(fix) bug remote workspace ssh..

package.json

@@ -1,6 +1,6 @@
 {
   "name": "lms",
-  "version": "1.1.18",
+  "version": "1.1.19",
   "description": "Autonomy Studio LMS Electron app",
   "main": "./out/main/index.js",
   "author": {

src/main/index.ts

@@ -22,6 +22,8 @@ const terminalStopTimers = new Map<string, NodeJS.Timeout>()
 const intentionalTerminalStops = new Set<string>()
 const nav2RuntimeObstacleNames = new Set<string>()
 const remoteSshQueues = new Map<string, Promise<void>>()
+const remoteGitModuleRoots = new Map<string, string>()
+const remoteSshControlDirectory = resolve(homedir(), '.autonomy-studio', 'ssh', 'control')
 const moduleCacheRoot = resolve(homedir(), '.caches')
 const artifactCacheRoot = resolve(homedir(), '.cache', 'autonomy-studio', 'artifacts')
 const studioRuntimeRoot = resolve(homedir(), 'autonomy-studio', 'runtime')
@@ -367,6 +369,19 @@ function normalizeWorldLayout(value: unknown): WorldLayout {
   return { version: 1, bounds: { width: size(bounds.width, 10), depth: size(bounds.depth, 10) }, objects }
 }
 
+function isSavedMapCollisionObject(object: WorldLayoutObject): boolean {
+  return /^saved-(?:map-obstacle|3d-map-voxel)-/i.test(object.id)
+}
+
+// Saved-map collision layouts used to be copied into world-layout.json. Keep
+// that file exclusively for the custom map and discard only those old generated
+// objects while preserving any user-created objects that may coexist there.
+function normalizeCustomWorldLayout(value: unknown): WorldLayout {
+  const layout = normalizeWorldLayout(value)
+  const objects = layout.objects.filter((object) => !isSavedMapCollisionObject(object))
+  return objects.length === layout.objects.length ? layout : { ...layout, objects }
+}
+
 function worldLayoutPath(workspaceRoot?: string | null): string {
   const root = expandUserPath(workspaceRoot)
   if (!root) throw new Error('워크스페이스 경로가 설정되어 있지 않습니다.')
@@ -527,7 +542,6 @@ async function generateWorkspaceMapCollisionLayout(workspaceRoot: string | null
   const layout = createMapCollisionLayout(await readFile(yamlFilePath, 'utf8'), await readFile(pgmFilePath))
   await mkdir(mapsDirectory, { recursive: true })
   await writeJsonAtomically(resolve(mapsDirectory, savedMapCollisionLayoutFileName(yamlFileName)), layout)
-  await writeJsonAtomically(worldLayoutPath(root), layout)
   return layout
 }
 
@@ -681,7 +695,6 @@ async function generateWorkspacePointCloudCollisionLayout(
       && cached.source.modifiedAtMs === sourceStat.mtimeMs
       && cached.layout) {
       const layout = normalizeWorldLayout(cached.layout)
-      await writeJsonAtomically(worldLayoutPath(root), layout)
       return layout
     }
   } catch {
@@ -697,7 +710,6 @@ async function generateWorkspacePointCloudCollisionLayout(
     source: { fileName: databaseFileName, size: sourceStat.size, modifiedAtMs: sourceStat.mtimeMs },
     layout,
   } satisfies PointCloudLayoutCache)
-  await writeJsonAtomically(worldLayoutPath(root), layout)
   return layout
 }
 
@@ -1365,7 +1377,7 @@ async function collectRemoteAvailableModules(
       }
     })
     .sort((a, b) => a.sortOrder - b.sortOrder)
-  const output = await runSshOutput(targetInput ?? target, buildRemoteModuleProbeScript(target.workspaceRoot, moduleInputs), 15000)
+  const output = await runSshOutput(targetInput ?? target, buildRemoteModuleProbeScript(target.workspaceRoot, moduleInputs), 30_000)
   const dockerStatuses = new Map<string, { running: boolean; exists: boolean; status: string }>()
   const dockerStats = new Map<string, { cpu: number; memory: number }>()
   const installedModules = new Map<string, { path: string; parameters: string[] }>()
@@ -1843,6 +1855,7 @@ async function queueRemoteSsh<T>(target: ReturnType<typeof normalizeRemoteTarget
 
 async function runSshOutput(target: RemoteWorkspaceTarget, command: string, timeoutMs = 120_000): Promise<string> {
   const normalized = normalizeRemoteTarget(target)
+  await mkdir(remoteSshControlDirectory, { recursive: true })
   return queueRemoteSsh(normalized, () => runCommandOutput(
       'ssh',
       [
@@ -1854,6 +1867,18 @@ async function runSshOutput(target: RemoteWorkspaceTarget, command: string, time
         'StrictHostKeyChecking=accept-new',
         '-o',
         'ConnectTimeout=5',
+        '-o',
+        'PreferredAuthentications=publickey',
+        '-o',
+        'PasswordAuthentication=no',
+        '-o',
+        'KbdInteractiveAuthentication=no',
+        '-o',
+        'ControlMaster=auto',
+        '-o',
+        'ControlPersist=120',
+        '-o',
+        `ControlPath=${join(remoteSshControlDirectory, 'cm-%C')}`,
         '-i',
         normalized.identityFile,
         `${normalized.user}@${normalized.host}`,
@@ -2123,10 +2148,10 @@ function buildRemoteModuleProbeScript(workspaceRoot: string, modules: CourseModu
     'set +e',
     `ROOT=${quoteShellSingle(workspaceRoot)}`,
     ...expandRemotePathVar('ROOT'),
-    'timeout 12s docker ps -a --format "DOCKER\\t{{.Names}}\\t{{.Status}}" 2>/dev/null || true',
+    'timeout 5s docker ps -a --format "DOCKER\\t{{.Names}}\\t{{.Status}}" 2>/dev/null || true',
     // docker stats can stall on a remote Jetson. Module state must not wait
     // behind a long statistics sample.
-    'timeout 3s docker stats --no-stream --format "STATS\\t{{.Name}}\\t{{.CPUPerc}}\\t{{.MemPerc}}" 2>/dev/null || true',
+    'timeout 2s docker stats --no-stream --format "STATS\\t{{.Name}}\\t{{.CPUPerc}}\\t{{.MemPerc}}" 2>/dev/null || true',
     ...moduleFolders.map((folderName) => {
       const modulePath = remotePathJoin('$ROOT', folderName)
       return [
@@ -2344,6 +2369,9 @@ async function resolveRemoteGitModuleRoot(
 ): Promise<{ target: ReturnType<typeof normalizeRemoteTarget>; moduleRoot: string }> {
   const target = normalizeRemoteTarget(targetInput)
   const targetFolderName = folderName?.trim() || moduleName
+  const cacheKey = `${target.user}@${target.host}:${target.port}:${target.workspaceRoot}:${targetFolderName}`
+  const cachedModuleRoot = remoteGitModuleRoots.get(cacheKey)
+  if (cachedModuleRoot) return { target, moduleRoot: cachedModuleRoot }
   const output = await runSshOutput(target, [
     'set -e',
     `ROOT=${quoteShellSingle(target.workspaceRoot)}`,
@@ -2356,6 +2384,7 @@ async function resolveRemoteGitModuleRoot(
   ].join('\n'), 8000)
   const moduleRoot = output.trim()
   if (!moduleRoot) throw new Error('원격 Git 저장소를 찾을 수 없습니다.')
+  remoteGitModuleRoots.set(cacheKey, moduleRoot)
   return { target, moduleRoot }
 }
 
@@ -3347,6 +3376,7 @@ async function startVisualizationBridge(
   environmentProfile?: EnvironmentProfileConfig | null,
   rosNetwork?: RosNetworkConfig | null,
   savedMapDatabasePath?: string | null,
+  savedMapWorldLayoutPath?: string | null,
 ): Promise<VisualizationBridgeStatus> {
   const stack = normalizeVisualizationStack(stackInput ?? environmentProfile?.type?.toLowerCase())
   const resolvedProfile = withRuntimeProfileDefaults(environmentProfile, stack)
@@ -3358,6 +3388,25 @@ async function startVisualizationBridge(
   const usesSlamBridge = stack === 'slam' || stack === 'slam3d' || stack === 'nav2'
   const layoutWorkspaceRoot = usesSlamBridge ? expandUserPath(workspaceRoot) : null
   if (layoutWorkspaceRoot) await mkdir(resolve(layoutWorkspaceRoot, 'maps'), { recursive: true })
+  const savedMapWorldLayoutFileName = savedMapWorldLayoutPath
+    ? safeSavedMapFileName(basename(savedMapWorldLayoutPath))
+    : null
+  const requestedWorldLayoutPath = savedMapWorldLayoutFileName
+    ? `/workspace/maps/${savedMapWorldLayoutFileName}`
+    : '/workspace/world-layout.json'
+  if (layoutWorkspaceRoot && !savedMapWorldLayoutFileName) {
+    const customLayoutPath = worldLayoutPath(layoutWorkspaceRoot)
+    try {
+      const currentLayout = await readFile(customLayoutPath, 'utf8')
+      const parsedLayout = JSON.parse(currentLayout)
+      const normalizedLayout = normalizeCustomWorldLayout(parsedLayout)
+      if (JSON.stringify(normalizedLayout) !== JSON.stringify(parsedLayout)) {
+        await writeJsonAtomically(customLayoutPath, normalizedLayout)
+      }
+    } catch (error) {
+      if ((error as NodeJS.ErrnoException).code !== 'ENOENT') throw error
+    }
+  }
   const requestedRosDomainId = String(rosDomainId ?? process.env.ROS_DOMAIN_ID ?? '0').trim() || '0'
   const requestedRosNetworkKey = rosNetworkEnabled(rosNetwork)
     ? `peer:${rosNetwork?.peer?.host?.trim() ?? ''}`
@@ -3384,10 +3433,16 @@ async function startVisualizationBridge(
       const runningWorkspaceRoot = layoutWorkspaceRoot
         ? await readContainerMountSource(containerName, '/workspace')
         : null
+      const runningWorldLayoutPath = layoutWorkspaceRoot
+        ? await readContainerEnvironmentValue(containerName, 'WORLD_LAYOUT_PATH')
+        : null
       if (response?.ok
         && (!runningRosDomainId || runningRosDomainId === requestedRosDomainId)
         && runningRosNetworkKey === requestedRosNetworkKey
-        && (!layoutWorkspaceRoot || runningWorkspaceRoot === resolve(layoutWorkspaceRoot))) {
+        && (!layoutWorkspaceRoot || (
+          runningWorkspaceRoot === resolve(layoutWorkspaceRoot)
+          && runningWorldLayoutPath === requestedWorldLayoutPath
+        ))) {
         return readVisualizationBridgeStatus()
       }
       await runCommand('docker', ['rm', '-f', containerName], undefined, undefined, 10000).catch(() => undefined)
@@ -3448,7 +3503,7 @@ async function startVisualizationBridge(
     if (layoutWorkspaceRoot) {
       args.push(
         '-v', `${layoutWorkspaceRoot}:/workspace`,
-        '-e', 'WORLD_LAYOUT_PATH=/workspace/world-layout.json',
+        '-e', `WORLD_LAYOUT_PATH=${requestedWorldLayoutPath}`,
         '-e', 'SAVED_MAPS_PATH=/workspace/maps',
         '-e', 'RTABMAP_DATABASE_PATH=/workspace/maps/rtabmap-active.db',
       )
@@ -5804,7 +5859,7 @@ function registerLocalWorkspaceHandlers(): void {
   ipcMain.handle('local-workspace:world-layout:read', async (_event, workspaceRoot?: string | null) => {
     const targetPath = worldLayoutPath(workspaceRoot)
     try {
-      return normalizeWorldLayout(JSON.parse(await readFile(targetPath, 'utf8')))
+      return normalizeCustomWorldLayout(JSON.parse(await readFile(targetPath, 'utf8')))
     } catch (error) {
       const code = (error as NodeJS.ErrnoException).code
       if (code === 'ENOENT') return defaultWorldLayout()
@@ -5902,7 +5957,7 @@ function registerLocalWorkspaceHandlers(): void {
     return { ok: true }
   })
   ipcMain.handle('local-workspace:visualization:status', () => readVisualizationBridgeStatus())
-  ipcMain.handle('local-workspace:visualization:start', (_event, stack?: string | null, workspaceRoot?: string | null, rosDomainId?: string | null, environmentProfile?: EnvironmentProfileConfig | null, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null) => startVisualizationBridge(stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork, savedMapDatabasePath))
+  ipcMain.handle('local-workspace:visualization:start', (_event, stack?: string | null, workspaceRoot?: string | null, rosDomainId?: string | null, environmentProfile?: EnvironmentProfileConfig | null, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null, savedMapWorldLayoutPath?: string | null) => startVisualizationBridge(stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork, savedMapDatabasePath, savedMapWorldLayoutPath))
   ipcMain.handle('local-workspace:visualization:stop', (_event, environmentProfile?: EnvironmentProfileConfig | null) => stopVisualizationBridge(environmentProfile))
   ipcMain.handle('local-workspace:git:status', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, selectedFilePath?: string | null) => readWorkspaceGitStatus(moduleName, workspaceRoot, folderName, selectedFilePath))
   ipcMain.handle('local-workspace:git:submit', (_event, moduleName: string, workspaceRoot?: string | null, folderName?: string | null, message?: string | null, authorName?: string | null, authorEmail?: string | null, submissionId?: string | null, repositoryUrl?: string | null) => submitWorkspaceGitChanges(moduleName, workspaceRoot, folderName, message, authorName, authorEmail, submissionId, repositoryUrl))

src/preload/index.ts

@@ -226,7 +226,7 @@ contextBridge.exposeInMainWorld('localWorkspace', {
   },
   visualization: {
     status: () => ipcRenderer.invoke('local-workspace:visualization:status'),
-    start: (stack?: 'autoware' | 'nav2' | 'slam' | 'slam3d', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null) => ipcRenderer.invoke('local-workspace:visualization:start', stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork, savedMapDatabasePath),
+    start: (stack?: 'autoware' | 'nav2' | 'slam' | 'slam3d', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null, savedMapWorldLayoutPath?: string | null) => ipcRenderer.invoke('local-workspace:visualization:start', stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork, savedMapDatabasePath, savedMapWorldLayoutPath),
     stop: (environmentProfile?: unknown) => ipcRenderer.invoke('local-workspace:visualization:stop', environmentProfile)
   },
   git: {

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

@@ -582,7 +582,15 @@ controls.mouseButtons = {
   MIDDLE: THREE.MOUSE.ROTATE,
   RIGHT: THREE.MOUSE.DOLLY,
 };
-renderer.domElement.addEventListener('contextmenu', (e) => e.preventDefault());
+renderer.domElement.addEventListener('contextmenu', (event) => {
+  event.preventDefault();
+  if (!obstaclePlacementMode) return;
+  obstaclePlacementMode = false;
+  obstacleToggleButton.classList.remove('active');
+  obstacleToggleButton.setAttribute('aria-pressed', 'false');
+  hideObstaclePreview();
+  focusViewer();
+});
 controls.enableDamping = true;
 controls.dampingFactor = 0.08;
 controls.target.set(0, 0, 0);
@@ -2706,7 +2714,7 @@ function createObstaclePreviewTemplate() {
     yaw: (Math.floor(Math.random() * 4) * Math.PI) / 2,
     length: 0.7 + Math.random() * 0.9,
     depth: 0.16,
-    height: 0.52,
+    height: 1.0,
   };
 }
 

src/renderer/src/App.tsx

@@ -29,6 +29,7 @@ import RecentSessionModal from './features/platforms/RecentSessionModal'
 import type { RecentSessionItem } from './features/platforms/RecentSessionModal'
 import { connectPlatformControl, extendPlatformControl, fetchPlatformStatuses, getPlatformDotClass, isPlatformUnavailable, releasePlatformControl, requestOrCancelPlatformControl } from './features/platforms/platformControl'
 import type { PlatformControlGrantedPayload, PlatformControlTerminatedPayload, PlatformControlWarningPayload } from './features/platforms/platformControl'
+import type { PlatformConnectResponse } from './features/platforms/platformControl'
 import type { EnvironmentProfile, PlatformControlActionResponse, PlatformOption, StudioSourceSettings } from './features/platforms/types'
 import WorkspaceActivityHeader from './features/workspace/WorkspaceActivityHeader'
 import WorkspaceEmptyModuleState from './features/workspace/WorkspaceEmptyModuleState'
@@ -44,7 +45,7 @@ import WorkspaceModuleTabContextMenu from './features/workspace/WorkspaceModuleT
 import ModuleListView from './features/workspace/ModuleListView'
 import WorkspaceRosConnectionsView from './features/workspace/WorkspaceRosConnectionsView'
 import WorldEditorModal from './features/workspace/WorldEditorModal'
-import WorldMapSelectorModal, { NAV2_MAP_OPTIONS, WorldMapRestartConfirmModal, type SavedMapRuntimeKind, type WorkspaceMapOption, type WorkspaceMapScope } from './features/workspace/WorldMapSelectorModal'
+import WorldMapSelectorModal, { NAV2_MAP_OPTIONS, WorldMapRestartConfirmModal, type SavedMapRuntimeKind, type WorkspaceMapOption } from './features/workspace/WorldMapSelectorModal'
 import WorkspaceQaPanel from './features/workspace/WorkspaceQaPanel'
 import WorkspaceSettingsView from './features/workspace/WorkspaceSettingsView'
 import WorkspaceSourceControlView from './features/workspace/WorkspaceSourceControlView'
@@ -803,16 +804,13 @@ function LocalPcWorkspaceMockup({
   const sessionMapStorageKey = `atnmy:lms:map-session:${studentSlug}:${courseKey}:week-${weekNumber}:selected`
   const simulationMapStorageKey = `atnmy:lms:map-session:${studentSlug}:${courseKey}:week-${weekNumber}:simulation`
   const platformMapStorageKey = `atnmy:lms:map-session:${studentSlug}:${courseKey}:week-${weekNumber}:platform`
-  const [selectedSimulationMapKey, setSelectedSimulationMapKey] = useState(() => (
+  const [selectedWorldMapKey, setSelectedWorldMapKey] = useState(() => {
-    window.localStorage.getItem(simulationMapStorageKey)
+    const stored = window.localStorage.getItem(sessionMapStorageKey)
-      ?? window.localStorage.getItem(sessionMapStorageKey)
+      ?? window.localStorage.getItem(simulationMapStorageKey)
-      ?? 'nav2-turtlebot3-world'
+      ?? window.localStorage.getItem(platformMapStorageKey)
-  ))
+    if (stored === 'nav2-platform-slam') return 'nav2-platform-slam-2d'
-  const [selectedPlatformMapKey, setSelectedPlatformMapKey] = useState(() => (
+    return stored?.replace(/:simulation$/, '') ?? 'nav2-turtlebot3-world'
-    window.localStorage.getItem(platformMapStorageKey)
+  })
-      ?? window.localStorage.getItem(sessionMapStorageKey)
-      ?? 'nav2-platform-slam-2d'
-  ))
   const [savedSlamMaps, setSavedSlamMaps] = useState<WorkspaceMapOption[]>([])
   const [savedSlamMapsLoaded, setSavedSlamMapsLoaded] = useState(false)
   const [worldLayoutVersion, setWorldLayoutVersion] = useState(0)
@@ -861,6 +859,7 @@ function LocalPcWorkspaceMockup({
       .map((map) => ({
         ...map,
         key: `${map.key}:simulation`,
+        selectionKey: map.key,
         description: '저장된 SLAM 결과 맵',
         worldFile: 'empty_world.world',
         scope: 'simulation' as const,
@@ -874,6 +873,9 @@ function LocalPcWorkspaceMockup({
       return true
     })
   }, [curriculumWeek.maps, savedSlamMaps])
+  const selectableWorldMaps = useMemo(() => (
+    sessionWorldMaps.filter((map) => !map.selectionKey)
+  ), [sessionWorldMaps])
   const simulationWorldMaps = useMemo(() => (
     sessionWorldMaps.filter((map) => map.scope === 'simulation')
   ), [sessionWorldMaps])
@@ -881,41 +883,41 @@ function LocalPcWorkspaceMockup({
     sessionWorldMaps.filter((map) => map.scope === 'platform')
   ), [sessionWorldMaps])
   useEffect(() => {
-    const legacyMapKey = window.localStorage.getItem(sessionMapStorageKey)
+    const normalizeMapKey = (key: string | null): string | null => {
-    const normalizeMapKey = (key: string | null, scope: WorkspaceMapScope): string | null => {
+      if (key === 'nav2-platform-slam') return 'nav2-platform-slam-2d'
-      if (key === 'nav2-platform-slam') return scope === 'platform' ? 'nav2-platform-slam-2d' : null
+      return key?.replace(/:simulation$/, '') ?? null
-      return key
     }
-    const resolveSelection = (
+    const stored = normalizeMapKey(
-      scope: WorkspaceMapScope,
+      window.localStorage.getItem(sessionMapStorageKey)
-      current: string,
+        ?? window.localStorage.getItem(simulationMapStorageKey)
-      storageKey: string,
+        ?? window.localStorage.getItem(platformMapStorageKey),
-      maps: WorkspaceMapOption[],
+    )
-      fallback: string,
+    setSelectedWorldMapKey((current) => {
-    ): string => {
+      const requested = normalizeMapKey(current) ?? stored
-      const stored = normalizeMapKey(window.localStorage.getItem(storageKey) ?? legacyMapKey, scope)
-      const requested = normalizeMapKey(current, scope) ?? stored
       if (!savedSlamMapsLoaded && requested?.startsWith('saved-slam-')) return current
-      const next = maps.some((map) => map.key === requested)
+      const next = selectableWorldMaps.some((map) => map.key === requested)
         ? requested!
-        : maps.some((map) => map.key === stored)
+        : selectableWorldMaps.some((map) => map.key === stored)
           ? stored!
-          : maps.find((map) => map.key === fallback)?.key ?? maps[0]?.key ?? fallback
+          : selectableWorldMaps.find((map) => map.key === 'nav2-turtlebot3-world')?.key
-      window.localStorage.setItem(storageKey, next)
+            ?? selectableWorldMaps[0]?.key
+            ?? 'nav2-turtlebot3-world'
+      window.localStorage.setItem(sessionMapStorageKey, next)
       return next
-    }
+    })
-    setSelectedSimulationMapKey((current) => resolveSelection(
+  }, [platformMapStorageKey, savedSlamMapsLoaded, selectableWorldMaps, sessionMapStorageKey, simulationMapStorageKey])
-      'simulation', current, simulationMapStorageKey, simulationWorldMaps, 'nav2-turtlebot3-world',
+  const selectedWorldMap = useMemo(() => {
-    ))
+    const localSimulationMapKey = `${selectedWorldMapKey}:simulation`
-    setSelectedPlatformMapKey((current) => resolveSelection(
+    return (!remoteWorkspace
-      'platform', current, platformMapStorageKey, platformWorldMaps, 'nav2-platform-slam-2d',
+      ? sessionWorldMaps.find((map) => map.key === localSimulationMapKey)
-    ))
+      : undefined)
-  }, [platformMapStorageKey, platformWorldMaps, savedSlamMapsLoaded, sessionMapStorageKey, simulationMapStorageKey, simulationWorldMaps])
+      ?? sessionWorldMaps.find((map) => map.key === selectedWorldMapKey)
-  const selectedWorldMapKey = remoteWorkspace ? selectedPlatformMapKey : selectedSimulationMapKey
+      ?? selectableWorldMaps.find((map) => map.key === 'nav2-turtlebot3-world')
-  const selectedWorldMap = sessionWorldMaps.find((map) => map.key === selectedWorldMapKey)
+      ?? selectableWorldMaps[0]
-    ?? (remoteWorkspace ? platformWorldMaps[0] : simulationWorldMaps[0])
+      ?? NAV2_MAP_OPTIONS[0]
+  }, [remoteWorkspace, selectableWorldMaps, selectedWorldMapKey, sessionWorldMaps])
   const prepareVisualizationSavedMapRef = useRef<(
-    () => Promise<{ savedMapDatabasePath?: string }>
+    () => Promise<{ savedMapDatabasePath?: string; savedMapWorldLayoutPath?: string }>
   ) | null>(null)
   const savedMapRunsInSimulation = !remoteWorkspace
     && selectedWorldMap?.saved === true
@@ -2491,7 +2493,7 @@ function LocalPcWorkspaceMockup({
     saveDirtyFilesForModule,
     onRegisterStopRunningModules
   })
-  const prepareSavedMap = useCallback(async (): Promise<{ savedMapYamlPath?: string; savedMapDatabasePath?: string }> => {
+  const prepareSavedMap = useCallback(async (): Promise<{ savedMapYamlPath?: string; savedMapDatabasePath?: string; savedMapWorldLayoutPath?: string }> => {
     if (!selectedWorldMap.saved) return {}
     if (!selectedWorldMap.yamlPath || !selectedWorldMap.pgmPath || !selectedWorldMap.yamlUrl || !selectedWorldMap.pgmUrl) {
       throw new Error('이전 형식으로 저장된 맵입니다. SLAM을 다시 저장해 공용 맵으로 변환하세요.')
@@ -2511,6 +2513,7 @@ function LocalPcWorkspaceMockup({
     ]
     let databasePath: string | undefined
     let databaseFileName: string | undefined
+    let savedMapWorldLayoutPath: string | undefined
     if (selectedWorldMap.databasePath || selectedWorldMap.databaseUrl) {
       databaseFileName = selectedWorldMap.databasePath ? fileName(selectedWorldMap.databasePath) : ''
       if (!databaseFileName.endsWith('.db') || !selectedWorldMap.databaseUrl) {
@@ -2534,13 +2537,16 @@ function LocalPcWorkspaceMockup({
       if (selectedWorldMap.runtimeKind === 'PLATFORM_3D') {
         if (!databaseFileName) throw new Error('시뮬레이션할 3D SLAM 데이터베이스가 없습니다.')
         await window.localWorkspace.maps.generatePointCloudCollisionLayout(clonePathPreview, databaseFileName)
+        savedMapWorldLayoutPath = `/workspace/maps/${databaseFileName.replace(/\.db$/i, '.gazebo-3d-layout.json')}`
       } else {
         await window.localWorkspace.maps.generateCollisionLayout(clonePathPreview, yamlFileName, pgmFileName)
+        savedMapWorldLayoutPath = `/workspace/maps/${yamlFileName.replace(/\.yaml$/i, '.gazebo-layout.json')}`
       }
     }
     return {
       savedMapYamlPath: `/workspace/maps/${yamlFileName}`,
       savedMapDatabasePath: databasePath,
+      savedMapWorldLayoutPath,
     }
   }, [clonePathPreview, getRemoteWorkspaceTarget, localVisualizationWorkspaceRoot, remoteWorkspace, selectedWorldMap, visualizationBridgeLocation])
   prepareVisualizationSavedMapRef.current = prepareSavedMap
@@ -2614,23 +2620,13 @@ function LocalPcWorkspaceMockup({
     return () => onRegisterRunningModuleNames?.(null)
   }, [availableModules, onRegisterRunningModuleNames, onRunningModuleCountChange])
   const applyWorldMapSelection = async (map: WorkspaceMapOption): Promise<void> => {
-    const scope = map.scope ?? (map.runtimeKind === 'SIMULATION' ? 'simulation' : 'platform')
+    const mapKey = map.selectionKey ?? map.key
-    const storageKey = scope === 'platform' ? platformMapStorageKey : simulationMapStorageKey
+    window.localStorage.setItem(sessionMapStorageKey, mapKey)
-    const appliesToActiveWorkspace = (scope === 'platform') === remoteWorkspace
+    setSelectedWorldMapKey(mapKey)
-    window.localStorage.setItem(storageKey, map.key)
+    if (map.custom && map.layout && !remoteWorkspace) {
-    if (scope === 'platform') {
-      setSelectedPlatformMapKey(map.key)
-    } else {
-      setSelectedSimulationMapKey(map.key)
-    }
-    if (map.custom && map.layout && scope === 'simulation' && !remoteWorkspace) {
       await window.localWorkspace.worldLayout.write(clonePathPreview, map.layout as WorldLayout)
       setWorldLayoutVersion((version) => version + 1)
     }
-    if (!appliesToActiveWorkspace) {
-      onTitlebarNotice(`[${map.name}] 맵이 ${scope === 'platform' ? '플랫폼' : '시뮬레이션'} 환경에 선택되었습니다.`, 'info')
-      return
-    }
     if (map.saved) {
       setNav2VisualizationMode('navigation')
       setVisualizationStack(map.runtimeKind === 'PLATFORM_3D' ? 'slam3d' : 'nav2')
@@ -3922,7 +3918,7 @@ function LocalPcWorkspaceMockup({
             initialScope={remoteWorkspace ? 'platform' : 'simulation'}
             simulationMaps={simulationWorldMaps}
             platformMaps={platformWorldMaps}
-            selectedMapKeys={{ simulation: selectedSimulationMapKey, platform: selectedPlatformMapKey }}
+            selectedMapKey={selectedWorldMapKey}
             onClose={() => setWorldMapSelectorOpen(false)}
             onCreate={() => {
               if (remoteWorkspace) {
@@ -3934,11 +3930,9 @@ function LocalPcWorkspaceMockup({
             onDelete={(map) => void deleteSavedSlamMap(map)}
             onSelect={(map) => {
               setWorldMapSelectorOpen(false)
-              const scope = map.scope ?? (map.runtimeKind === 'SIMULATION' ? 'simulation' : 'platform')
+              const nextMapKey = map.selectionKey ?? map.key
-              const currentMapKey = scope === 'platform' ? selectedPlatformMapKey : selectedSimulationMapKey
+              if (nextMapKey === selectedWorldMapKey) return
-              const appliesToActiveWorkspace = (scope === 'platform') === remoteWorkspace
+              if (availableModules.some((module) => module.state === 'running')) {
-              if (map.key === currentMapKey) return
-              if (appliesToActiveWorkspace && availableModules.some((module) => module.state === 'running')) {
                 void applyWorldMapSelection(map)
                 setPendingWorldMapRestart(map)
                 return
@@ -4199,10 +4193,10 @@ export default function App(): React.JSX.Element {
     : null
   const hasCurrentUserPlatformControl = (platform: PlatformOption): boolean => {
     if (platform.platformKey === 'futuredrive-local-pc') return true
-    const session = platform.control?.session
+    // The LMS API calculates ACTIVE for the requesting LMS user. Its session
+    // holder ID belongs to the LMS database, while authSession.user.id belongs
+    // to the auth service, so comparing the two client-side rejects the owner.
     return platform.control?.status === 'ACTIVE'
-      && Boolean(authSession?.user.id)
-      && session?.holderUserId === authSession?.user.id
   }
   useEffect(() => {
     if (!publicGuideCourseActive) return
@@ -4319,7 +4313,8 @@ export default function App(): React.JSX.Element {
       if (options.notify !== false) showTitlebarNotice('원격 ROS 연결을 초기화했습니다.', 'info')
       return true
     } catch (error) {
-      if (options.notify !== false) showTitlebarNotice(error instanceof Error ? error.message : '원격 ROS 연결 초기화에 실패했습니다.', 'error')
+      const message = error instanceof Error ? error.message : '원격 ROS 연결 초기화에 실패했습니다.'
+      if (options.notify !== false) showTitlebarNotice(message, 'error')
       return false
     } finally {
       setRemoteRosResetting(false)
@@ -4618,48 +4613,31 @@ export default function App(): React.JSX.Element {
           platforms.forEach((platform) => next.add(platform.id))
           return next
         })
-        const lostControlPlatformIds = new Set(
+        const mergeRunningPlatformStatus = (platform: PlatformOption): PlatformOption => {
-          runningPlatformsRef.current
+          const status = statusById.get(platform.id)
-            .filter((platform) => {
+          if (!status) return platform
-              if (platform.platformKey === 'futuredrive-local-pc') return false
-              const nextControl = statusById.get(platform.id)?.control
-              if (!nextControl) return false
-              if (nextControl.status !== 'ACTIVE') return true
-              const currentSessionId = platform.control?.session?.id
-              return Boolean(
-                currentSessionId
-                && nextControl.session?.id
-                && nextControl.session.id !== currentSessionId,
-              )
-            })
-            .map((platform) => platform.id),
-        )
-        const remainingRunningPlatforms = runningPlatformsRef.current
-          .filter((platform) => !lostControlPlatformIds.has(platform.id))
-          .map(mergePlatformStatus)
 
-        if (lostControlPlatformIds.size) {
+          // A status request started before startSession can return the prior
-          setRunningPlatforms(remainingRunningPlatforms)
+          // AVAILABLE snapshot. Do not let that stale response replace an
-          setConnectedPlatform((current) => {
+          // opened remote workspace with another running platform (usually the
-            if (current && !lostControlPlatformIds.has(current.id)) return mergePlatformStatus(current)
+          // local PC). Explicit release, expiry and control-terminated socket
-            return remainingRunningPlatforms[0] ?? null
+          // events remain responsible for closing a workspace.
-          })
+          if (
-          setLastWorkspacePlatform(remainingRunningPlatforms[0] ?? null)
+            platform.platformKey !== 'futuredrive-local-pc'
-          if (!remainingRunningPlatforms.length) {
+            && platform.control?.status === 'ACTIVE'
-            setLocalPcLayoutOpen(false)
+            && status.control?.status !== 'ACTIVE'
-            setStudioEntered(false)
+          ) {
-            setSessionStatus('ended')
+            return {
-            setSessionEndedAt(new Date().toLocaleTimeString('ko-KR', { hour: '2-digit', minute: '2-digit', hour12: false }))
+              ...platform,
-            setWorkspaceWeekState(null)
+              connection: status.connection ?? platform.connection,
             }
-          setCurriculumRefreshSignal((current) => current + 1)
-        } else {
-          setRunningPlatforms((current) => current.map(mergePlatformStatus))
-          setConnectedPlatform((current) => {
-            if (!current) return current
-            return mergePlatformStatus(current)
-          })
           }
+
+          return mergePlatformStatus(platform)
+        }
+
+        setRunningPlatforms((current) => current.map(mergeRunningPlatformStatus))
+        setConnectedPlatform((current) => current ? mergeRunningPlatformStatus(current) : current)
       } catch {
         // Status polling is best-effort; keep the last known platform state.
       }
@@ -5469,13 +5447,54 @@ export default function App(): React.JSX.Element {
     setSidebarCollapsed(true)
     setLocalPcLayoutOpen(true)
   }
-  const mergePlatformEnvironmentOverride = (platform: PlatformOption, override: unknown): PlatformOption => {
+  const mergePlatformEnvironmentOverride = (platform: PlatformOption, payload: PlatformConnectResponse): PlatformOption => {
-    if (!override || typeof override !== 'object') return platform
+    const overrideConfig = payload.environmentConfigOverride
-    const overrideConfig = override as Record<string, unknown>
+    const gatewayConnection = payload.gateway?.connection
+    const gatewaySession = payload.gateway?.session
+    const connection = gatewayConnection
+      ? {
+          registered: platform.connection?.registered ?? true,
+          headscaleOnline: platform.connection?.headscaleOnline ?? true,
+          agentHealthy: platform.connection?.agentHealthy ?? true,
+          lastSeenAt: platform.connection?.lastSeenAt ?? null,
+          message: platform.connection?.message ?? null,
+          ...platform.connection,
+          agentUrl: gatewayConnection.agentUrl ?? platform.connection?.agentUrl ?? null,
+          sshUser: gatewayConnection.sshUser ?? platform.connection?.sshUser ?? null,
+          workspaceRoot: gatewayConnection.workspaceRoot ?? platform.connection?.workspaceRoot ?? null,
+        }
+      : platform.connection
+    const sourceSettings = gatewayConnection
+      ? {
+          ...(platform.sourceSettings ?? {}),
+          agentUrl: gatewayConnection.agentUrl ?? platform.sourceSettings?.agentUrl ?? null,
+          sshUser: gatewayConnection.sshUser ?? platform.sourceSettings?.sshUser ?? null,
+          workspaceRoot: gatewayConnection.workspaceRoot ?? platform.sourceSettings?.workspaceRoot ?? undefined,
+        }
+      : platform.sourceSettings
+
     return {
       ...platform,
-      environmentConfigOverride: overrideConfig,
+      sourceSettings,
-      environmentProfiles: platform.environmentProfiles?.map((profile) => ({
+      connection,
+      environmentConfigOverride: overrideConfig ?? platform.environmentConfigOverride,
+      control: gatewaySession
+        ? {
+            status: 'ACTIVE',
+            action: '반납',
+            warning: false,
+            session: {
+              id: gatewaySession.id,
+              holderUserId: gatewaySession.userId,
+              startedAt: gatewaySession.startedAt,
+              endsAt: gatewaySession.expiresAt,
+              warningAt: gatewaySession.expiresAt,
+              extensionCount: platform.control?.session?.extensionCount,
+            },
+            queue: null,
+          }
+        : platform.control,
+      environmentProfiles: overrideConfig ? platform.environmentProfiles?.map((profile) => ({
         ...profile,
         config: {
           ...profile.config,
@@ -5489,7 +5508,7 @@ export default function App(): React.JSX.Element {
             ...(typeof overrideConfig.bridge === 'object' && overrideConfig.bridge !== null ? overrideConfig.bridge as Record<string, unknown> : {})
           }
         }
-      })) ?? platform.environmentProfiles
+      })) ?? platform.environmentProfiles : platform.environmentProfiles
     }
   }
 
@@ -5499,7 +5518,7 @@ export default function App(): React.JSX.Element {
     if (isPlatformUnavailable(platform)) return platform
 
     const payload = await connectPlatformControl(fetchWithFreshAuth, platform.id)
-    return mergePlatformEnvironmentOverride(platform, payload.environmentConfigOverride)
+    return mergePlatformEnvironmentOverride(platform, payload)
   }
 
   const applyPlatformControlResponse = (platformId: string, payload: PlatformControlActionResponse): void => {
@@ -5601,16 +5620,9 @@ export default function App(): React.JSX.Element {
     })
     setPlatformLoading(true)
     try {
+      // Invalidate status requests that started before this remote session.
+      platformStatusRequestSequenceRef.current += 1
       const connected = await connectRemotePlatform(platform)
-      if (connected.platformKey !== 'futuredrive-local-pc') {
-        setPlatformLoadingCopy({
-          title: `${connected.title} ROS 연결 초기화 중`,
-          description: '이전 제어 세션의 모듈과 피어 연결을 정리하고 있습니다.'
-        })
-        if (!await resetRemotePlatformRosSession(connected, { notify: false })) {
-          throw new Error('원격 ROS 연결 초기화에 실패했습니다.')
-        }
-      }
       const workspaceWeekSnapshot = selectedWeekState
       window.setTimeout(() => {
         setConnectedPlatform(connected)
@@ -5630,9 +5642,9 @@ export default function App(): React.JSX.Element {
         setSidebarCollapsed(true)
         setLocalPcLayoutOpen(true)
       }, 2000)
-    } catch {
+    } catch (error) {
       setPlatformLoading(false)
-      showTitlebarNotice('플랫폼 연결 정보를 불러오지 못했습니다', 'error')
+      showTitlebarNotice(error instanceof Error ? error.message : '플랫폼 연결 정보를 불러오지 못했습니다', 'error')
       setCurriculumRefreshSignal((current) => current + 1)
     }
   }

src/renderer/src/env.d.ts

@@ -236,7 +236,7 @@ interface Window {
 	      stack: 'autoware' | 'nav2' | 'slam' | 'slam3d' | null
 	      message?: string
 	    }>
-    start: (stack?: 'autoware' | 'nav2' | 'slam' | 'slam3d', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null) => Promise<{
+    start: (stack?: 'autoware' | 'nav2' | 'slam' | 'slam3d', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null, savedMapWorldLayoutPath?: string | null) => Promise<{
 	      ok: boolean
 	      running: boolean
 	      stack: 'autoware' | 'nav2' | 'slam' | 'slam3d' | null

src/renderer/src/features/platforms/platformControl.ts

@@ -30,6 +30,29 @@ export type PlatformControlTerminatedPayload = {
   endedAt: string
 }
 
+export type PlatformConnectResponse = {
+  mode?: string
+  gateway?: {
+    session?: {
+      id: string
+      platformId: string
+      userId: string
+      status: string
+      startedAt: string
+      expiresAt: string
+      releasedAt: string | null
+    }
+    connection?: {
+      agentUrl?: string | null
+      sshUser?: string | null
+      workspaceRoot?: string | null
+      bridgeHttpUrl?: string | null
+      bridgeWsUrl?: string | null
+    }
+  }
+  environmentConfigOverride?: Record<string, unknown>
+}
+
 export function isPlatformUnavailable(platform: PlatformOption): boolean {
   return (
     platform.state === 'locked' ||
@@ -60,12 +83,12 @@ export async function fetchPlatformStatuses(fetchWithFreshAuth: AuthFetch, platf
   return payload.platforms ?? []
 }
 
-export async function connectPlatformControl(fetchWithFreshAuth: AuthFetch, platformId: string): Promise<{ environmentConfigOverride?: unknown }> {
+export async function connectPlatformControl(fetchWithFreshAuth: AuthFetch, platformId: string): Promise<PlatformConnectResponse> {
   const response = await fetchWithFreshAuth(`${LMS_API_BASE_URL}/platform-control/platforms/${encodeURIComponent(platformId)}/connect`, {
     method: 'POST',
   })
   if (!response.ok) throw new Error('platform-connect failed')
-  return response.json() as Promise<{ environmentConfigOverride?: unknown }>
+  return response.json() as Promise<PlatformConnectResponse>
 }
 
 export async function releasePlatformControl(fetchWithFreshAuth: AuthFetch, platformId: string): Promise<void> {

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

@@ -349,7 +349,7 @@ export default function ModuleListView({
           </div>
         </div>
       </div>
-      <div ref={floatingActionMenuRef} className="absolute -left-7 bottom-6 z-[60] h-14 w-14">
+      <div ref={floatingActionMenuRef} className="absolute -left-7 bottom-6 z-30 h-14 w-14">
         <button
           type="button"
           aria-label="실행 방법 메뉴"
@@ -357,7 +357,7 @@ export default function ModuleListView({
           onClick={() => setFloatingActionMenuOpen((open) => !open)}
           className={[
             'grid h-14 w-14 cursor-pointer place-items-center rounded-full text-center text-[11px] font-bold shadow-[0_10px_26px_rgba(20,54,104,0.28)] transition hover:-translate-y-0.5 hover:scale-[1.05]',
-            floatingActionMenuOpen ? 'bg-[#4b5563]/85 text-[#c7cfda] hover:bg-[#3f4855]/90' : 'bg-[#2563eb] text-white hover:bg-[#1d4ed8]'
+            floatingActionMenuOpen ? 'bg-[#4b5563]/85 text-[#c7cfda] hover:bg-[#3f4855]/90' : 'bg-[#2158cc] text-white hover:bg-[#1d4ed8]'
           ].join(' ')}
         >
           <span className="text-[24px] font-medium leading-none">+</span>

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

@@ -6,6 +6,9 @@ export type WorkspaceMapScope = 'simulation' | 'platform'
 
 export type WorkspaceMapOption = {
   key: string
+  // A saved platform map has a local Gazebo representation with a different
+  // runtime key. Both representations share this user-facing map selection.
+  selectionKey?: string
   platformKey: 'NAV2'
   name: string
   description: string
@@ -198,25 +201,24 @@ export function WorkspaceMapPreview({
 
 type WorldMapSelectorModalProps = {
   weekNumber: number
-  initialScope?: 'simulation' | 'platform'
+  initialScope?: WorkspaceMapScope
   simulationMaps: WorkspaceMapOption[]
   platformMaps: WorkspaceMapOption[]
-  selectedMapKeys: Record<WorkspaceMapScope, string>
+  selectedMapKey: string
   onSelect: (map: WorkspaceMapOption) => void
   onCreate?: () => void
   onDelete?: (map: WorkspaceMapOption) => void
   onClose: () => void
 }
 
-export default function WorldMapSelectorModal({ weekNumber, initialScope = 'simulation', simulationMaps, platformMaps, selectedMapKeys, 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 [scope, setScope] = useState<'simulation' | 'platform'>(initialScope)
+  const [scope, setScope] = useState<WorkspaceMapScope>(initialScope)
   const maps = scope === 'simulation' ? simulationMaps : platformMaps
-  const selectedMapKey = selectedMapKeys[scope]
+  const selectedMap = maps.find((map) => (map.selectionKey ?? map.key) === selectedMapKey) ?? null
-  const selectedMap = maps.find((map) => map.key === selectedMapKey) ?? null
   const [pendingMap, setPendingMap] = useState<WorkspaceMapOption | null>(() => selectedMap)
 
   useEffect(() => {
-    setPendingMap(maps.find((map) => map.key === selectedMapKey) ?? null)
+    setPendingMap(maps.find((map) => (map.selectionKey ?? map.key) === selectedMapKey) ?? null)
   }, [maps, selectedMapKey])
 
   useEffect(() => {
@@ -229,7 +231,7 @@ export default function WorldMapSelectorModal({ weekNumber, initialScope = 'simu
         <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}주차 학습 세션 맵</p>
+            <p className="mt-1 text-[12px] text-white/50">{weekNumber}주차 학습 세션 공통 맵</p>
           </div>
           <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" />
@@ -242,7 +244,8 @@ export default function WorldMapSelectorModal({ weekNumber, initialScope = 'simu
         <div className="thin-y-scrollbar min-h-[400px] max-h-[52vh] space-y-2 overflow-y-auto p-5">
           {maps.map((map) => {
             const pending = map.key === pendingMap?.key
-            const selected = map.key === selectedMapKey
+            const mapSelectionKey = map.selectionKey ?? map.key
+            const selected = mapSelectionKey === selectedMapKey
             // "새 SLAM" is a launch target, not a saved map yet. Its 2D/3D
             // runtime is chosen by the active SLAM stack, so only persisted
             // map results receive a dimensional badge.
@@ -279,7 +282,7 @@ export default function WorldMapSelectorModal({ weekNumber, initialScope = 'simu
                 </span>
                 {map.saved && map.createdAt && <span className="absolute bottom-3 right-4 text-[11px] font-medium text-white/35">{new Date(map.createdAt).toLocaleString('ko-KR', { dateStyle: 'short', timeStyle: 'short' })}</span>}
                 {selected && <Check className="absolute right-4 top-3 size-4 text-[#7eabff]" />}
-                {map.saved && map.key !== selectedMapKey && onDelete && (
+                {map.saved && !selected && onDelete && (
                   <span role="button" tabIndex={0} title="삭제" aria-label={`${map.name} 삭제`} onClick={(event) => { event.stopPropagation(); onDelete(map) }} onKeyDown={(event) => { if (event.key === 'Enter') { event.stopPropagation(); onDelete(map) } }} className="absolute right-3 top-2 grid size-7 cursor-pointer place-items-center rounded-md text-white/42 opacity-0 transition hover:bg-red-500/15 hover:text-red-300 group-hover:opacity-100">
                     <Trash2 className="size-3.5" />
                   </span>

src/renderer/src/features/workspace/useWorkspaceTerminal.ts

@@ -54,7 +54,6 @@ export function useWorkspaceTerminal({
   const remoteTargetResolverRef = useRef(getRemoteWorkspaceTarget)
   const terminalSuppressQueueRef = useRef<string[]>([])
   const terminalOutputBufferRef = useRef<Record<string, string>>({})
-  const terminalFallbackPromptShownRef = useRef<Set<string>>(new Set())
   const [terminalPanelHeight, setTerminalPanelHeight] = useState(235)
 
   remoteTargetResolverRef.current = getRemoteWorkspaceTarget
@@ -158,7 +157,6 @@ export function useWorkspaceTerminal({
     }
     terminalElement.addEventListener('contextmenu', handleTerminalContextMenu)
     terminalElement.addEventListener('mousedown', focusTerminal)
-    let terminalReceivedVisibleData = Boolean(terminalOutputBufferRef.current[terminalSessionId])
     if (terminalOutputBufferRef.current[terminalSessionId]) {
       term.write(terminalOutputBufferRef.current[terminalSessionId])
     }
@@ -175,7 +173,6 @@ export function useWorkspaceTerminal({
 
       const nextData = stripInternalTerminalCommands(data)
       if (nextData) {
-        terminalReceivedVisibleData = true
         terminalOutputBufferRef.current[terminalSessionId] = `${terminalOutputBufferRef.current[terminalSessionId] ?? ''}${nextData}`.slice(-60000)
         term.write(nextData)
       }
@@ -185,7 +182,6 @@ export function useWorkspaceTerminal({
     }, terminalSessionId)
     const inputDisposable = term.onData((data) => terminalApi.write(data, terminalSessionId))
 
-    let fallbackPromptTimer: number | null = null
     let sizeSyncTimer: number | null = null
     let startFrame: number | null = null
     let startNestedFrame: number | null = null
@@ -229,17 +225,6 @@ export function useWorkspaceTerminal({
         }
         void window.localWorkspace.terminal.resize(term.cols, term.rows, terminalSessionId)
       }, 150)
-      fallbackPromptTimer = window.setTimeout(() => {
-        if (terminalFallbackPromptShownRef.current.has(terminalSessionId) && terminalOutputBufferRef.current[terminalSessionId]) return
-        if (terminalReceivedVisibleData || terminalOutputBufferRef.current[terminalSessionId]) return
-        const activeLine = term.buffer.active.getLine(term.buffer.active.cursorY)?.translateToString(true).trim()
-        if (activeLine || term.buffer.active.baseY > 0 || term.buffer.active.cursorX > 0) return
-        const fallbackPrompt = `${moduleName.replace(/[^a-zA-Z0-9_.-]+/g, '-')}: `
-        terminalReceivedVisibleData = true
-        terminalFallbackPromptShownRef.current.add(terminalSessionId)
-        terminalOutputBufferRef.current[terminalSessionId] = fallbackPrompt
-        term.write(fallbackPrompt)
-      }, 500)
     })
 
     const onResize = (): void => fitAddon.fit()
@@ -255,11 +240,9 @@ export function useWorkspaceTerminal({
       removeDataListener()
       removeSuppressListener()
       inputDisposable.dispose()
-      if (fallbackPromptTimer !== null) window.clearTimeout(fallbackPromptTimer)
       if (sizeSyncTimer !== null) window.clearTimeout(sizeSyncTimer)
       // Full-screen programs such as vi cannot be restored from a partial raw output buffer.
       delete terminalOutputBufferRef.current[terminalSessionId]
-      terminalFallbackPromptShownRef.current.delete(terminalSessionId)
       if (remoteWorkspace) window.remoteWorkspace.terminal.stop(terminalSessionId)
       else window.localWorkspace.terminal.stop(terminalSessionId)
       term.dispose()

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

@@ -65,7 +65,7 @@ type UseWorkspaceVisualizationOptions = {
   platform?: string | null
   threeDimensional?: boolean
   savedMapDatabasePath?: string | null
-  prepareSavedMap?: () => Promise<{ savedMapDatabasePath?: string }>
+  prepareSavedMap?: () => Promise<{ savedMapDatabasePath?: string; savedMapWorldLayoutPath?: string }>
   visualizationRuntime?: 'real' | 'simulation'
   worldLayoutVersion?: number
   onTitlebarNotice: (title: string, tone?: NoticeTone, addToList?: boolean) => void
@@ -255,7 +255,15 @@ export function useWorkspaceVisualization({
         ? bridgeTarget?.host
           ? 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, bridgeWorkspaceRoot ?? clonePathPreview, rosDomainId, localBridgeProfile, rosNetwork, bridgeSavedMapDatabasePath)
+        : await window.localWorkspace.visualization.start(
+          visualizationRuntimeStack,
+          bridgeWorkspaceRoot ?? clonePathPreview,
+          rosDomainId,
+          localBridgeProfile,
+          rosNetwork,
+          bridgeSavedMapDatabasePath,
+          preparedMap?.savedMapWorldLayoutPath,
+        )
       if (!status.ok) throw new Error(status.message ?? '시작 실패')
       setVisualizationRunning(Boolean(status.running))
       const statusStack = status.stack === 'nav2' && visualizationStack === 'slam3d'