fix: enable added week deletion and preserve learning concepts when cloning courses

2026-09-22 15:32:22 +09:00
parent 1d959e2c51
commit 33aac68f16
18 changed files with 633 additions and 61 deletions
@@ -1,6 +1,6 @@
 {
  "name": "lms",
-  "version": "1.1.28",
+  "version": "1.1.29",
  "description": "Autonomy Studio LMS Electron app",
  "main": "./out/main/index.js",
  "author": {
@@ -27,6 +27,7 @@ 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.clock import Clock, ClockType
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.parameter import Parameter
@@ -132,6 +133,7 @@ def resolve_2d_transform(transforms: dict, target_frame: str, source_frame: str)
 class VelocityPayload(BaseModel):
    linear: float = 0.0
    angular: float = 0.0
+    deadman: bool = False


 class SteeringPayload(BaseModel):
@@ -257,6 +259,8 @@ class SlamNode(Node):
        if self.color_point_cloud_topic not in (self.point_cloud_topic, self.fallback_point_cloud_topic):
            self.create_subscription(PointCloud2, self.color_point_cloud_topic, self._on_color_point_cloud, qos_profile_sensor_data)
        self.create_subscription(CompressedImage, self.camera_image_topic, self._on_camera_image, qos_profile_sensor_data)
+        if not os.environ.get("CAMERA_IMAGE_TOPIC"):
+            self.create_subscription(CompressedImage, "/image_raw/compressed", self._on_camera_image, qos_profile_sensor_data)
        self.create_subscription(Odometry, self.icp_odom_topic, self._on_icp_odom, best_effort_qos)
        self.create_subscription(Odometry, self.icp_odom_topic, self._on_icp_odom, reliable_qos)
        self.create_subscription(OccupancyGrid, self.map_topic, self._on_map, map_qos)
@@ -268,6 +272,10 @@ class SlamNode(Node):
        self.create_subscription(TFMessage, "/tf", self._on_tf, qos_profile_sensor_data)
        self.create_subscription(TFMessage, "/tf_static", self._on_tf, tf_static_qos)
        self._cmd_vel_pub = self.create_publisher(Twist, self.cmd_vel_topic, 10)
+        self._teleop_lock = threading.Lock()
+        self._teleop_deadline = None
+        self._teleop_timer = self.create_timer(
+            0.1, self._check_teleop_timeout, clock=Clock(clock_type=ClockType.STEADY_TIME))
        self._steering_pub = self.create_publisher(Float64, self.steering_topic, 10)
        self._initial_pose_pub = self.create_publisher(PoseWithCovarianceStamped, "/initialpose", 10)
        self._navigate_to_pose_client = ActionClient(self, NavigateToPose, self.navigate_to_pose_action)
@@ -817,13 +825,27 @@ class SlamNode(Node):
                }
                self._tf_count += 1

-    def publish_cmd_vel(self, linear: float, angular: float):
+    def publish_cmd_vel(self, linear: float, angular: float, deadman: bool = False):
        if self.read_only:
            raise RuntimeError("읽기 전용 3D SLAM 화면에서는 차량 제어를 지원하지 않습니다.")
+        if not math.isfinite(linear) or not math.isfinite(angular):
+            raise RuntimeError("Invalid velocity")
+        if deadman:
+            linear = max(-0.1, min(0.1, linear))
+            angular = max(-0.5, min(0.5, angular))
        msg = Twist()
        msg.linear.x = float(linear)
        msg.angular.z = float(angular)
-        self._cmd_vel_pub.publish(msg)
+        with self._teleop_lock:
+            self._teleop_deadline = time.monotonic() + 0.5 if deadman and (linear or angular) else None
+            self._cmd_vel_pub.publish(msg)
+
+    def _check_teleop_timeout(self):
+        # Only stop expired manual commands, never idle autonomous navigation.
+        with self._teleop_lock:
+            if self._teleop_deadline is not None and time.monotonic() >= self._teleop_deadline:
+                self._teleop_deadline = None
+                self._cmd_vel_pub.publish(Twist())

    def set_simulator_steering(self, angle: float) -> None:
        if self.read_only:
@@ -1192,6 +1214,7 @@ class SlamNode(Node):

        return {
            "ok": True,
+            "teleop_deadman": not self.read_only,
            "topics": {
                "odom": self.odom_topic,
                "scan": self.scan_topic,
@@ -1549,7 +1572,7 @@ def debug_topics():
 def cmd_vel(payload: VelocityPayload):
    if not slam_node:
        raise HTTPException(status_code=503, detail="ROS node is not ready")
-    slam_node.publish_cmd_vel(payload.linear, payload.angular)
+    slam_node.publish_cmd_vel(payload.linear, payload.angular, payload.deadman)
    return {"ok": True}


@@ -1643,11 +1666,12 @@ async def ws_control(websocket: WebSocket):
                velocity = VelocityPayload(
                    linear=payload.get("linear", 0.0),
                    angular=payload.get("angular", 0.0),
+                    deadman=payload.get("deadman", False),
                )
            except (TypeError, ValueError):
                continue
            try:
-                slam_node.publish_cmd_vel(velocity.linear, velocity.angular)
+                slam_node.publish_cmd_vel(velocity.linear, velocity.angular, velocity.deadman)
            except RuntimeError:
                continue
    except WebSocketDisconnect:
@@ -0,0 +1,70 @@
+import ast
+import math
+from pathlib import Path
+import threading
+from types import SimpleNamespace
+import unittest
+
+
+class Twist:
+    def __init__(self):
+        self.linear = SimpleNamespace(x=0.0)
+        self.angular = SimpleNamespace(z=0.0)
+
+
+class TeleopTest(unittest.TestCase):
+    def setUp(self):
+        self.now = 10.0
+        self.messages = []
+        source = ast.parse(Path(__file__).with_name('bridge.py').read_text())
+        node = next(item for item in source.body if isinstance(item, ast.ClassDef) and item.name == 'SlamNode')
+        methods = [item for item in node.body if isinstance(item, ast.FunctionDef)
+                   and item.name in ('publish_cmd_vel', '_check_teleop_timeout')]
+        scope = {'math': math, 'Twist': Twist, 'time': SimpleNamespace(monotonic=lambda: self.now)}
+        exec(compile(ast.Module(body=methods, type_ignores=[]), 'bridge-teleop', 'exec'), scope)
+        cls = type('Teleop', (), {name: scope[name] for name in ('publish_cmd_vel', '_check_teleop_timeout')})
+        self.node = cls()
+        self.node.read_only = False
+        self.node._teleop_lock = threading.Lock()
+        self.node._teleop_deadline = None
+        self.node._cmd_vel_pub = SimpleNamespace(publish=lambda msg: self.messages.append((msg.linear.x, msg.angular.z)))
+
+    def test_low_speed_and_expiry(self):
+        self.node.publish_cmd_vel(5.0, -5.0, True)
+        self.assertEqual(self.messages[-1], (0.1, -0.5))
+        self.now += 0.6
+        self.node._check_teleop_timeout()
+        self.assertEqual(self.messages[-1], (0.0, 0.0))
+        count = len(self.messages)
+        self.node._check_teleop_timeout()
+        self.assertEqual(len(self.messages), count)
+
+    def test_heartbeat_and_release(self):
+        self.node.publish_cmd_vel(0.1, 0, True)
+        self.now += 0.4
+        self.node.publish_cmd_vel(0.1, 0, True)
+        self.now += 0.2
+        self.node._check_teleop_timeout()
+        self.assertEqual(len(self.messages), 2)
+        self.node.publish_cmd_vel(0, 0, True)
+        self.assertIsNone(self.node._teleop_deadline)
+
+    def test_simulation_and_idle_navigation_unchanged(self):
+        self.node._check_teleop_timeout()
+        self.assertEqual(self.messages, [])
+        self.node.publish_cmd_vel(0.22, 2.84)
+        self.now += 2
+        self.node._check_teleop_timeout()
+        self.assertEqual(self.messages, [(0.22, 2.84)])
+
+    def test_invalid_and_readonly_rejected(self):
+        with self.assertRaises(RuntimeError):
+            self.node.publish_cmd_vel(float('nan'), 0, True)
+        self.node.read_only = True
+        with self.assertRaises(RuntimeError):
+            self.node.publish_cmd_vel(0.1, 0, True)
+        self.assertEqual(self.messages, [])
+
+
+if __name__ == '__main__':
+    unittest.main()
@@ -1,6 +1,8 @@
 import { app, BrowserWindow, dialog, Menu, globalShortcut, ipcMain, screen, shell } from 'electron'
 import { checkDockerStatus } from './dockerStatus'
+import { yahboomDevicePreflight, yahboomModuleCases, yahboomRuntimeImage, yahboomRuntimeArtifacts, yahboomSimulation } from './yahboomRuntime'
 import { visualizationProgress, reportVisualizationProgress } from './visualizationProgress'
+import { moduleProgress, reportModuleProgress, createModuleProgressParser } from './moduleProgress'
 import { bridgeArtifact, jetsonBridgeImage, localBridgeImage } from './bridgeArtifacts'
 import type { WebContents } from 'electron'
 import { spawn } from 'child_process'
@@ -1359,6 +1361,8 @@ function resolveNav2RuntimeImage(
  folderName?: string | null,
  rosParams = '',
 ): string {
+  const yahboomImage = yahboomRuntimeImage(folderName)
+  if (yahboomImage) return yahboomImage
  // NAV2-MKMini normally targets the real platform image. Gazebo is an
  // explicit local opt-in, so existing platform launches keep their image.
  const mkminiGazebo = /lms-nav2-mkmini/i.test(folderName ?? '')
@@ -1699,7 +1703,24 @@ function remoteRepositoryUrl(repositoryUrl: string): string {
  return repositoryUrl
 }

+function handleModuleOperation(channel: string, handler: Parameters<typeof ipcMain.handle>[1]): void {
+  ipcMain.handle(channel, (event, ...args) => {
+    const remote = channel.startsWith('remote-')
+    const folderName = String(args[2] || args[remote ? 1 : 0])
+    const send = (message: string): void => {
+      if (!event.sender.isDestroyed()) event.sender.send('module:progress', folderName, message)
+    }
+    return moduleProgress.run(send, () => visualizationProgress.run((message) => {
+      if (!message.startsWith('시각화')) send(message)
+    }, async () => {
+      send('모듈 작업 준비 중...')
+      try { return await handler(event, ...args) } finally { send('') }
+    }))
+  })
+}
+
 async function runCommandOutput(command: string, args: string[], cwd?: string, env?: NodeJS.ProcessEnv, timeoutMs = 120_000): Promise<string> {
+  const readProgress = createModuleProgressParser()
  return new Promise<string>((resolvePromise, rejectPromise) => {
    let output = ''
    let terminated = false
@@ -1729,8 +1750,10 @@ async function runCommandOutput(command: string, args: string[], cwd?: string, e
      rejectPromise(new Error(`${command} ${args.join(' ')} timed out`))
    }, timeoutMs)

-    child.stdout.on('data', (data: Buffer) => {
+    child.stdout.setEncoding('utf8')
+    child.stdout.on('data', (data: string) => {
      output += data.toString()
+      readProgress(data.toString())
    })
    child.stderr.on('data', (data: Buffer) => {
      output += data.toString()
@@ -2331,18 +2354,18 @@ async function syncRemoteSavedMapArtifacts(
    'set -e',
    `ROOT=${quoteShellSingle(target.workspaceRoot)}`,
    `MAPS_DIRECTORY=${quoteShellSingle(mapsDirectory)}`,
-    'if [ ! -d "$MAPS_DIRECTORY" ] || [ ! -w "$MAPS_DIRECTORY" ]; then',
-    '  if docker image inspect future-nav2:humble-jetson_orin >/dev/null 2>&1; then',
-    '    IMAGE="future-nav2:humble-jetson_orin"',
-    '  elif docker image inspect future-nav2:humble >/dev/null 2>&1; then',
-    '    IMAGE="future-nav2:humble"',
-    '  else',
-    '    IMAGE=""',
-    '  fi',
+    // A missing directory is normal on first install, not a permission failure.
+    'mkdir -p "$MAPS_DIRECTORY" 2>/dev/null || true',
+    'if [ ! -d "$MAPS_DIRECTORY" ] || [ ! -w "$MAPS_DIRECTORY" ] || [ ! -x "$MAPS_DIRECTORY" ]; then',
+    '  IMAGE=""',
+    '  for CANDIDATE in future-nav2:humble-yahboom future-nav2:humble-yahboom-agent future-nav2:humble-jetson_orin future-nav2:humble; do',
+    '    if docker image inspect "$CANDIDATE" >/dev/null 2>&1; then IMAGE="$CANDIDATE"; break; fi',
+    '  done',
    '  if [ -z "$IMAGE" ]; then echo "저장된 맵 디렉터리에 쓸 권한이 없고 권한 복구용 NAV2 이미지를 찾을 수 없습니다." >&2; exit 1; fi',
    '  docker run --rm --user 0:0 -v "$ROOT:/workspace" --entrypoint /bin/sh "$IMAGE" -lc "mkdir -p /workspace/maps && chown -R $(id -u):$(id -g) /workspace/maps"',
    'fi',
    'mkdir -p "$MAPS_DIRECTORY"',
+    'test -w "$MAPS_DIRECTORY" && test -x "$MAPS_DIRECTORY" || { echo "저장된 맵 디렉터리 권한 복구에 실패했습니다: $MAPS_DIRECTORY" >&2; exit 1; }',
    ...downloads.map((artifact) => (
      `curl -fsSL --retry 2 ${quoteShellSingle(artifact.url)} -o ${quoteShellSingle(`${mapsDirectory}/${artifact.fileName}`)}`
    )),
@@ -4573,6 +4596,7 @@ function buildNav2DockerRunScript(): string {
    '  )',
    'else',
    'case "$MODULE_FOLDER" in',
+    ...yahboomModuleCases(),
    '  *lms-nav2-mkmini*) PACKAGE=vehicle_pkg; LAUNCH=vehicle.launch.py ;;',
    '  *lms-nav2-gazebo-simulator*) PACKAGE=nav2_turtlebot_simulator; LAUNCH=simulator.launch.py ;;',
    '  *lms-nav2-gazebo-vehicle*) PACKAGE=vehicle_pkg; LAUNCH=vehicle.launch.py ;;',
@@ -4609,6 +4633,7 @@ function buildNav2DockerRunScript(): string {
    'fi',
    '',
    'test -f "$MODULE_ROOT/$MODULE_FOLDER/install/setup.bash" || { echo "Module is not built: $MODULE_FOLDER" >&2; exit 1; }',
+    ...yahboomDevicePreflight(),
    'docker rm -f "$CONTAINER_NAME" >/dev/null 2>&1 || true',
    '',
    'args=(',
@@ -4625,6 +4650,7 @@ function buildNav2DockerRunScript(): string {
    '  -v "$(dirname "$0"):/runtime/nav2/docker:ro"',
    '  -v /etc/localtime:/etc/localtime:ro',
    ')',
+    'if [ -n "$YAHBOOM_DEVICE" ]; then args+=(--device "$YAHBOOM_DEVICE:$YAHBOOM_DEVICE"); fi',
    'if [[ "$GPU_ENABLED" == "true" || "$GPU_ENABLED" == "1" ]]; then',
    '  args+=(--gpus all -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics)',
    'fi',
@@ -4667,6 +4693,7 @@ function buildNav2DockerBuildScript(): string {
    '  )',
    'else',
    'case "$MODULE_FOLDER" in',
+    ...yahboomModuleCases(true),
    '  *lms-nav2-mkmini*) TARGET=vehicle_pkg ;;',
    '  *lms-nav2-gazebo-simulator*) TARGET=nav2_turtlebot_simulator ;;',
    '  *lms-nav2-gazebo-vehicle*) TARGET=vehicle_pkg ;;',
@@ -4897,7 +4924,7 @@ async function findNav2SimulatorRobotModel(containerName: string): Promise<strin
  // Query Gazebo directly first. The ROS GetModelList service can be slow or
  // unavailable while DDS participants are still discovering each other, even
  // though the simulator itself is already able to accept a pose update.
-  const knownModels = ['mkmini_gazebo', 'turtlebot3_burger_3d_lidar', 'turtlebot3_burger']
+  const knownModels = ['mkmini_gazebo', 'turtlebot3_burger_3d_lidar', 'turtlebot3_burger', 'yahboom_gazebo']
  for (const modelName of knownModels) {
    const pose = await runCommandOutput(
      'docker',
@@ -4923,7 +4950,7 @@ async function findNav2SimulatorRobotModel(containerName: string): Promise<strin
  const modelList = output.match(/model_names=\[([^\]]*)\]/)?.[1] ?? ''
  const modelNames = Array.from(modelList.matchAll(/'([^']+)'/g), (match) => match[1])
  const robotModel = modelNames.find((modelName) => (
-    /turtlebot|burger|mkmini|mk-mini|robot/i.test(modelName) && !/world/i.test(modelName)
+    /turtlebot|burger|mkmini|mk-mini|yahboom|robot/i.test(modelName) && !/world/i.test(modelName)
  ))
  if (!robotModel) throw new Error('Gazebo 로봇 모델을 찾을 수 없습니다.')
  return robotModel
@@ -5017,6 +5044,29 @@ async function clearNav2RuntimeObstacles(): Promise<{ ok: boolean; message: stri
  return { ok: true, message: '장애물을 제거했습니다.' }
 }

+async function resolveLocalModuleRuntime(
+  moduleRoot: string,
+  folderName: string,
+  rosParams: string,
+  runtimeImages?: RuntimeImageArtifact[] | null,
+): Promise<{ image: string; artifacts: RuntimeImageArtifact[] | null | undefined }> {
+  if (yahboomSimulation(folderName, rosParams)) {
+    const artifact = runtimeImages?.find((item) =>
+      item.image?.trim() === defaultNav2GazeboRuntimeImage.image && item.url?.trim())
+      ?? defaultNav2GazeboRuntimeImage
+    return { image: 'future-nav2-gazebo:humble', artifacts: [artifact] }
+  }
+  const image = await resolveCustomModuleRuntimeImage(
+    moduleRoot, resolveNav2RuntimeImage(runtimeImages, folderName, rosParams),
+  )
+  return {
+    image,
+    artifacts: yahboomRuntimeImage(folderName)
+      ? yahboomRuntimeArtifacts(folderName, image, runtimeImages)
+      : requiredRuntimeImages(runtimeImages, image),
+  }
+}
+
 async function startWorkspaceModule(
  moduleName: string,
  workspaceRoot?: string | null,
@@ -5044,11 +5094,10 @@ async function startWorkspaceModule(
    const fastDdsConfigPath = await prepareLocalRosNetworkConfig(rosNetwork, rosDomainId)
    const rosParams = typeof rosParamsOverride === 'string' ? rosParamsOverride.trim() : await readModuleRosParams(moduleRoot)
    const scriptPath = resolveNav2DockerRunScript()
-    const runtimeImage = await resolveCustomModuleRuntimeImage(
-      moduleRoot,
-      resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams),
-    )
-    await prepareRuntimeImages(requiredRuntimeImages(runtimeImages, runtimeImage))
+    const runtime = await resolveLocalModuleRuntime(moduleRoot, targetFolderName, rosParams, runtimeImages)
+    const runtimeImage = runtime.image
+    await prepareRuntimeImages(runtime.artifacts)
+    reportModuleProgress("모듈 실행 중...")
    await runCommand(
      'bash',
      [
@@ -5072,6 +5121,7 @@ async function startWorkspaceModule(
  }

  await prepareRuntimeImages(runtimeImages)
+  reportModuleProgress("모듈 실행 중...")
  await ensureStudioRuntimeAssets()
  const scriptPath = resolveAutowareDockerRunScript()
  if (!existsSync(scriptPath)) throw new Error(`${scriptPath} 파일을 찾을 수 없습니다.`)
@@ -5129,11 +5179,10 @@ async function buildWorkspaceModule(
  if (isNav2ModuleFolder(targetFolderName)) {
    await ensureNav2RuntimeAssets()
    const rosParams = typeof rosParamsOverride === 'string' ? rosParamsOverride.trim() : await readModuleRosParams(moduleRoot)
-    const runtimeImage = await resolveCustomModuleRuntimeImage(
-      moduleRoot,
-      resolveNav2RuntimeImage(runtimeImages, targetFolderName, rosParams),
-    )
-    await prepareRuntimeImages(requiredRuntimeImages(runtimeImages, runtimeImage))
+    const runtime = await resolveLocalModuleRuntime(moduleRoot, targetFolderName, rosParams, runtimeImages)
+    const runtimeImage = runtime.image
+    await prepareRuntimeImages(runtime.artifacts)
+    reportModuleProgress("모듈 빌드 중...")
    await runCommand(
      'bash',
      [
@@ -5151,6 +5200,7 @@ async function buildWorkspaceModule(
  }

  await prepareRuntimeImages(runtimeImages)
+  reportModuleProgress("모듈 빌드 중...")
  await runCommand(
    'docker',
    [
@@ -5173,6 +5223,7 @@ async function prepareRemoteRuntimeImages(
  target: RemoteWorkspaceTarget,
  runtimeImages?: RuntimeImageArtifact[] | null,
 ): Promise<void> {
+  reportModuleProgress('이미지 준비 대기 중...')
  const artifacts = (runtimeImages ?? [])
    .filter((image) => image?.image?.trim())
    .map((image) => ({
@@ -5208,12 +5259,18 @@ async function prepareRemoteRuntimeImages(
      '    name = item.get("fileName") or os.path.basename(url.split("?", 1)[0]) or "runtime-image.tar"',
      '    path = os.path.join(cache, name)',
      '    if os.path.exists(path): os.unlink(path)',
+      '    print("LMS_MODULE_PROGRESS:이미지 다운로드 중...", flush=True)',
      '    subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
+      '    print("LMS_MODULE_PROGRESS:이미지 파일 확인 중...", flush=True)',
      '    expected = (item.get("checksumSha256") or "").strip().lower()',
      '    if expected:',
      '        import hashlib',
-      '        with open(path, "rb") as fp: actual = hashlib.sha256(fp.read()).hexdigest().lower()',
+      '        digest = hashlib.sha256()',
+      '        with open(path, "rb") as fp:',
+      '            for chunk in iter(lambda: fp.read(1024 * 1024), b""): digest.update(chunk)',
+      '        actual = digest.hexdigest().lower()',
      '        if actual != expected: raise SystemExit(f"runtime image checksum mismatch: {name}")',
+      '    print("LMS_MODULE_PROGRESS:이미지 불러오는 중...", flush=True)',
      '    if path.lower().endswith(".tar.zst") or path.lower().endswith(".tzst"):',
      '        import shlex',
      '        subprocess.run(f"zstd -dc {shlex.quote(path)} | docker load", shell=True, check=True)',
@@ -5255,14 +5312,15 @@ async function startRemoteWorkspaceModule(
    ? await resolveRemoteCustomModuleRuntimeImage(
        target,
        targetFolderName,
-        await resolveRemoteNav2RuntimeImage(runtimeImages),
+        yahboomRuntimeImage(targetFolderName) ?? await resolveRemoteNav2RuntimeImage(runtimeImages),
      )
    : null
  const runtimeRoot = nav2Module
    ? await ensureRemoteNav2RuntimeAssets(target)
    : await ensureRemoteStudioRuntimeAssets(target)
  const fastDdsConfigPath = await prepareRemoteRosNetworkConfig(target, runtimeRoot, rosNetwork, rosDomainId)
-  await prepareRemoteRuntimeImages(target, runtimeImages)
+  await prepareRemoteRuntimeImages(target, yahboomRuntimeArtifacts(targetFolderName, runtimeImage, runtimeImages))
+  reportModuleProgress("모듈 실행 중...")
  const currentStatus = await runSshOutput(target, `timeout 12s docker ps -a --filter ${quoteShellSingle(`name=^/${dockerInfo.containerKey}$`)} --format "{{.Status}}" 2>/dev/null || true`, 20000)
  if (/^Up\b/i.test(currentStatus.trim())) return { ok: true, message: '이미 실행 중입니다.' }
  if (currentStatus.trim()) {
@@ -5352,9 +5410,10 @@ async function buildRemoteWorkspaceModule(
    const runtimeImage = await resolveRemoteCustomModuleRuntimeImage(
      target,
      targetFolderName,
-      await resolveRemoteNav2RuntimeImage(runtimeImages),
+      yahboomRuntimeImage(targetFolderName) ?? await resolveRemoteNav2RuntimeImage(runtimeImages),
    )
-    await prepareRemoteRuntimeImages(target, runtimeImages)
+    await prepareRemoteRuntimeImages(target, yahboomRuntimeArtifacts(targetFolderName, runtimeImage, runtimeImages))
+    reportModuleProgress("모듈 빌드 중...")
    await runSsh(target, [
      'set -e',
      `RUNTIME_ROOT=${quoteShellSingle(runtimeRoot)}`,
@@ -6286,8 +6345,8 @@ function registerLocalWorkspaceHandlers(): void {
    return importCustomWorkspaceModule(workspaceRoot, input)
  })
  ipcMain.handle('local-workspace:modules:delete', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => deleteWorkspaceModule(moduleName, workspaceRoot, folderName))
-  ipcMain.handle('local-workspace:modules:start', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startWorkspaceModule(moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
-  ipcMain.handle('local-workspace:modules:build', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string | null) => buildWorkspaceModule(moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams))
+  handleModuleOperation('local-workspace:modules:start', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startWorkspaceModule(moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
+  handleModuleOperation('local-workspace:modules:build', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string | null) => buildWorkspaceModule(moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams))
  ipcMain.handle('local-workspace:modules:stop', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => stopWorkspaceModule(moduleName, workspaceRoot, folderName))
  ipcMain.handle('local-workspace:modules:stop-many', (_event, modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string | null) => stopWorkspaceModules(modules, workspaceRoot))
  ipcMain.handle('local-workspace:modules:stop-running', () => stopRunningWorkspaceContainers())
@@ -6349,8 +6408,8 @@ function registerLocalWorkspaceHandlers(): void {
    if (!moduleName?.trim()) throw new Error('전송할 모듈명이 없습니다.')
    return transferLocalWorkspaceModuleToRemote(target, sourceWorkspaceRoot, moduleName, folderName)
  })
-  ipcMain.handle('remote-workspace:modules:start', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startRemoteWorkspaceModule(target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
-  ipcMain.handle('remote-workspace:modules:build', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null) => buildRemoteWorkspaceModule(target, moduleName, folderName, gpuEnabled, rosDomainId, runtimeImages))
+  handleModuleOperation('remote-workspace:modules:start', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startRemoteWorkspaceModule(target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
+  handleModuleOperation('remote-workspace:modules:build', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null) => buildRemoteWorkspaceModule(target, moduleName, folderName, gpuEnabled, rosDomainId, runtimeImages))
  ipcMain.handle('remote-workspace:modules:stop', (_event, target: RemoteWorkspaceTarget, moduleName: string, folderName?: string | null) => stopRemoteWorkspaceModule(target, moduleName, folderName))
  ipcMain.handle('remote-workspace:modules:stop-many', (_event, target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => stopRemoteWorkspaceModules(target, modules))
  ipcMain.handle('remote-workspace:modules:reset-session', (_event, target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null; templateRepositoryUrl?: string | null }>) => resetRemoteWorkspaceSession(target, modules))
@@ -6535,8 +6594,8 @@ app.whenReady().then(() => {
  ipcMain.handle('modules:list', (_event, workspaceRoot?: string | null, courseModules?: CourseModuleInput[] | null) => collectAvailableModules(workspaceRoot, courseModules))
  ipcMain.handle('modules:install', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => installModuleFromCache(moduleName, workspaceRoot, folderName, templateRepositoryUrl, studentRepositoryUrl, options))
  ipcMain.handle('modules:delete', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => deleteWorkspaceModule(moduleName, workspaceRoot, folderName))
-  ipcMain.handle('modules:start', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startWorkspaceModule(moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
-  ipcMain.handle('modules:build', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string | null) => buildWorkspaceModule(moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams))
+  handleModuleOperation('modules:start', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, rosParams?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => startWorkspaceModule(moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork))
+  handleModuleOperation('modules:build', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, gpuEnabled?: boolean | null, rosDomainId?: string | null, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string | null) => buildWorkspaceModule(moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams))
  ipcMain.handle('modules:stop', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null) => stopWorkspaceModule(moduleName, workspaceRoot, folderName))
  ipcMain.handle('modules:stop-many', (_event, modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string | null) => stopWorkspaceModules(modules, workspaceRoot))
  ipcMain.handle('modules:stop-running', () => stopRunningWorkspaceContainers())
@@ -0,0 +1,28 @@
+import { strict as assert } from 'node:assert'
+import { test } from 'node:test'
+import { createRequire } from 'node:module'
+
+const { moduleProgress, createModuleProgressParser } = createRequire(import.meta.url)('./moduleProgress.ts') as typeof import('./moduleProgress')
+
+test('progress parser handles split lines and ignores normal command output', () => {
+  const messages: string[] = []
+  const parse = moduleProgress.run((message) => messages.push(message), createModuleProgressParser)
+  parse('ordinary output\nLMS_MODULE_PRO')
+  parse('GRESS:download\nLMS_MODULE_PROGRESS:load\n')
+  assert.deepEqual(messages, ['download', 'load'])
+})
+
+test('concurrent operations retain their own progress callbacks', () => {
+  const first: string[] = []
+  const second: string[] = []
+  const a = moduleProgress.run((message) => first.push(message), createModuleProgressParser)
+  const b = moduleProgress.run((message) => second.push(message), createModuleProgressParser)
+  b('LMS_MODULE_PROGRESS:build\n')
+  a('LMS_MODULE_PROGRESS:download\n')
+  assert.deepEqual(first, ['download'])
+  assert.deepEqual(second, ['build'])
+})
+
+test('commands outside a module operation do not report progress', () => {
+  assert.doesNotThrow(() => createModuleProgressParser()('LMS_MODULE_PROGRESS:ignored\n'))
+})
@@ -0,0 +1,21 @@
+import { AsyncLocalStorage } from 'node:async_hooks'
+
+export const moduleProgress = new AsyncLocalStorage<(message: string) => void>()
+
+export function reportModuleProgress(message: string): void {
+  moduleProgress.getStore()?.(message)
+}
+
+export function createModuleProgressParser(): (chunk: string) => void {
+  const report = moduleProgress.getStore()
+  let pending = ''
+  return (chunk) => {
+    if (!report) return
+    pending += chunk
+    const lines = pending.split('\n')
+    pending = lines.pop()!.slice(-4096)
+    for (const line of lines) {
+      if (line.startsWith('LMS_MODULE_PROGRESS:')) report(line.slice('LMS_MODULE_PROGRESS:'.length).trim())
+    }
+  }
+}
@@ -0,0 +1,115 @@
+import { strict as assert } from 'node:assert'
+import { readFileSync, mkdtempSync, mkdirSync, writeFileSync, rmSync } from 'node:fs'
+import { tmpdir } from 'node:os'
+import { join } from 'node:path'
+import { spawnSync } from 'node:child_process'
+import { test } from 'node:test'
+import { createRequire } from 'node:module'
+import ts from 'typescript'
+const { yahboomDevicePreflight, yahboomModuleCases, yahboomRuntimeImage, yahboomRuntimeArtifacts, yahboomSimulation } = createRequire(import.meta.url)('./yahboomRuntime.ts') as typeof import('./yahboomRuntime')
+
+test('simulation is an explicit opt-in and excludes physical device modules', () => {
+  for (const role of ['vehicle', 'slam', 'map', 'localization', 'planning', 'control']) {
+    const folder = `[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`
+    assert.equal(yahboomSimulation(folder, ''), false)
+    assert.equal(yahboomSimulation(folder, 'sim_mode:=false'), false)
+    assert.equal(yahboomSimulation(folder, 'foo:=bar sim_mode:=true'), true)
+  }
+  for (const role of ['agent', 'camera']) {
+    assert.equal(yahboomSimulation(`[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`, 'sim_mode:=true'), false)
+  }
+  assert.equal(yahboomSimulation('[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', 'sim_mode:=true'), false)
+})
+
+test('local simulation overrides ARM metadata and downloads only the PC image', async () => {
+  const source = ts.createSourceFile('index.ts', readFileSync(new URL('./index.ts', import.meta.url), 'utf8'), ts.ScriptTarget.Latest, true)
+  const declaration = source.statements.find((item): item is ts.FunctionDeclaration => ts.isFunctionDeclaration(item) && item.name?.text === 'resolveLocalModuleRuntime')
+  assert.ok(declaration)
+  const artifact = { image: 'future-nav2-gazebo:humble', url: 'https://example.com/gazebo.tar.zst' }
+  const resolver = new Function('yahboomSimulation', 'defaultNav2GazeboRuntimeImage', 'resolveCustomModuleRuntimeImage',
+    ts.transpile(declaration.getText(source), { target: ts.ScriptTarget.ES2022 }) + '; return resolveLocalModuleRuntime;'
+  )(yahboomSimulation, artifact, () => { throw new Error('ARM metadata must not override simulation') })
+  const result = await resolver('/module', '[lms-nav2-yahboom-vehicle]yahboom_vehicle_v1.0.0_ws', 'sim_mode:=true',
+    [{ image: 'future-nav2:humble-jetson_orin', url: 'https://example.com/arm.tar.zst' }])
+  assert.deepEqual(result, { image: artifact.image, artifacts: [artifact] })
+})
+
+test('remote Yahboom downloads only its own image and preserves explicit overrides', () => {
+  const configured = [{ image: 'future-nav2:humble-jetson_orin', url: 'https://example.com/jetson.tar.zst' }]
+  assert.equal(yahboomRuntimeArtifacts('[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', configured[0].image, configured), configured)
+  const folder = '[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws'
+  const image = 'future-nav2:humble-yahboom-agent'
+  const selected = yahboomRuntimeArtifacts(folder, image, configured)
+  assert.equal(selected?.length, 1)
+  assert.equal(selected?.[0].image, image)
+  assert.match(selected?.[0].checksumSha256 ?? '', /^[a-f0-9]{64}$/)
+  const override = { image, url: 'https://example.com/override.tar.zst' }
+  assert.deepEqual(yahboomRuntimeArtifacts(folder, image, [...configured, override]), [override])
+  assert.deepEqual(yahboomRuntimeArtifacts(folder, 'custom:tag', configured), [])
+})
+
+function runtimeScript(name: string): string {
+  const source = ts.createSourceFile('index.ts', readFileSync(new URL('./index.ts', import.meta.url), 'utf8'), ts.ScriptTarget.Latest, true)
+  const declaration = source.statements.find((item): item is ts.FunctionDeclaration => ts.isFunctionDeclaration(item) && item.name?.text === name)
+  assert.ok(declaration)
+  const code = ts.transpile(declaration.getText(source), { target: ts.ScriptTarget.ES2022 })
+  return new Function('yahboomModuleCases', 'yahboomDevicePreflight', `${code}; return ${name}();`)(yahboomModuleCases, yahboomDevicePreflight)
+}
+
+test('Yahboom image routing does not change MKMini, Gazebo or custom modules', () => {
+  assert.equal(yahboomRuntimeImage('[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws'), 'future-nav2:humble-yahboom-agent')
+  assert.equal(yahboomRuntimeImage('[lms-nav2-yahboom-slam]yahboom_slam_v1.0.0_ws'), 'future-nav2:humble-yahboom')
+  for (const name of ['[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', '[lms-nav2-gazebo-map]nav2-map_v1.0.0_ws', '[lms-nav2-custom]yahboom_agent_v1.0.0_ws', '[lms-nav2-yahboom-agent]other_v1.0.0_ws']) {
+    assert.equal(yahboomRuntimeImage(name), null)
+  }
+})
+
+test('all eight templates map to their own package in both runtime scripts', () => {
+  for (const build of [false, true]) {
+    for (const role of ['agent', 'vehicle', 'slam', 'map', 'localization', 'planning', 'control', 'camera']) {
+      const script = ['case "$1" in', ...yahboomModuleCases(build), 'esac', build ? 'printf "%s" "$TARGET"' : 'printf "%s %s" "$PACKAGE" "$LAUNCH"'].join('\n')
+      const result = spawnSync('bash', ['-c', script, '_', `[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`], { encoding: 'utf8' })
+      assert.equal(result.status, 0, result.stderr)
+      assert.equal(result.stdout, build ? `yahboom_${role}` : `yahboom_${role} ${role}.launch.py`)
+    }
+  }
+})
+
+test('generated build and run shell scripts are syntactically valid', () => {
+  for (const name of ['buildNav2DockerRunScript', 'buildNav2DockerBuildScript']) {
+    const result = spawnSync('bash', ['-n'], { input: runtimeScript(name), encoding: 'utf8' })
+    assert.equal(result.status, 0, result.stderr)
+  }
+})
+
+test('invalid hardware path fails before Docker is called; MKMini still launches without extra device', () => {
+  const root = mkdtempSync(join(tmpdir(), 'yahboom-runtime-'))
+  try {
+    const bin = join(root, 'bin')
+    mkdirSync(bin)
+    writeFileSync(join(bin, 'docker'), '#!/bin/bash\nprintf "%s\\n" "$@"\n', { mode: 0o755 })
+    const script = join(root, 'docker_run_nav2.sh')
+    writeFileSync(script, runtimeScript('buildNav2DockerRunScript'))
+    for (const [folder, parameter] of [
+      ['[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws', 'serial_device:=/etc/passwd'],
+      ['[lms-nav2-yahboom-camera]yahboom_camera_v1.0.0_ws', 'video_device:=/dev/../etc/passwd'],
+      ['[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', ''],
+    ]) {
+      mkdirSync(join(root, folder, 'install'), { recursive: true })
+      writeFileSync(join(root, folder, 'install/setup.bash'), '')
+      const result = spawnSync('bash', [script, 'test-container', root, folder, 'test-image', '77', 'false', parameter], {
+        encoding: 'utf8', env: { ...process.env, PATH: `${bin}:${process.env.PATH}`, DISPLAY: '', FASTDDS_CONFIG_PATH: '' },
+      })
+      if (parameter) {
+        assert.equal(result.status, 64)
+        assert.equal(result.stdout, '')
+      } else {
+        assert.equal(result.status, 0, result.stderr)
+        assert.match(result.stdout, /vehicle_pkg\nvehicle.launch.py/)
+        assert.doesNotMatch(result.stdout, /ttyUSB|video0|privileged/)
+      }
+    }
+  } finally {
+    rmSync(root, { recursive: true, force: true })
+  }
+})
@@ -0,0 +1,70 @@
+const roles = ['agent', 'vehicle', 'slam', 'map', 'localization', 'planning', 'control', 'camera'] as const
+
+export function yahboomSimulation(folderName: string | null | undefined, rosParams: string): boolean {
+  return Boolean(yahboomRuntimeImage(folderName))
+    && !/yahboom-(agent|camera)\]/.test(folderName ?? '')
+    && /(?:^|\s)sim_mode:=true(?:\s|$)/.test(rosParams)
+}
+
+type RuntimeArtifact = {
+  image?: string | null
+  url?: string | null
+  fileName?: string | null
+  checksumSha256?: string | null
+  required?: boolean | null
+}
+
+const artifactRoot = 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/nav2/yahboom/arm64'
+const artifacts: RuntimeArtifact[] = [
+  ['future-nav2:humble-yahboom', 'future-nav2-humble-yahboom.tar.zst', 'b2f168c45b961ab96badeeb7df68d1c997996c75dcb5e0cc677b0b6669b1ffd2'],
+  ['future-nav2:humble-yahboom-agent', 'future-nav2-humble-yahboom-agent.tar.zst', 'e30404506c320af1d53c8733177eaf27997dcb2864019b8fcc6888874f02d191'],
+].map(([image, fileName, checksumSha256]) => ({
+  image, fileName, checksumSha256, required: true,
+  url: `${artifactRoot}/${checksumSha256.slice(0, 16)}/${fileName}`,
+}))
+
+export function yahboomRuntimeArtifacts(
+  folderName: string,
+  runtimeImage: string | null,
+  configured?: RuntimeArtifact[] | null,
+): RuntimeArtifact[] | null | undefined {
+  if (!yahboomRuntimeImage(folderName)) return configured
+  const selected = configured?.find((item) => item.image?.trim() === runtimeImage && item.url?.trim())
+    ?? artifacts.find((item) => item.image === runtimeImage)
+  // Yahboom must not download unrelated Jetson images from an existing profile.
+  return selected ? [selected] : []
+}
+
+export function yahboomRuntimeImage(folderName?: string | null): string | null {
+  const role = folderName?.match(/^\[lms-nav2-yahboom-([a-z]+)\]yahboom_\1_v[^/]+_ws$/)?.[1]
+  if (!roles.some((value) => value === role)) return null
+  return role === 'agent' ? 'future-nav2:humble-yahboom-agent' : 'future-nav2:humble-yahboom'
+}
+
+export function yahboomModuleCases(build = false): string[] {
+  return roles.map((role) => (
+    `  "[lms-nav2-yahboom-${role}]yahboom_${role}_v"*_ws) ${build ? `TARGET=yahboom_${role}` : `PACKAGE=yahboom_${role}; LAUNCH=${role}.launch.py`} ;;`
+  ))
+}
+
+// Keep hardware exposure limited to the two hardware-facing Yahboom templates.
+export function yahboomDevicePreflight(): string[] {
+  return [
+    'YAHBOOM_DEVICE=""',
+    'case "$MODULE_FOLDER" in',
+    '  "[lms-nav2-yahboom-agent]yahboom_agent_v"*_ws)',
+    '    YAHBOOM_DEVICE=/dev/ttyUSB0',
+    '    for arg in "$@"; do case "$arg" in serial_device:=*) YAHBOOM_DEVICE=${arg#serial_device:=} ;; esac; done',
+    '    case "$YAHBOOM_DEVICE" in /dev/ttyUSB*|/dev/ttyACM*|/dev/serial/by-id/*) ;; *) echo "Invalid Yahboom serial device" >&2; exit 64 ;; esac',
+    '    ;;',
+    '  "[lms-nav2-yahboom-camera]yahboom_camera_v"*_ws)',
+    '    YAHBOOM_DEVICE=/dev/video0',
+    '    for arg in "$@"; do case "$arg" in video_device:=*) YAHBOOM_DEVICE=${arg#video_device:=} ;; esac; done',
+    '    [[ "$YAHBOOM_DEVICE" =~ ^/dev/video[0-9]+$ ]] || { echo "Invalid Yahboom camera device" >&2; exit 64; }',
+    '    ;;',
+    'esac',
+    'if [ -n "$YAHBOOM_DEVICE" ]; then',
+    '  [[ "$YAHBOOM_DEVICE" != *".."* ]] && [ -c "$YAHBOOM_DEVICE" ] || { echo "Yahboom device not found: $YAHBOOM_DEVICE" >&2; exit 1; }',
+    'fi',
+  ]
+}
@@ -197,6 +197,11 @@ contextBridge.exposeInMainWorld('visualization', {
  stop: (environmentProfile?: unknown) => ipcRenderer.invoke('visualization:stop', environmentProfile)
 })
 contextBridge.exposeInMainWorld('localWorkspace', {
+  onModuleProgress: (callback: (folderName: string, message: string) => void) => {
+    const listener = (_event: Electron.IpcRendererEvent, folderName: string, message: string) => callback(folderName, message)
+    ipcRenderer.on('module:progress', listener)
+    return () => ipcRenderer.removeListener('module:progress', listener)
+  },
  docker: {
    status: () => ipcRenderer.invoke('local-workspace:docker:status'),
    openGuide: () => ipcRenderer.invoke('local-workspace:docker:guide'),
@@ -48,11 +48,11 @@
    }
    #cameraPreviewWrap {
      position:absolute;
-      right:16px;
-      bottom:256px;
+      left:16px;
+      top:48px;
      z-index:10;
      display:none;
-      width:260px;
+      width:min(260px, calc(100vw - 32px));
      border:1px solid rgba(0,0,0,.45);
      background:#111520;
      box-shadow:0 10px 26px rgba(0,0,0,.16);
@@ -61,16 +61,16 @@
    #cameraPreviewWrap.is-collapsed { background:transparent; border-color:transparent; box-shadow:none; }
    #cameraPreview {
      display:block;
-      width:260px;
+      width:100%;
      aspect-ratio:16 / 9;
-      object-fit:cover;
+      object-fit:contain;
      background:#111520;
    }
    #cameraPreviewWrap.is-collapsed #cameraPreview { display:none; }
    #cameraPreviewToggle {
      position:absolute;
      right:0;
-      top:-28px;
+      top:100%;
      display:grid;
      width:30px;
      height:28px;
@@ -86,8 +86,8 @@
      box-shadow:0 10px 28px rgba(0,0,0,.16);
    }
    #cameraPreviewToggle:hover { color:#fff; background:rgba(255,255,255,.06); }
-    #cameraPreviewChevron { font-size:13px; line-height:1; }
-    #cameraPreviewWrap.is-collapsed #cameraPreviewChevron { transform:rotate(180deg); }
+    #cameraPreviewChevron { font-size:13px; line-height:1; transform:rotate(180deg); }
+    #cameraPreviewWrap.is-collapsed #cameraPreviewChevron { transform:rotate(0deg); }
 	    #topRightControls {
 	      position:absolute;
 	      right:16px;
@@ -369,6 +369,8 @@
    .nav2-navigation #rosTopicStatusWrap { bottom:16px; }
    .real-runtime #topLeftControls { display:none; }
    .real-runtime #keyGuide { display:none; }
+    .real-yahboom-teleop:not(.editor-mode) #keyGuide { display:block; }
+    .real-yahboom-teleop #rosTopicStatusWrap { bottom:72px; }
  </style>
 </head>
 <body>
@@ -441,12 +443,12 @@ 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 USE_YAHBOOM_MODEL = ROBOT_PLATFORM === 'yahboom';
+const REAL_YAHBOOM_TELEOP = REAL_RUNTIME && USE_YAHBOOM_MODEL;
 const SHOW_POINT_CLOUD = params.get('pointCloud') === '1';
 const SHOW_SENSOR_POINT_CLOUD = REAL_RUNTIME && SHOW_POINT_CLOUD;
 const SENSOR_POINT_CLOUD_MAX_AGE_MS = 3_000;
-// Camera preview is kept for the RGB test module, but is paused for now so
-// regular visualization sessions never poll `/camera-frame`.
-const ENABLE_CAMERA_PREVIEW = false;
+const ENABLE_CAMERA_PREVIEW = params.get('editor') !== '1';
 const CUSTOM_WORLD = !REAL_RUNTIME && viewerMapKey === 'nav2-custom';
 const SAVED_GAZEBO_MAP_WORLD = !REAL_RUNTIME && viewerMapKey === 'nav2-saved-gazebo-map';
 const activeWorldModel = viewerMapKey === 'nav2-turtlebot3-house' ? 'turtlebot3_house' : 'turtlebot3_world';
@@ -493,6 +495,12 @@ const rosTopicStatusList = document.getElementById('rosTopicStatusList');
 	if (EDITOR_MODE) document.body.classList.add('editor-mode');
 	if (!EDITOR_MODE) document.body.classList.add(`nav2-${NAV2_VIEW_MODE}`);
 	if (REAL_RUNTIME) document.body.classList.add('real-runtime');
+  if (REAL_YAHBOOM_TELEOP && !EDITOR_MODE) {
+    document.body.classList.add('real-yahboom-teleop');
+    const hint = document.createElement('div');
+    hint.textContent = '키를 누르는 동안 이동 · 놓으면 정지';
+    document.getElementById('keyGuide')?.appendChild(hint);
+  }
 	if (EDITOR_MODE) responseWaitOverlay?.classList.add('is-hidden');

 let visualizationResponseReceived = EDITOR_MODE;
@@ -868,6 +876,7 @@ let laserFrontBeam = null;
 let slamSocket = null;
 let controlSocket = null;
 let latestSlamState = null;
+let latestSlamStateReceivedAt = 0;
 let currentRobotPose = { x:-2.0, y:-0.5, z:0.01, roll:0, pitch:0, yaw:0 };
 let targetRobotPose = { ...currentRobotPose };
 let hasRobotPose = false;
@@ -1385,6 +1394,42 @@ async function loadMkMiniModel(sdfPose = { x:0, y:0, z:0, roll:0, pitch:0, yaw:0
  sdfRoot.add(posePreviewModel);
 }

+async function loadYahboomModel(sdfPose) {
+  const gltf = await new GLTFLoader().loadAsync('./assets/yahboom-pi5.glb');
+  const robotGroup = new THREE.Group();
+  robotGroup.name = 'yahboom';
+  applySdfPose(robotGroup, sdfPose);
+  // GLB is meter-scaled Y-up; the viewer's SDF root expects ROS Z-up.
+  // The exported origin is already base_footprint, so do not recenter it.
+  gltf.scene.rotation.x = Math.PI / 2;
+  gltf.scene.traverse((child) => {
+    if (!child.isMesh) return;
+    child.castShadow = true;
+    // The world-scale shadow map causes self-shadow acne on small CAD parts.
+    child.receiveShadow = false;
+  });
+  robotGroup.add(gltf.scene);
+  sdfRoot.add(robotGroup);
+  robotModel = robotGroup;
+  robotModel.visible = shouldRenderRobot();
+  posePreviewModel = robotGroup.clone(true);
+  posePreviewModel.name = 'yahboom_pose_preview';
+  posePreviewModel.traverse((child) => {
+    if (!child.isMesh) return;
+    child.castShadow = false;
+    child.material = Array.isArray(child.material)
+      ? child.material.map((material) => material.clone()) : child.material.clone();
+    const materials = Array.isArray(child.material) ? child.material : [child.material];
+    for (const material of materials) {
+      material.transparent = true;
+      material.opacity = 0.38;
+      material.depthWrite = false;
+    }
+  });
+  posePreviewModel.visible = false;
+  sdfRoot.add(posePreviewModel);
+}
+
 function createMkMiniFrontWheelPivots(model) {
  const pivots = [];
  model.updateMatrixWorld(true);
@@ -1411,10 +1456,10 @@ const LASER_HOLE_R = 0.14;
 const LASER_RENDER_INTERVAL_MS = 100;
 const LASER_OPEN_SPACE_RAY_STRIDE = 4;
 const MINI_MAP_RENDER_INTERVAL_MS = 100;
-const LASER_OFFSET_X = USE_MKMINI_MODEL ? 0.15 : -0.032;
+const LASER_OFFSET_X = USE_MKMINI_MODEL ? 0.15 : USE_YAHBOOM_MODEL ? 0 : -0.032;
 const LASER_OFFSET_Y = 0;
 // Fallback height when an explicit ROS scan pose is unavailable.
-const LASER_Z = USE_MKMINI_MODEL ? 0.5 : 0.181;
+const LASER_Z = USE_MKMINI_MODEL ? 0.5 : USE_YAHBOOM_MODEL ? 0.124183557 : 0.181;
 const MKMINI_LASER_RENDER_BACKWARD_OFFSET = 0.03;

 function setRobotPose(pose) {
@@ -2010,10 +2055,10 @@ function setCameraPreviewAvailable(available) {
 }

 async function refreshCameraFrame() {
-  if (!ENABLE_CAMERA_PREVIEW || !REAL_RUNTIME || cameraFrameRequestInFlight) return;
+  if (!ENABLE_CAMERA_PREVIEW || cameraFrameRequestInFlight || document.hidden) return;
  cameraFrameRequestInFlight = true;
  try {
-    const response = await fetch(`${BACKEND_URL}/camera-frame`, { cache: 'no-store' });
+    const response = await fetch(`${BACKEND_URL}/camera-frame`, { cache: 'no-store', signal: AbortSignal.timeout(2000) });
    if (!response.ok) {
      setCameraPreviewAvailable(false);
      return;
@@ -2023,7 +2068,6 @@ async function refreshCameraFrame() {
    cameraFrameObjectUrl = nextUrl;
    if (cameraPreview) cameraPreview.src = nextUrl;
    if (previousUrl) URL.revokeObjectURL(previousUrl);
-    setCameraPreviewAvailable(true);
  } catch (_) {
    setCameraPreviewAvailable(false);
  } finally {
@@ -2031,6 +2075,9 @@ async function refreshCameraFrame() {
  }
 }

+cameraPreview?.addEventListener('load', () => setCameraPreviewAvailable(true));
+cameraPreview?.addEventListener('error', () => setCameraPreviewAvailable(false));
+
 function drawMiniMap(state) {
  pendingMiniMapState = state;
  if (miniMapRenderTimer) return;
@@ -3063,6 +3110,7 @@ renderer.domElement.addEventListener('click', async (event) => {

 function applySlamState(state) {
  latestSlamState = state;
+  latestSlamStateReceivedAt = Date.now();
  resetNavigationPoseForNewSession(state);
  restoreNavigationPoseFromState(state);
  updateNavigationLocalizationState(state);
@@ -3155,7 +3203,7 @@ if (SHOW_SENSOR_POINT_CLOUD && navigationSensorVisible) {
  void refreshSensorPointCloud();
  sensorPointCloudRefreshTimer = window.setInterval(() => void refreshSensorPointCloud(), 750);
 }
-if (ENABLE_CAMERA_PREVIEW && REAL_RUNTIME) {
+if (ENABLE_CAMERA_PREVIEW) {
  void refreshCameraFrame();
  cameraFrameRefreshTimer = window.setInterval(() => void refreshCameraFrame(), 200);
 }
@@ -3172,6 +3220,10 @@ function connectControlSocket() {
  if (!CONTROL_WS) return;
  controlSocket = new WebSocket(CONTROL_WS);
  controlSocket.addEventListener('close', () => {
+    if (REAL_YAHBOOM_TELEOP) {
+      activeMoveKey = null;
+      stopRobot();
+    }
    setTimeout(connectControlSocket, 1000);
  });
  controlSocket.addEventListener('error', () => {
@@ -3179,8 +3231,8 @@ function connectControlSocket() {
  });
 }

-let maxLinear = 0.22;
-let maxAngular = 2.84;
+let maxLinear = REAL_YAHBOOM_TELEOP ? 0.1 : 0.22;
+let maxAngular = REAL_YAHBOOM_TELEOP ? 0.5 : 2.84;
 let activeMoveKey = null;
 let teleopInterval = null;
 let singleMoveStopTimer = null;
@@ -3204,12 +3256,19 @@ const speedBindings = {
 };

 function canUseTeleop(event) {
-  if (REAL_RUNTIME) return false;
+  if (REAL_RUNTIME && (!REAL_YAHBOOM_TELEOP || !realTeleopReady())) return false;
  if (!document.hasFocus()) return false;
+  if (document.hidden || event.ctrlKey || event.altKey || event.metaKey || event.target?.isContentEditable) return false;
  const tag = event.target?.tagName?.toLowerCase();
  return !['input', 'textarea', 'select', 'button'].includes(tag);
 }

+function realTeleopReady() {
+  return latestSlamState?.teleop_deadman === true
+    && Date.now() - latestSlamStateReceivedAt < 1000
+    && controlSocket?.readyState === WebSocket.OPEN;
+}
+
 function flushQueuedCmdVel() {
  if (cmdVelRequestInFlight || !queuedCmdVel) return;
  const command = queuedCmdVel;
@@ -3236,6 +3295,20 @@ function flushQueuedCmdVel() {

 function sendCmdVel(linear, angular) {
  const payload = { type:'cmd_vel', linear, angular };
+  if (REAL_YAHBOOM_TELEOP) {
+    // Never queue physical motion for replay after a connection recovers.
+    if (!controlSocket || controlSocket.readyState !== WebSocket.OPEN) return;
+    if ((linear || angular) && !realTeleopReady()) return;
+    payload.deadman = true;
+    payload.linear = Math.max(-0.1, Math.min(0.1, linear));
+    payload.angular = Math.max(-0.5, Math.min(0.5, angular));
+    if (controlSocket.bufferedAmount > 0) {
+      controlSocket.close();
+      return;
+    }
+    controlSocket.send(JSON.stringify(payload));
+    return;
+  }
  if (controlSocket?.readyState === WebSocket.OPEN) {
    controlSocket.send(JSON.stringify(payload));
    return;
@@ -3289,6 +3362,11 @@ function stopRobot() {

 function sendActiveMoveCommand() {
  if (!activeMoveKey) return;
+  if (REAL_YAHBOOM_TELEOP && (!realTeleopReady() || document.hidden || !document.hasFocus())) {
+    activeMoveKey = null;
+    stopRobot();
+    return;
+  }
  const [linearSign, angularSign] = moveBindings[activeMoveKey];
  if (linearSign === 0 && angularSign === 0) return;

@@ -3340,6 +3418,7 @@ window.addEventListener('keydown', (event) => {

  if (speedBindings[key]) {
    event.preventDefault();
+    if (REAL_YAHBOOM_TELEOP) return;
    const [linearScale, angularScale] = speedBindings[key];
    maxLinear = Math.max(0.01, maxLinear * linearScale);
    maxAngular = Math.max(0.1, maxAngular * angularScale);
@@ -3355,6 +3434,11 @@ window.addEventListener('keydown', (event) => {
    stopRobot();
    return;
  }
+  if (REAL_YAHBOOM_TELEOP) {
+    activeMoveKey = key;
+    startActiveMoveCommand();
+    return;
+  }
  if (USE_MKMINI_MODEL && !REAL_RUNTIME && (key === 'j' || key === 'l')) {
    activeMoveKey = key;
    sendActiveMoveCommand();
@@ -3370,6 +3454,11 @@ window.addEventListener('keydown', (event) => {
 });

 window.addEventListener('keyup', (event) => {
+  if (REAL_YAHBOOM_TELEOP && event.key.toLowerCase() === activeMoveKey) {
+    activeMoveKey = null;
+    stopRobot();
+    return;
+  }
  if (!canUseTeleop(event)) return;
  const key = event.key.toLowerCase();
  if (moveBindings[key]) event.preventDefault();
@@ -3381,6 +3470,14 @@ window.addEventListener('blur', () => {
  stopRobot();
 });

+function releaseRealTeleop() {
+  if (!REAL_YAHBOOM_TELEOP || !activeMoveKey) return;
+  activeMoveKey = null;
+  stopRobot();
+}
+document.addEventListener('visibilitychange', () => { if (document.hidden) releaseRealTeleop(); });
+window.addEventListener('pagehide', releaseRealTeleop);
+
 // A static Gazebo model can contain assets that the browser cannot render.
 // Keep the ROS stream available even when the decorative world mesh fails.
 const worldSceneTasks = CUSTOM_WORLD || SAVED_GAZEBO_MAP_WORLD || REAL_RUNTIME
@@ -3389,7 +3486,7 @@ const worldSceneTasks = CUSTOM_WORLD || SAVED_GAZEBO_MAP_WORLD || REAL_RUNTIME
 const remoteNavigationSceneTasks = [];
 Promise.all(EDITOR_MODE
  ? worldSceneTasks
-  : [...worldSceneTasks, ...remoteNavigationSceneTasks, (USE_MKMINI_MODEL ? loadMkMiniModel : loadBurgerModel)({ ...DEFAULT_SIMULATION_SPAWN, z:0.01, roll:0, pitch:0, yaw:0 })]
+  : [...worldSceneTasks, ...remoteNavigationSceneTasks, (USE_YAHBOOM_MODEL ? loadYahboomModel : 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' }, '*');
@@ -1437,7 +1437,13 @@ function LocalPcWorkspaceMockup({
        ?.slice('platform:='.length)
        .trim()
        .toLowerCase()
-      if (!value) return null
+      if (!value) {
+        // The Yahboom vehicle publishes its platform through /vehicle_config,
+        // so its module parameters need not include platform:=yahboom.
+        return /^\[lms-nav2-yahboom-vehicle\]yahboom_vehicle_v[^/]+_ws$/.test(module?.folderName ?? '')
+          ? 'yahboom'
+          : null
+      }
      return value === 'mk-mini' ? 'mkmini' : value
    }

@@ -258,6 +258,7 @@ interface Window {
 	    }>
  }
  localWorkspace: {
+    onModuleProgress?: (callback: (folderName: string, message: string) => void) => () => void
    docker: {
      status: () => Promise<{ status: 'ready' | 'missing' | 'permission' | 'unavailable' | 'error'; platform: string }>
      openGuide: () => Promise<void>
@@ -5,6 +5,7 @@ import type React from 'react'
 import { createPortal } from 'react-dom'

 export type ModuleListRowItem = {
+  folderName?: string | null
  state: 'running' | 'stopped' | 'uninstalled'
  category: string
  name: string
@@ -181,6 +182,11 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
 }: ModuleListRowProps<Module>): React.JSX.Element {
  const selectable = module.state !== 'uninstalled'
  const busy = installing || controlling
+  const [progress, setProgress] = useState('')
+  useEffect(() => window.localWorkspace?.onModuleProgress?.((folderName, message) => {
+    if (folderName === (module.folderName || module.name)) setProgress(message)
+  }), [module.folderName, module.name])
+  useEffect(() => { if (!busy) setProgress('') }, [busy])
  const stateStyle: Record<ModuleListRowItem['state'], string> = {
    running: dark ? 'bg-[#12372d] text-[#72e2b5]' : 'bg-[#dff8ed] text-[#177553]',
    stopped: dark ? 'bg-white/8 text-white/45' : 'bg-[#edf0f5] text-[#687284]',
@@ -278,6 +284,12 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
          {module.parameters.length ? module.parameters.join('  ') : '파라미터 설정'}
        </button>
      </span>
+      {busy ? (
+        <span role="status" className={['col-span-3 flex min-w-0 items-center justify-center gap-2 px-2 text-[11px]', dark ? 'text-white/65' : 'text-[#687284]'].join(' ')}>
+          <RefreshCw size={12} className="shrink-0 animate-spin" />
+          <span className="truncate" title={progress}>{progress || (installing ? '모듈 설치 중...' : '모듈 작업 준비 중...')}</span>
+        </span>
+      ) : <>
      <span className="flex items-center justify-center gap-1.5">
        {module.cpu === null ? (
          <span className={dark ? 'text-white/28' : 'text-[#a0a7b4]'}>-</span>
@@ -309,6 +321,7 @@ export default function ModuleListRow<Module extends ModuleListRowItem>({
      <span className={['text-center', module.runtime === '-' ? (dark ? 'text-white/28' : 'text-[#a0a7b4]') : (dark ? 'font-mono text-white/58' : 'font-mono text-[#687284]')].join(' ')}>
        {module.runtime}
      </span>
+      </>}
      <span className="flex justify-center gap-1.5">
        {selectable && (
          <button
@@ -512,7 +512,18 @@ const moduleGuidePages = [
    ]
  },
  {
-    environment: '원격 플랫폼',
+    environment: '원격 플랫폼(Yahboom Car)',
+    imageAlt: '야붐 실차 모듈 가이드',
+    imageSrc: './assets/images/module-guide-yahboom.png',
+    slamModules: ['NAV2-Yahboom-Agent', 'NAV2-Yahboom', 'NAV2-Yahboom-Slam'],
+    navigationModules: ['NAV2-Yahboom-Agent', 'NAV2-Yahboom', 'NAV2-Yahboom-Map', 'NAV2-Yahboom-Localization', 'NAV2-Yahboom-Planning', 'NAV2-Yahboom-Control'],
+    parameters: [
+      ['NAV2-Yahboom', 'sim_mode:=false'],
+      ['Agent', 'serial_device:=/dev/ttyUSB0, baudrate:=921600']
+    ]
+  },
+  {
+    environment: '원격 플랫폼(MK-mini)',
    imageAlt: '원격 플랫폼 환경 모듈 가이드',
    imageSrc: './assets/images/module-guide-remote-platform.png',
    slamModules: ['NAV2-MKMini', 'NAV2-Perception', 'NAV2-SLAM'],
@@ -524,7 +535,7 @@ const moduleGuidePages = [
    ]
  },
  {
-    environment: '원격 플랫폼 3D',
+    environment: '원격 플랫폼 3D(MK-mini)',
    imageAlt: '원격 3D SLAM 환경 모듈 가이드',
    imageSrc: './assets/images/module-guide-remote-3d.png',
    slamModules: ['NAV2-MKMini', 'NAV2-Perception3D', 'NAV2-SLAM3D'],
@@ -0,0 +1,52 @@
+const assert = require('node:assert/strict');
+const fs = require('node:fs');
+const vm = require('node:vm');
+const path = require('node:path');
+const html = fs.readFileSync(path.join(__dirname, '../src/renderer/public/slam-viewer/index.html'), 'utf8');
+const code = html.slice(html.indexOf('let maxLinear ='), html.indexOf('// A static Gazebo model'));
+function create(real = true, yahboom = true) {
+  const handlers = {}, messages = [], intervals = new Map();
+  let id = 0;
+  const context = vm.createContext({
+    REAL_RUNTIME: real, USE_YAHBOOM_MODEL: yahboom, REAL_YAHBOOM_TELEOP: real && yahboom,
+    USE_MKMINI_MODEL: !yahboom, DIRECT_BRIDGE: true,
+    latestSlamState: {teleop_deadman: true}, latestSlamStateReceivedAt: Date.now(),
+    controlSocket: {readyState: 1, bufferedAmount: 0, send: data => messages.push(JSON.parse(data)), close() {this.readyState = 3;}},
+    WebSocket: {OPEN: 1}, document: {hidden: false, hasFocus: () => true, addEventListener: (name, fn) => handlers[name] = fn},
+    window: {addEventListener: (name, fn) => handlers[name] = fn,
+      setInterval: fn => {intervals.set(++id, fn); return id;}, clearInterval: id => intervals.delete(id),
+      setTimeout: () => ++id, clearTimeout: () => {}},
+    console, Date,
+  });
+  vm.runInContext(code, context);
+  const key = (type, value, extra = {}) => handlers[type]({key: value, target: {tagName: 'CANVAS'}, preventDefault() {}, ...extra});
+  return {context, handlers, messages, intervals, key};
+}
+let t = create();
+t.key('keydown', 'i');
+assert.equal(t.messages.at(-1).linear, 0.1);
+assert.equal(t.messages.at(-1).deadman, true);
+t.key('keyup', 'i', {target: {tagName: 'INPUT'}});
+assert.equal(t.messages.at(-1).linear, 0);
+assert.equal(t.intervals.size, 0);
+for (const key of ['j', 'l', ',', 'u', 'o', 'm', '.']) {
+  t.key('keydown', key); t.key('keyup', key);
+  assert.equal(t.messages.at(-1).linear, 0);
+  assert.equal(t.messages.at(-1).angular, 0);
+}
+t.key('keydown', 'i'); t.handlers.blur();
+assert.equal(t.messages.at(-1).linear, 0);
+t.key('keydown', 'i'); t.context.document.hidden = true; t.handlers.visibilitychange();
+assert.equal(t.messages.at(-1).linear, 0);
+t = create();
+t.key('keydown', 'i'); t.context.latestSlamStateReceivedAt = 0;
+for (const tick of t.intervals.values()) tick();
+assert.equal(t.messages.at(-1).linear, 0);
+assert.equal(t.intervals.size, 0);
+t = create(); t.context.latestSlamState.teleop_deadman = false; t.key('keydown', 'i');
+assert.equal(t.messages.length, 0);
+t = create(true, false); t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
+t = create(false); t.key('keydown', 'i'); t.key('keyup', 'i');
+assert.equal(t.messages.at(-1).linear, 0.22);
+assert.equal(t.intervals.size, 1);
+console.log('PASS: deadman release, focus/visibility/stale-state stops, legacy bridge and other real vehicles blocked, simulation unchanged');