requestedEditorFontSize = Number(settings?.editorFontSize)
   return {
     workspaceRoot: settings?.workspaceRoot || defaultStudioSourceSettings.workspaceRoot,
     giteaBaseUrl: (settings?.giteaBaseUrl || defaultStudioSourceSettings.giteaBaseUrl).replace(/\/+$/, ''),
     giteaOwner: giteaOwner === 'students' ? defaultStudioSourceSettings.giteaOwner : giteaOwner,
     gpuEnabled: Boolean(settings?.gpuEnabled),
+    editorWordWrap: settings?.editorWordWrap ?? defaultStudioSourceSettings.editorWordWrap,
+    editorFontSize: Number.isFinite(requestedEditorFontSize)
+      ? Math.min(16, Math.max(12, Math.round(requestedEditorFontSize)))
+      : defaultStudioSourceSettings.editorFontSize,
+    editorTabSize: [2, 4, 8].includes(Number(settings?.editorTabSize))
+      ? Number(settings?.editorTabSize)
+      : defaultStudioSourceSettings.editorTabSize,
+    editorMinimap: settings?.editorMinimap ?? defaultStudioSourceSettings.editorMinimap,
     rosDomainId: String(settings?.rosDomainId ?? defaultStudioSourceSettings.rosDomainId).trim() || defaultStudioSourceSettings.rosDomainId,
+    rosLinkedPlatformId: settings?.rosLinkedPlatformId?.trim() || null,
+    visualizationBridgeLocation: settings?.visualizationBridgeLocation === 'platform' ? 'platform' : 'local',
     agentUrl: settings?.agentUrl ?? null,
     sshUser: settings?.sshUser ?? null,
     sshPort: settings?.sshPort ?? null

src/renderer/src/features/workspace/types.ts

@@ -2,6 +2,7 @@ export type ModuleParameterPair = {
   id: string
   name: string
   value: string
+  enabled?: boolean
 }
 
 export type ModuleRow = {
@@ -19,6 +20,7 @@ export type ModuleRow = {
   dockerImage?: string | null
   packageName?: string | null
   launchFile?: string | null
+  runtimeTarget?: 'LOCAL' | 'PLATFORM' | 'SHARED' | null
   parameters: string[]
   cpu: number | null
   memory: number | null
@@ -31,6 +33,7 @@ export type ModulePrebuiltArtifact = {
   fileName?: string | null
   checksumSha256?: string | null
   extractPath?: string | null
+  architecture?: string | null
   required?: boolean | null
 }
 
@@ -41,3 +44,8 @@ export type RuntimeImageArtifact = {
   checksumSha256?: string | null
   required?: boolean | null
 }
+
+export type RosNetworkConfig = {
+  enabled?: boolean
+  peer?: RemoteWorkspaceTarget | null
+}

src/renderer/src/features/workspace/useWorkspaceModuleControl.ts

@@ -1,8 +1,8 @@
 import { useCallback, useRef, useState } from 'react'
 import { LMS_API_BASE_URL } from '../../config/appConfig'
-import type { StudioSourceSettings } from '../platforms/types'
+import type { StudioSourceSettings, VehicleRuntimeProfile } from '../platforms/types'
 import { serializeModuleParameters, storeModuleParameters, makeModuleParameterKey } from './moduleParameters'
-import type { ModuleParameterPair, ModulePrebuiltArtifact, ModuleRow, RuntimeImageArtifact } from './types'
+import type { ModuleParameterPair, ModulePrebuiltArtifact, ModuleRow, RosNetworkConfig, RuntimeImageArtifact } from './types'
 import { compareModulePriority, compareModuleShutdownPriority } from './workspaceModules'
 
 type NoticeTone = 'info' | 'warning' | 'error'
@@ -12,6 +12,11 @@ type ModuleActionResult = {
   message?: string
 }
 
+type SavedMapPathOverrides = {
+  savedMapYamlPath?: string | null
+  savedMapDatabasePath?: string | null
+}
+
 const startupCategoryOrder = ['simulator', 'vehicle', 'sensing', 'map', 'localization', 'planning', 'control', 'system']
 
 function compareModuleStartupPriority(a: ModuleRow, b: ModuleRow): number {
@@ -36,10 +41,14 @@ type UseWorkspaceModuleControlOptions = {
   clonePathPreview: string
   remoteWorkspace: boolean
   sourceSettings: StudioSourceSettings
+  rosNetwork?: RosNetworkConfig | null
   simulatorWorldFile?: string | null
   savedMapYamlPath?: string | null
   savedMapDatabasePath?: string | null
+  prepareSavedMap?: () => Promise<SavedMapPathOverrides>
+  bulkExcludedModuleKeys?: string[]
   activeRuntimeImages: RuntimeImageArtifact[]
+  vehicleRuntimeProfiles?: VehicleRuntimeProfile[]
   getFreshAccessToken: () => Promise<string>
   getRemoteWorkspaceTarget: () => RemoteWorkspaceTarget
   prepareRemoteRuntimeModule: (module: ModuleRow) => Promise<void>
@@ -72,10 +81,14 @@ export function useWorkspaceModuleControl({
   clonePathPreview,
   remoteWorkspace,
   sourceSettings,
+  rosNetwork,
   simulatorWorldFile,
   savedMapYamlPath,
   savedMapDatabasePath,
+  prepareSavedMap,
+  bulkExcludedModuleKeys = [],
   activeRuntimeImages,
+  vehicleRuntimeProfiles = [],
   getFreshAccessToken,
   getRemoteWorkspaceTarget,
   prepareRemoteRuntimeModule,
@@ -87,18 +100,33 @@ export function useWorkspaceModuleControl({
   const [moduleInstallError, setModuleInstallError] = useState<string | null>(null)
   const moduleActionQueueRef = useRef<Promise<void>>(Promise.resolve())
   const queuedModuleNamesRef = useRef(new Set<string>())
+  const isExcludedFromBulkControl = useCallback((module: ModuleRow): boolean => (
+    bulkExcludedModuleKeys.includes(module.folderName ?? module.name)
+  ), [bulkExcludedModuleKeys])
 
   const getModuleRosParams = useCallback((module: ModuleRow, overrides?: { simulatorWorldFile?: string | null; savedMapYamlPath?: string | null; savedMapDatabasePath?: string | null }): string => {
     const worldFile = overrides?.simulatorWorldFile ?? simulatorWorldFile
     const mapYamlPath = overrides?.savedMapYamlPath ?? savedMapYamlPath
     const mapDatabasePath = overrides?.savedMapDatabasePath ?? savedMapDatabasePath
+    const isMkMiniModule = /lms-nav2-mkmini/i.test(module.folderName ?? '')
+    const mkMiniProfile = vehicleRuntimeProfiles.find((profile) => profile.profileKey === 'mkmini')
     const parameters = module.parameters.filter((parameter) => (
       !parameter.startsWith('world:=')
       && !parameter.startsWith('world_layout_enabled:=')
       && !parameter.startsWith('map:=')
       && !parameter.startsWith('database_path:=')
       && !parameter.startsWith('localization:=')
+      && (!isMkMiniModule || (
+        !parameter.startsWith('runtime_wheelbase:=')
+        && !parameter.startsWith('runtime_max_speed:=')
+        && !parameter.startsWith('runtime_max_steering_angle:=')
+      ))
     ))
+    if (isMkMiniModule && mkMiniProfile) {
+      parameters.push(`runtime_wheelbase:=${mkMiniProfile.wheelbaseMeters}`)
+      parameters.push(`runtime_max_speed:=${mkMiniProfile.maxSpeedMetersPerSecond}`)
+      parameters.push(`runtime_max_steering_angle:=${mkMiniProfile.maxSteeringAngleRadians}`)
+    }
     if (module.category.toLowerCase() === 'simulator' && worldFile) {
       parameters.push(`world:=${worldFile}`)
     }
@@ -111,7 +139,7 @@ export function useWorkspaceModuleControl({
       parameters.push('localization:=true')
     }
     return parameters.join(' ')
-  }, [savedMapDatabasePath, savedMapYamlPath, simulatorWorldFile])
+  }, [savedMapDatabasePath, savedMapYamlPath, simulatorWorldFile, vehicleRuntimeProfiles])
 
   const createCustomModuleSource = useCallback(async (module: ModuleRow): Promise<void> => {
     if (!module.folderName || !module.packageName || !module.launchFile) {
@@ -126,6 +154,15 @@ export function useWorkspaceModuleControl({
       launchFile: module.launchFile,
     }
     if (remoteWorkspace) {
+      if (module.runtimeTarget === 'SHARED') {
+        await window.remoteWorkspace.modules.transfer(
+          getRemoteWorkspaceTarget(),
+          clonePathPreview,
+          module.name,
+          module.folderName,
+        )
+        return
+      }
       await window.remoteWorkspace.modules.createCustom(getRemoteWorkspaceTarget(), input)
       return
     }
@@ -185,26 +222,27 @@ export function useWorkspaceModuleControl({
     )
   }, [activeRuntimeImages, clonePathPreview, courseKey, createCustomModuleSource, getRemoteWorkspaceTarget, remoteWorkspace, weekNumber])
 
-  const remoteModuleStart = useCallback(async (module: ModuleRow): Promise<ModuleActionResult> => {
+  const remoteModuleStart = useCallback(async (module: ModuleRow, overrides?: SavedMapPathOverrides): Promise<ModuleActionResult> => {
     await prepareRemoteRuntimeModule(module)
     return window.remoteWorkspace.modules.start(
       getRemoteWorkspaceTarget(),
       module.name,
       module.folderName,
-      getModuleRosParams(module),
+      getModuleRosParams(module, overrides),
       sourceSettings.gpuEnabled,
       sourceSettings.rosDomainId,
-      activeRuntimeImages
+      activeRuntimeImages,
+      rosNetwork,
     )
-  }, [activeRuntimeImages, getModuleRosParams, getRemoteWorkspaceTarget, prepareRemoteRuntimeModule, sourceSettings.gpuEnabled, sourceSettings.rosDomainId])
+  }, [activeRuntimeImages, getModuleRosParams, getRemoteWorkspaceTarget, prepareRemoteRuntimeModule, rosNetwork, sourceSettings.gpuEnabled, sourceSettings.rosDomainId])
 
   const remoteModuleStop = useCallback(async (module: ModuleRow): Promise<ModuleActionResult> => (
     window.remoteWorkspace.modules.stop(getRemoteWorkspaceTarget(), module.name, module.folderName)
   ), [getRemoteWorkspaceTarget])
 
-  const remoteModuleRestart = useCallback(async (module: ModuleRow): Promise<ModuleActionResult> => {
+  const remoteModuleRestart = useCallback(async (module: ModuleRow, overrides?: SavedMapPathOverrides): Promise<ModuleActionResult> => {
     await remoteModuleStop(module).catch(() => ({ ok: false, message: '모듈 중지 실패' }))
-    return remoteModuleStart(module)
+    return remoteModuleStart(module, overrides)
   }, [remoteModuleStart, remoteModuleStop])
 
   const installModule = useCallback(async (module: ModuleRow): Promise<void> => {
@@ -225,7 +263,7 @@ export function useWorkspaceModuleControl({
 
   const installAllModules = useCallback(async (): Promise<void> => {
     if (installingModuleName) return
-    const targets = availableModules.filter((module) => module.state === 'uninstalled').sort(compareModulePriority)
+    const targets = availableModules.filter((module) => !isExcludedFromBulkControl(module) && module.state === 'uninstalled').sort(compareModulePriority)
     if (!targets.length) return
 
     setInstallingModuleName('__all__')
@@ -243,11 +281,11 @@ export function useWorkspaceModuleControl({
     } finally {
       setInstallingModuleName(null)
     }
-  }, [availableModules, getFreshAccessToken, installModuleOnce, installingModuleName, loadAvailableModules])
+  }, [availableModules, getFreshAccessToken, installModuleOnce, installingModuleName, isExcludedFromBulkControl, loadAvailableModules])
 
   const startAllModules = useCallback(async (): Promise<void> => {
     if (installingModuleName) return
-    const targets = availableModules.filter((module) => module.state === 'stopped').sort(compareModulePriority)
+    const targets = availableModules.filter((module) => !isExcludedFromBulkControl(module) && module.state === 'stopped').sort(compareModulePriority)
     if (!targets.length) {
       onTitlebarNotice('시작할 모듈이 없습니다', 'warning')
       return
@@ -256,10 +294,11 @@ export function useWorkspaceModuleControl({
     setInstallingModuleName('__start_all__')
     setModuleInstallError(null)
     try {
+      const savedMapOverrides = await prepareSavedMap?.()
       for (const module of [...targets].sort(compareModuleStartupPriority)) {
         const result = remoteWorkspace
-          ? await remoteModuleStart(module)
+          ? await remoteModuleStart(module, savedMapOverrides)
-          : await window.localWorkspace.modules.start(module.name, clonePathPreview, module.folderName, getModuleRosParams(module), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages)
+          : await window.localWorkspace.modules.start(module.name, clonePathPreview, module.folderName, getModuleRosParams(module, savedMapOverrides), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages, rosNetwork)
         if (!result.ok) throw new Error(result.message)
         markModuleState(module, 'running')
         if (module.category.toLowerCase() === 'simulator') await waitForSimulatorStartup()
@@ -280,20 +319,24 @@ export function useWorkspaceModuleControl({
     clonePathPreview,
     getModuleRosParams,
     installingModuleName,
+    isExcludedFromBulkControl,
     loadAvailableModules,
     markModuleState,
     onTitlebarNotice,
+    prepareSavedMap,
     remoteModuleStart,
     remoteWorkspace,
     sourceSettings.gpuEnabled,
-    sourceSettings.rosDomainId
+    sourceSettings.rosDomainId,
+    rosNetwork
   ])
 
   const stopAllModules = useCallback(async (): Promise<void> => {
     if (installingModuleName) return
-    const targets = availableModules.filter((module) => module.state === 'running').sort(compareModuleShutdownPriority)
+    const targets = availableModules.filter((module) => !isExcludedFromBulkControl(module) && module.state === 'running').sort(compareModuleShutdownPriority)
+    const hasExcludedRunningModule = availableModules.some((module) => isExcludedFromBulkControl(module) && module.state === 'running')
     const stopLocalVisualization = async (): Promise<void> => {
-      if (remoteWorkspace) return
+      if (remoteWorkspace || hasExcludedRunningModule) return
       await onStopVisualization()
     }
 
@@ -331,7 +374,7 @@ export function useWorkspaceModuleControl({
     } finally {
       setInstallingModuleName(null)
     }
-  }, [availableModules, clonePathPreview, getRemoteWorkspaceTarget, installingModuleName, loadAvailableModules, onStopVisualization, onTitlebarNotice, remoteWorkspace])
+  }, [availableModules, clonePathPreview, getRemoteWorkspaceTarget, installingModuleName, isExcludedFromBulkControl, loadAvailableModules, onStopVisualization, onTitlebarNotice, remoteWorkspace])
 
   const restartRunningModules = useCallback(async (overrides?: { simulatorWorldFile?: string | null; savedMapYamlPath?: string | null }): Promise<boolean> => {
     if (installingModuleName) return false
@@ -341,6 +384,7 @@ export function useWorkspaceModuleControl({
     setInstallingModuleName('__restart_all__')
     setModuleInstallError(null)
     try {
+      const savedMapOverrides = { ...overrides, ...(await prepareSavedMap?.()) }
       if (remoteWorkspace) {
         const result = await window.remoteWorkspace.modules.stopMany(
           getRemoteWorkspaceTarget(),
@@ -362,8 +406,8 @@ export function useWorkspaceModuleControl({
 
       for (const module of [...targets].sort(compareModuleStartupPriority)) {
         const result = remoteWorkspace
-          ? await remoteModuleStart(module)
+          ? await remoteModuleStart(module, savedMapOverrides)
-          : await window.localWorkspace.modules.start(module.name, clonePathPreview, module.folderName, getModuleRosParams(module, overrides), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages)
+          : await window.localWorkspace.modules.start(module.name, clonePathPreview, module.folderName, getModuleRosParams(module, savedMapOverrides), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages, rosNetwork)
         if (!result.ok) throw new Error(result.message)
         markModuleState(module, 'running')
         if (module.category.toLowerCase() === 'simulator') await waitForSimulatorStartup()
@@ -380,16 +424,28 @@ export function useWorkspaceModuleControl({
     } finally {
       setInstallingModuleName(null)
     }
-  }, [activeRuntimeImages, availableModules, clonePathPreview, getModuleRosParams, getRemoteWorkspaceTarget, installingModuleName, loadAvailableModules, markModuleState, onStopVisualization, onTitlebarNotice, remoteModuleStart, remoteWorkspace, sourceSettings.gpuEnabled, sourceSettings.rosDomainId])
+  }, [activeRuntimeImages, availableModules, clonePathPreview, getModuleRosParams, getRemoteWorkspaceTarget, installingModuleName, loadAvailableModules, markModuleState, onStopVisualization, onTitlebarNotice, prepareSavedMap, remoteModuleStart, remoteWorkspace, rosNetwork, sourceSettings.gpuEnabled, sourceSettings.rosDomainId])
 
   const runModuleControl = useCallback(async (module: ModuleRow, action: 'start' | 'stop' | 'restart' | 'build'): Promise<void> => {
-    if (installingModuleName || queuedModuleNamesRef.current.has(module.name)) return
+    // The parking area only opts modules out of bulk actions; those modules
+    // must remain individually controllable while the rest are stopping.
+    const canControlExcludedModuleDuringBulkStop = (
+      installingModuleName === '__stop_all__'
+      && isExcludedFromBulkControl(module)
+    )
+    if (
+      (!canControlExcludedModuleDuringBulkStop && installingModuleName)
+      || queuedModuleNamesRef.current.has(module.name)
+    ) return
 
     queuedModuleNamesRef.current.add(module.name)
     setControllingModuleNames((names) => (names.includes(module.name) ? names : [...names, module.name]))
     setModuleInstallError(null)
     const execute = async (): Promise<void> => {
       try {
+        const savedMapOverrides = action === 'start' || action === 'restart'
+          ? await prepareSavedMap?.()
+          : undefined
         const result = action === 'stop'
           ? remoteWorkspace
             ? await remoteModuleStop(module)
@@ -397,14 +453,14 @@ export function useWorkspaceModuleControl({
           : action === 'build'
             ? remoteWorkspace
               ? await window.remoteWorkspace.modules.build(getRemoteWorkspaceTarget(), module.name, module.folderName, sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages)
-              : await window.localWorkspace.modules.build(module.name, clonePathPreview, module.folderName, sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages)
+              : await window.localWorkspace.modules.build(module.name, clonePathPreview, module.folderName, sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages, getModuleRosParams(module))
             : action === 'restart'
             ? remoteWorkspace
-              ? await remoteModuleRestart(module)
+              ? await remoteModuleRestart(module, savedMapOverrides)
-              : await window.localWorkspace.modules.restart(module.name, clonePathPreview, module.folderName, getModuleRosParams(module), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages)
+              : await window.localWorkspace.modules.restart(module.name, clonePathPreview, module.folderName, getModuleRosParams(module, savedMapOverrides), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages, rosNetwork)
             : remoteWorkspace
-              ? await remoteModuleStart(module)
+              ? await remoteModuleStart(module, savedMapOverrides)
-              : await window.localWorkspace.modules.start(module.name, clonePathPreview, module.folderName, getModuleRosParams(module), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages)
+              : await window.localWorkspace.modules.start(module.name, clonePathPreview, module.folderName, getModuleRosParams(module, savedMapOverrides), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages, rosNetwork)
         if (!result.ok) throw new Error(result.message)
 
         if (action === 'start' || action === 'restart') {
@@ -420,7 +476,7 @@ export function useWorkspaceModuleControl({
           if (vehicle) {
             const vehicleResult = remoteWorkspace
               ? await remoteModuleRestart(vehicle)
-              : await window.localWorkspace.modules.restart(vehicle.name, clonePathPreview, vehicle.folderName, getModuleRosParams(vehicle), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages)
+              : await window.localWorkspace.modules.restart(vehicle.name, clonePathPreview, vehicle.folderName, getModuleRosParams(vehicle), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages, rosNetwork)
             if (!vehicleResult.ok) throw new Error(vehicleResult.message ?? '로봇 모듈 재시작 실패')
           }
         }
@@ -465,9 +521,11 @@ export function useWorkspaceModuleControl({
     clonePathPreview,
     getModuleRosParams,
     installingModuleName,
+    isExcludedFromBulkControl,
     loadAvailableModules,
     markModuleState,
     onTitlebarNotice,
+    prepareSavedMap,
     remoteModuleRestart,
     remoteModuleStart,
     remoteModuleStop,

src/renderer/src/features/workspace/useWorkspaceModuleList.ts

@@ -15,6 +15,7 @@ type UseWorkspaceModuleListOptions = {
   remoteWorkspace: boolean
   remoteWorkspaceTargetKey: string
   pollingActive: boolean
+  skipInitialModuleLoad?: boolean
   applyModuleParameterOverrides: (modules: ModuleRow[]) => ModuleRow[]
 }
 
@@ -24,10 +25,30 @@ type UseWorkspaceModuleListResult = {
   markModuleState: (module: ModuleRow, state: ModuleRow['state']) => void
   modulesLoading: boolean
   moduleListError: string | null
+  clearModuleListError: () => void
   loadAvailableModules: (options?: LoadAvailableModulesOptions) => Promise<void>
   loadRemoteModules: () => Promise<{ modules: ModuleRow[] }>
 }
 
+function readRemoteModuleCache(key: string): ModuleRow[] | null {
+  try {
+    const raw = window.sessionStorage.getItem(key)
+    if (!raw) return null
+    const modules = JSON.parse(raw) as unknown
+    return Array.isArray(modules) ? modules as ModuleRow[] : null
+  } catch {
+    return null
+  }
+}
+
+function storeRemoteModuleCache(key: string, modules: ModuleRow[]): void {
+  try {
+    window.sessionStorage.setItem(key, JSON.stringify(modules))
+  } catch {
+    // The next background probe can still populate the visible module state.
+  }
+}
+
 function parseRemoteWorkspaceTarget(targetKey: string): RemoteWorkspaceTarget | null {
   try {
     const parsed = JSON.parse(targetKey) as RemoteWorkspaceTarget | null
@@ -44,12 +65,22 @@ export function useWorkspaceModuleList({
   remoteWorkspace,
   remoteWorkspaceTargetKey,
   pollingActive,
+  skipInitialModuleLoad = false,
   applyModuleParameterOverrides
 }: UseWorkspaceModuleListOptions): UseWorkspaceModuleListResult {
   const [availableModules, setAvailableModules] = useState<ModuleRow[]>([])
   const [modulesLoading, setModulesLoading] = useState(false)
   const [moduleListError, setModuleListError] = useState<string | null>(null)
   const remoteTarget = useMemo(() => parseRemoteWorkspaceTarget(remoteWorkspaceTargetKey), [remoteWorkspaceTargetKey])
+  const remoteModuleCacheKey = useMemo(
+    () => `lms:remote-module-list:${remoteWorkspaceTargetKey}:${curriculumModuleKey}`,
+    [curriculumModuleKey, remoteWorkspaceTargetKey],
+  )
+  const localModuleCacheKey = useMemo(
+    () => `lms:local-module-list:${clonePathPreview}:${curriculumModuleKey}`,
+    [clonePathPreview, curriculumModuleKey],
+  )
+  const moduleCacheKey = remoteWorkspace ? remoteModuleCacheKey : localModuleCacheKey
   const moduleInputsRef = useRef({ curriculumModules, applyModuleParameterOverrides })
   const loadSequenceRef = useRef(0)
   const moduleLoadInFlightRef = useRef(false)
@@ -83,17 +114,21 @@ export function useWorkspaceModuleList({
     // runtime confirms it, rather than briefly switching the row back.
     const pendingDuration = state === 'running' ? 120_000 : 30_000
     pendingModuleStatesRef.current.set(key, { state, expiresAt: Date.now() + pendingDuration })
-    setAvailableModules((current) => current.map((item) => {
+    setAvailableModules((current) => {
-      if (moduleStateKey(item) !== key) return item
+      const next = current.map((item) => {
-      return {
+        if (moduleStateKey(item) !== key) return item
-        ...item,
+        return {
-        state,
+          ...item,
-        runtime: state === 'running' ? '시작 중' : '-',
+          state,
-        cpu: state === 'running' ? item.cpu : null,
+          runtime: state === 'running' ? '시작 중' : '-',
-        memory: state === 'running' ? item.memory : null,
+          cpu: state === 'running' ? item.cpu : null,
-      }
+          memory: state === 'running' ? item.memory : null,
-    }))
+        }
-  }, [])
+      })
+      storeRemoteModuleCache(moduleCacheKey, next)
+      return next
+    })
+  }, [moduleCacheKey])
 
   useEffect(() => {
     moduleInputsRef.current = { curriculumModules, applyModuleParameterOverrides }
@@ -117,14 +152,18 @@ export function useWorkspaceModuleList({
         const result = await loadRemoteModules()
         if (requestSequence !== loadSequenceRef.current) return
         setModuleListError(null)
-        setAvailableModules(applyPendingModuleStates(applyOverrides(result.modules).sort(compareModulePriority)))
+        const modules = applyPendingModuleStates(applyOverrides(result.modules).sort(compareModulePriority))
+        setAvailableModules(modules)
+        storeRemoteModuleCache(moduleCacheKey, modules)
         return
       }
 
       const result = await window.localWorkspace.modules.list(clonePathPreview, currentCurriculumModules ?? [])
       if (requestSequence !== loadSequenceRef.current) return
       setModuleListError(null)
-      setAvailableModules(applyPendingModuleStates(applyOverrides(result.modules).sort(compareModulePriority)))
+      const modules = applyPendingModuleStates(applyOverrides(result.modules).sort(compareModulePriority))
+      setAvailableModules(modules)
+      storeRemoteModuleCache(moduleCacheKey, modules)
     } catch (error) {
       if (requestSequence !== loadSequenceRef.current) return
       console.error('[modules] list failed', error)
@@ -142,12 +181,29 @@ export function useWorkspaceModuleList({
     clonePathPreview,
     curriculumModuleKey,
     loadRemoteModules,
+    moduleCacheKey,
     remoteWorkspace
   ])
 
   useEffect(() => {
+    const cachedModules = readRemoteModuleCache(moduleCacheKey)
+    if (cachedModules) {
+      const modules = applyPendingModuleStates(
+        moduleInputsRef.current.applyModuleParameterOverrides(cachedModules).sort(compareModulePriority),
+      )
+      setAvailableModules(modules)
+      setModuleListError(null)
+      setModulesLoading(false)
+      if (skipInitialModuleLoad) return
+    }
+
+    if (!cachedModules) {
+      setAvailableModules(makeUninstalledModuleRows(moduleInputsRef.current.curriculumModules))
+      setModuleListError(null)
+    }
+
     void loadAvailableModules()
-  }, [loadAvailableModules, remoteWorkspaceTargetKey])
+  }, [applyPendingModuleStates, loadAvailableModules, moduleCacheKey, remoteWorkspaceTargetKey, skipInitialModuleLoad])
 
   useEffect(() => {
     if (!pollingActive) return
@@ -165,6 +221,7 @@ export function useWorkspaceModuleList({
     markModuleState,
     modulesLoading,
     moduleListError,
+    clearModuleListError: () => setModuleListError(null),
     loadAvailableModules,
     loadRemoteModules
   }

src/renderer/src/features/workspace/useWorkspaceVisualization.ts

@@ -1,12 +1,13 @@
 import { useCallback, useEffect, useMemo, useState } from 'react'
 import type { EnvironmentProfile } from '../platforms/types'
-import type { RuntimeImageArtifact } from './types'
+import type { RosNetworkConfig, RuntimeImageArtifact } from './types'
 import type { VisualizationStack } from './WorkspaceVisualizationPanel'
 
 export type Nav2VisualizationMode = 'slam' | 'navigation'
 
 function resolveVisualizationStack(profileType: string): VisualizationStack | null {
   const type = profileType.toLowerCase()
+  if (type === 'local' || type === 'platform') return 'nav2'
   if (type === 'real_slam') return 'slam'
   if (type === 'real_slam_3d') return 'slam3d'
   if (type === 'real_navigation') return 'nav2'
@@ -20,7 +21,14 @@ function resolveNav2Mode(profile: EnvironmentProfile | null): Nav2VisualizationM
 }
 
 function isRealPlatformProfile(profile: EnvironmentProfile | null): boolean {
-  return ['real_slam', 'real_slam_3d', 'real_navigation'].includes(profile?.profileType.toLowerCase() ?? '')
+  if (['real_slam', 'real_slam_3d', 'real_navigation'].includes(profile?.profileType.toLowerCase() ?? '')) return true
+  const config = profile?.config
+  return Boolean(
+    config
+    && typeof config === 'object'
+    && !Array.isArray(config)
+    && ((config as Record<string, unknown>).target === 'remote-jetson' || (config as Record<string, unknown>).target === 'platform'),
+  )
 }
 
 function selectRuntimeProfiles(profiles: EnvironmentProfile[], remoteWorkspace: boolean): EnvironmentProfile[] {
@@ -39,7 +47,13 @@ type UseWorkspaceVisualizationOptions = {
   fallbackStack: VisualizationStack
   remoteWorkspace: boolean
   remoteTarget: RemoteWorkspaceTarget | null
+  bridgeLocation?: 'local' | 'platform'
+  bridgeWorkspaceRoot?: string | null
+  sessionKey?: string | null
+  rosNetwork?: RosNetworkConfig | null
   mapKey?: string | null
+  platform?: string | null
+  visualizationRuntime?: 'real' | 'simulation'
   worldLayoutVersion?: number
   onTitlebarNotice: (title: string, tone?: NoticeTone, addToList?: boolean) => void
 }
@@ -74,7 +88,13 @@ export function useWorkspaceVisualization({
   fallbackStack,
   remoteWorkspace,
   remoteTarget,
+  bridgeLocation = 'local',
+  bridgeWorkspaceRoot,
+  sessionKey,
+  rosNetwork,
   mapKey,
+  platform,
+  visualizationRuntime,
   worldLayoutVersion,
   onTitlebarNotice
 }: UseWorkspaceVisualizationOptions): UseWorkspaceVisualizationResult {
@@ -84,18 +104,26 @@ export function useWorkspaceVisualization({
   const [, setVisualizationStatusMessage] = useState('대기')
   const [visualizationBusy, setVisualizationBusy] = useState(false)
 
-  const runtimeProfiles = useMemo(() => selectRuntimeProfiles(profiles, remoteWorkspace), [profiles, remoteWorkspace])
+  const runtimeProfiles = useMemo(() => {
+    const candidates = selectRuntimeProfiles(profiles, remoteWorkspace)
+    if (fallbackStack === 'autoware') return candidates
+
+    // A NAV2 curriculum can retain legacy Autoware profiles. Do not let one
+    // become the active viewer merely because it appears first in the list.
+    return candidates.filter((profile) => resolveVisualizationStack(profile.profileType) !== 'autoware')
+  }, [fallbackStack, profiles, remoteWorkspace])
   const visualizationStacks = useMemo(() => (
     runtimeProfiles
       .map((profile) => resolveVisualizationStack(profile.profileType))
       .filter((stack): stack is VisualizationStack => stack !== null)
   ), [runtimeProfiles])
   const visualizationStackStorageKey = useMemo(() => {
+    if (sessionKey) return `lms:visualization-stack:${sessionKey}`
     const workspaceKey = remoteWorkspace
       ? `${remoteTarget?.host ?? ''}:${remoteTarget?.workspaceRoot ?? ''}`
       : clonePathPreview
     return workspaceKey ? `lms:visualization-stack:${workspaceKey}` : null
-  }, [clonePathPreview, remoteTarget?.host, remoteTarget?.workspaceRoot, remoteWorkspace])
+  }, [clonePathPreview, remoteTarget?.host, remoteTarget?.workspaceRoot, remoteWorkspace, sessionKey])
   const selectVisualizationStack = useCallback((stack: VisualizationStack) => {
     setVisualizationStack(stack)
     if (visualizationStackStorageKey) window.localStorage.setItem(visualizationStackStorageKey, stack)
@@ -108,33 +136,34 @@ export function useWorkspaceVisualization({
         typeof image === 'object' && image !== null && typeof (image as RuntimeImageArtifact).image === 'string'
       ))
     : []
-  const activeEnvironmentAgent = typeof activeEnvironmentConfig.agent === 'object' && activeEnvironmentConfig.agent !== null
+  const bridgeTarget = remoteTarget ?? rosNetwork?.peer ?? null
-    ? activeEnvironmentConfig.agent as Record<string, unknown>
+  const bridgeRunsOnPlatform = bridgeLocation === 'platform' && Boolean(bridgeTarget?.host)
-    : null
+  const visualizationBridgeHttpUrl = bridgeRunsOnPlatform
-  const activeEnvironmentAgentUrl = typeof activeEnvironmentAgent?.url === 'string'
+    ? `http://${bridgeTarget!.host}:8765`
-    ? activeEnvironmentAgent.url.replace(/\/+$/, '')
+    : 'http://localhost:8765'
-    : ''
+  const visualizationBridgeUrl = visualizationBridgeHttpUrl.replace(/^http:/, 'ws:').replace(/^https:/, 'wss:')
-  const visualizationRemote = activeEnvironmentConfig.target === 'remote-jetson' && Boolean(activeEnvironmentAgentUrl || remoteTarget?.host)
-  const visualizationRemoteBridgeHttpUrl = (() => {
-    if (!visualizationRemote) return ''
-    if (!activeEnvironmentAgentUrl && remoteTarget?.host) return `http://${remoteTarget.host}:8765`
-    try {
-      const url = new URL(activeEnvironmentAgentUrl)
-      url.port = '8765'
-      return url.toString().replace(/\/+$/, '')
-    } catch {
-      return ''
-    }
-  })()
-  const visualizationBridgeHttpUrl = visualizationRemoteBridgeHttpUrl || 'http://localhost:8765'
-  const visualizationBridgeUrl = visualizationRemote
-    ? visualizationBridgeHttpUrl.replace(/^http:/, 'ws:').replace(/^https:/, 'wss:')
-    : 'ws://localhost:8765'
   const visualizationBackendUrl = visualizationBridgeHttpUrl
   const visualizationRuntimeStack = visualizationStack === 'slam' || visualizationStack === 'slam3d' ? 'nav2' : visualizationStack
   const pointCloudQuery = visualizationStack === 'slam3d' ? '&pointCloud=1' : ''
+  const viewerRuntime = visualizationRuntime ?? (isRealPlatformProfile(activeEnvironmentProfile) ? 'real' : 'simulation')
+  const localBridgeProfile = useMemo(() => {
+    const configuredBridge = typeof activeEnvironmentConfig.bridge === 'object' && activeEnvironmentConfig.bridge !== null
+      ? activeEnvironmentConfig.bridge as Record<string, unknown>
+      : {}
+    return {
+      ...activeEnvironmentConfig,
+      type: visualizationRuntimeStack,
+      target: 'local',
+      agent: undefined,
+      runtime: undefined,
+      runtimeImages: undefined,
+      bridge: visualizationRuntimeStack === 'autoware'
+        ? configuredBridge
+        : { ...configuredBridge, image: 'slam-ros-bridge:latest' },
+    }
+  }, [activeEnvironmentConfig, visualizationRuntimeStack])
   const visualizationViewerUrl = visualizationStack === 'slam' || visualizationStack === 'slam3d' || visualizationStack === 'nav2'
-    ? `./slam-viewer/index.html?directBridge=1&mode=${visualizationStack === 'nav2' ? nav2VisualizationMode : 'slam'}&runtime=${isRealPlatformProfile(activeEnvironmentProfile) ? 'real' : 'simulation'}&bridgeWs=${encodeURIComponent(`${visualizationBridgeUrl}/ws/state`)}&bridgeHttp=${encodeURIComponent(visualizationBridgeHttpUrl)}&mapKey=${encodeURIComponent(mapKey ?? 'nav2-turtlebot3-world')}&layoutVersion=${worldLayoutVersion ?? 0}${pointCloudQuery}`
+    ? `./slam-viewer/index.html?directBridge=1&mode=${visualizationStack === 'nav2' ? nav2VisualizationMode : 'slam'}&runtime=${viewerRuntime}&platform=${encodeURIComponent(platform?.trim() || '')}&bridgeWs=${encodeURIComponent(`${visualizationBridgeUrl}/ws/state`)}&bridgeHttp=${encodeURIComponent(visualizationBridgeHttpUrl)}&mapKey=${encodeURIComponent(mapKey ?? 'nav2-turtlebot3-world')}&layoutVersion=${worldLayoutVersion ?? 0}${pointCloudQuery}`
     : `./autoware-viewer/index.html?source=ros&stack=${visualizationStack}&bridge=${encodeURIComponent(visualizationBridgeUrl)}&backend=${encodeURIComponent(visualizationBackendUrl)}`
 
   useEffect(() => {
@@ -149,10 +178,10 @@ export function useWorkspaceVisualization({
     setNav2VisualizationMode(resolveNav2Mode(runtimeProfiles[0] ?? null))
   }, [fallbackStack, runtimeProfiles, visualizationStackStorageKey, visualizationStacks])
 
-  const refreshVisualizationStatus = async (): Promise<void> => {
+  const refreshVisualizationStatus = useCallback(async (): Promise<void> => {
-    const status = remoteWorkspace
+    const status = bridgeRunsOnPlatform
-      ? remoteTarget?.host
+      ? bridgeTarget?.host
-        ? await window.remoteWorkspace.visualization.status(remoteTarget).catch((error) => ({
+        ? await window.remoteWorkspace.visualization.status(bridgeTarget).catch((error) => ({
           ok: false,
           running: false,
           stack: null,
@@ -176,7 +205,17 @@ export function useWorkspaceVisualization({
       : status.message
         ? status.message
         : '대기')
-  }
+  }, [bridgeRunsOnPlatform, bridgeTarget, visualizationStack, visualizationStacks])
+
+  useEffect(() => {
+    if (!visualizationRunning) return
+
+    void refreshVisualizationStatus()
+    const timer = window.setInterval(() => {
+      void refreshVisualizationStatus()
+    }, 3000)
+    return () => window.clearInterval(timer)
+  }, [refreshVisualizationStatus, visualizationRunning])
 
   const startVisualizationBridge = async (mode = nav2VisualizationMode): Promise<void> => {
     if (visualizationBusy) return
@@ -189,11 +228,11 @@ export function useWorkspaceVisualization({
     setVisualizationBusy(true)
     setVisualizationStatusMessage('시작 중')
     try {
-      const status = remoteWorkspace
+      const status = bridgeRunsOnPlatform
-        ? remoteTarget?.host
+        ? bridgeTarget?.host
-          ? await window.remoteWorkspace.visualization.start(remoteTarget, visualizationStack, rosDomainId, activeEnvironmentProfile.config)
+          ? await window.remoteWorkspace.visualization.start(bridgeTarget, visualizationStack, rosDomainId, activeEnvironmentProfile.config, rosNetwork)
           : { ok: false, running: false, stack: null, message: '원격 플랫폼 SSH 주소를 확인하지 못했습니다.' }
-        : await window.localWorkspace.visualization.start(visualizationRuntimeStack, clonePathPreview, rosDomainId, activeEnvironmentProfile.config)
+        : await window.localWorkspace.visualization.start(visualizationRuntimeStack, bridgeWorkspaceRoot ?? clonePathPreview, rosDomainId, localBridgeProfile, rosNetwork)
       if (!status.ok) throw new Error(status.message ?? '시작 실패')
       setVisualizationRunning(Boolean(status.running))
       const statusStack = status.stack === 'nav2' && visualizationStack === 'slam3d'
@@ -203,6 +242,7 @@ export function useWorkspaceVisualization({
       setVisualizationStatusMessage(formatVisualizationStackLabel(statusStack))
       onTitlebarNotice('화면이 시작되었습니다', 'info')
     } catch (error) {
+      console.error('[visualization] start failed', error)
       setVisualizationRunning(false)
       setVisualizationStatusMessage(error instanceof Error ? error.message : '시작 실패')
       onTitlebarNotice('화면 시작에 실패했습니다', 'error')
@@ -216,11 +256,11 @@ export function useWorkspaceVisualization({
     setVisualizationBusy(true)
     setVisualizationStatusMessage('종료 중')
     try {
-      const status = remoteWorkspace
+      const status = bridgeRunsOnPlatform
-        ? remoteTarget?.host
+        ? bridgeTarget?.host
-          ? await window.remoteWorkspace.visualization.stop(remoteTarget)
+          ? await window.remoteWorkspace.visualization.stop(bridgeTarget)
           : { ok: false, running: false, stack: null, message: '원격 플랫폼 SSH 주소를 확인하지 못했습니다.' }
-        : await window.localWorkspace.visualization.stop(activeEnvironmentProfile?.config)
+        : await window.localWorkspace.visualization.stop(localBridgeProfile)
       if (!status.ok) throw new Error(status.message ?? '종료 실패')
       setVisualizationRunning(false)
       setVisualizationStatusMessage('대기')

src/renderer/src/features/workspace/workspaceModules.ts

@@ -22,6 +22,7 @@ export function makeUninstalledModuleRows(curriculumModules: CurriculumWeek['mod
       dockerImage: module.dockerImage ?? null,
       packageName: module.packageName ?? null,
       launchFile: module.launchFile ?? null,
+      runtimeTarget: module.runtimeTarget ?? null,
       parameters: module.defaultParameters?.filter((parameter): parameter is string => typeof parameter === 'string') ?? [],
       cpu: null,
       memory: null,