synchronize source..

package.json

@@ -1,6 +1,6 @@
 {
   "name": "lms",
-  "version": "1.1.7",
+  "version": "1.1.8",
   "description": "Autonomy Studio LMS Electron app",
   "main": "./out/main/index.js",
   "author": {

resources/slam-ros-bridge/Dockerfile

@@ -6,7 +6,7 @@ COPY requirements.txt /app/requirements.txt
 COPY bridge.py /app/bridge.py
 
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends python3-pip ros-humble-nav2-msgs && \
+    apt-get install -y --no-install-recommends python3-pip ros-humble-nav2-msgs ros-humble-rtabmap-msgs ros-humble-rtabmap-util && \
     pip3 install --no-cache-dir --retries 5 --timeout 180 -r /app/requirements.txt && \
     rm -rf /var/lib/apt/lists/*
 

resources/slam-ros-bridge/bridge.py

@@ -9,6 +9,8 @@ import os
 import shutil
 import sqlite3
 import struct
+import subprocess
+import tempfile
 import threading
 import time
 import traceback
@@ -17,7 +19,7 @@ from pathlib import Path
 from typing import Optional
 
 import rclpy
-from fastapi import FastAPI, HTTPException, WebSocket, WebSocketDisconnect
+from fastapi import FastAPI, HTTPException, Response, WebSocket, WebSocketDisconnect
 from fastapi.middleware.cors import CORSMiddleware
 from geometry_msgs.msg import PoseStamped, PoseWithCovarianceStamped, Twist
 from action_msgs.msg import GoalStatus
@@ -25,20 +27,21 @@ from nav_msgs.msg import OccupancyGrid, Odometry, Path as NavPath
 from nav2_msgs.action import NavigateToPose
 from pydantic import BaseModel
 from rclpy.action import ActionClient
-from rclpy.duration import Duration
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.parameter import Parameter
 from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy, qos_profile_sensor_data
 from rclpy.time import Time
-from sensor_msgs.msg import JointState, LaserScan, PointCloud2
+from sensor_msgs.msg import CompressedImage, JointState, LaserScan, PointCloud2
-from std_msgs.msg import Float64
+from std_msgs.msg import Float64, String
+from std_srvs.srv import Empty
 from tf2_msgs.msg import TFMessage
 import uvicorn
 
 logging.basicConfig(level=logging.INFO)
 
 _POINT_CLOUD_LIMIT = max(1_000, int(os.environ.get("POINT_CLOUD_LIMIT", "50000")))
+_CAMERA_FRAME_MAX_AGE_SECONDS = 3.0
 
 
 def yaw_from_quaternion(q) -> float:
@@ -159,6 +162,8 @@ class SlamNode(Node):
         self.amcl_pose_topic = os.environ.get("AMCL_POSE_TOPIC", "/amcl_pose")
         self.point_cloud_topic = os.environ.get("POINT_CLOUD_TOPIC", "/cloud_map")
         self.fallback_point_cloud_topic = os.environ.get("FALLBACK_POINT_CLOUD_TOPIC", "/lidar_filtered")
+        self.color_point_cloud_topic = os.environ.get("COLOR_POINT_CLOUD_TOPIC", "/camera_test/colored_points")
+        self.camera_image_topic = os.environ.get("CAMERA_IMAGE_TOPIC", "/camera_test/image_jpeg")
         self.icp_odom_topic = os.environ.get("ICP_ODOM_TOPIC", "/icp_odom")
         self.cmd_vel_topic = os.environ.get("CMD_VEL_TOPIC", "/cmd_vel")
         self.map_topic = os.environ.get("MAP_TOPIC", "/map")
@@ -166,8 +171,10 @@ class SlamNode(Node):
         self.joint_states_topic = os.environ.get("JOINT_STATES_TOPIC", "/joint_states")
         self.steering_topic = os.environ.get("STEERING_TOPIC", "/mkmini/steering_command")
         self.steering_feedback_topic = os.environ.get("STEERING_FEEDBACK_TOPIC", "/mkmini/steering_angle")
+        self.localization_session_topic = os.environ.get("LOCALIZATION_SESSION_TOPIC", "/localization_session_id")
         self.navigate_to_pose_action = os.environ.get("NAVIGATE_TO_POSE_ACTION", "/navigate_to_pose")
         self.read_only = os.environ.get("READ_ONLY", "false").lower() in ("1", "true", "yes")
+        self.saved_map_database_path = Path(os.environ.get("SAVED_MAP_DATABASE_PATH", ""))
 
         best_effort_qos = QoSProfile(
             depth=1,
@@ -195,6 +202,8 @@ class SlamNode(Node):
         self._amcl_pose: Optional[PoseWithCovarianceStamped] = None
         self._point_cloud: Optional[PointCloud2] = None
         self._fallback_point_cloud: Optional[PointCloud2] = None
+        self._color_point_cloud: Optional[PointCloud2] = None
+        self._camera_image: Optional[CompressedImage] = None
         self._icp_odom: Optional[Odometry] = None
         self._map: Optional[OccupancyGrid] = None
         self._plan: Optional[NavPath] = None
@@ -207,6 +216,8 @@ class SlamNode(Node):
         self._amcl_pose_count = 0
         self._point_cloud_count = 0
         self._fallback_point_cloud_count = 0
+        self._color_point_cloud_count = 0
+        self._camera_image_count = 0
         self._icp_odom_count = 0
         self._map_count = 0
         self._tf_count = 0
@@ -215,6 +226,8 @@ class SlamNode(Node):
         self._last_amcl_pose_wall_time = None
         self._last_point_cloud_wall_time = None
         self._last_fallback_point_cloud_wall_time = None
+        self._last_color_point_cloud_wall_time = None
+        self._last_camera_image_wall_time = None
         self._last_icp_odom_wall_time = None
         self._last_map_wall_time = None
         self._plan_count = 0
@@ -224,17 +237,25 @@ class SlamNode(Node):
         self._navigation = {"status": "idle", "goal_id": None}
         self._active_goal_handle = None
         self._requested_initial_pose: Optional[dict] = None
+        self._initial_pose_state_path = Path(
+            os.environ.get("INITIAL_POSE_STATE_PATH", "/workspace/.nav2-initial-pose-state.json")
+        )
+        self._initial_pose_set, self._initial_pose_session_id = self._load_initial_pose_state()
+        self._localization_session_id: Optional[str] = None
         self._lock = threading.Lock()
+        self._saved_map_point_cloud = self._load_saved_map_point_cloud()
 
         self.create_subscription(Odometry, self.odom_topic, self._on_odom, reliable_qos)
         self.create_subscription(Odometry, self.odom_topic, self._on_odom, best_effort_qos)
         self.create_subscription(LaserScan, self.scan_topic, self._on_scan, qos_profile_sensor_data)
-        self.create_subscription(LaserScan, self.scan_topic, self._on_scan, reliable_qos)
         self.create_subscription(PoseWithCovarianceStamped, self.amcl_pose_topic, self._on_amcl_pose, reliable_qos)
         self.create_subscription(PoseWithCovarianceStamped, self.amcl_pose_topic, self._on_amcl_pose, best_effort_qos)
         self.create_subscription(PointCloud2, self.point_cloud_topic, self._on_point_cloud, map_qos)
         if self.fallback_point_cloud_topic != self.point_cloud_topic:
             self.create_subscription(PointCloud2, self.fallback_point_cloud_topic, self._on_fallback_point_cloud, qos_profile_sensor_data)
+        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)
         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)
@@ -242,37 +263,159 @@ class SlamNode(Node):
         self.create_subscription(NavPath, self.plan_topic, self._on_plan, reliable_qos)
         self.create_subscription(JointState, self.joint_states_topic, self._on_joint_states, reliable_qos)
         self.create_subscription(Float64, self.steering_feedback_topic, self._on_steering_feedback, reliable_qos)
+        self.create_subscription(String, self.localization_session_topic, self._on_localization_session, map_qos)
         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._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)
+        self._rtabmap_backup_client = self.create_client(Empty, "/rtabmap/backup")
 
         self.get_logger().info(
-            f"SLAM bridge started: odom={self.odom_topic}, icp_odom={self.icp_odom_topic}, scan={self.scan_topic}, point_cloud={self.point_cloud_topic}, fallback_point_cloud={self.fallback_point_cloud_topic}, map={self.map_topic}, read_only={self.read_only}"
+            f"SLAM bridge started: odom={self.odom_topic}, icp_odom={self.icp_odom_topic}, scan={self.scan_topic}, point_cloud={self.point_cloud_topic}, fallback_point_cloud={self.fallback_point_cloud_topic}, color_point_cloud={self.color_point_cloud_topic}, camera_image={self.camera_image_topic}, map={self.map_topic}, read_only={self.read_only}"
         )
 
+    def _load_saved_map_point_cloud(self) -> Optional[dict]:
+        """Create a stable navigation-map cloud from the selected RTAB-Map DB."""
+        if not self.saved_map_database_path.is_file():
+            return None
+
+        try:
+            with tempfile.TemporaryDirectory(prefix="slam-map-cloud-") as output_dir:
+                output_name = "saved-map"
+                subprocess.run(
+                    [
+                        "rtabmap-export",
+                        "--cloud",
+                        "--scan",
+                        "--voxel",
+                        "0.01",
+                        "--output",
+                        output_name,
+                        "--output_dir",
+                        output_dir,
+                        str(self.saved_map_database_path),
+                    ],
+                    check=True,
+                    stdout=subprocess.DEVNULL,
+                    stderr=subprocess.PIPE,
+                    text=True,
+                    timeout=90,
+                )
+                points = self._read_exported_ply_points(
+                    Path(output_dir) / f"{output_name}_cloud.ply",
+                    _POINT_CLOUD_LIMIT,
+                )
+        except (OSError, subprocess.SubprocessError, ValueError) as error:
+            self.get_logger().warning(f"Saved 3D map export failed: {error}")
+            return None
+
+        if not points:
+            self.get_logger().warning("Saved 3D map export did not contain any points.")
+            return None
+        self.get_logger().info(f"Loaded saved 3D map point cloud: {len(points)} points")
+        return {
+            "frame_id": "map",
+            "points": points,
+            "transform": {"x": 0.0, "y": 0.0, "z": 0.0, "yaw": 0.0},
+            "saved_map": True,
+        }
+
+    @staticmethod
+    def _read_exported_ply_points(path: Path, limit: int) -> list[list[float]]:
+        with path.open("rb") as source:
+            header = bytearray()
+            while not header.endswith(b"end_header\n"):
+                chunk = source.read(1)
+                if not chunk or len(header) > 16_384:
+                    raise ValueError("Invalid exported PLY header")
+                header.extend(chunk)
+            lines = header.decode("ascii", errors="strict").splitlines()
+            if "format binary_little_endian 1.0" not in lines:
+                raise ValueError("Unsupported exported PLY format")
+            vertex_line = next((line for line in lines if line.startswith("element vertex ")), None)
+            if vertex_line is None:
+                raise ValueError("Exported PLY does not have vertices")
+            vertex_count = int(vertex_line.rsplit(" ", 1)[1])
+            if vertex_count <= 0:
+                return []
+
+            # rtabmap-export writes x/y/z followed by five float fields.
+            data = source.read(vertex_count * 32)
+            if len(data) < vertex_count * 32:
+                raise ValueError("Exported PLY was truncated")
+            stride = max(1, (vertex_count + max(1, limit) - 1) // max(1, limit))
+            return [
+                list(struct.unpack_from("<3f", data, index * 32))
+                for index in range(0, vertex_count, stride)
+            ]
+
+    def _load_initial_pose_state(self) -> tuple[bool, Optional[str]]:
+        try:
+            payload = json.loads(self._initial_pose_state_path.read_text(encoding="utf-8"))
+            session_id = payload.get("localization_session_id")
+            return (
+                payload.get("initial_pose_set") is True,
+                session_id.strip() if isinstance(session_id, str) and session_id.strip() else None,
+            )
+        except (OSError, ValueError, TypeError):
+            return False, None
+
+    def _save_initial_pose_state(self) -> None:
+        try:
+            self._initial_pose_state_path.parent.mkdir(parents=True, exist_ok=True)
+            temporary_path = self._initial_pose_state_path.with_suffix(".tmp")
+            temporary_path.write_text(json.dumps({
+                "initial_pose_set": self._initial_pose_set,
+                "localization_session_id": self._initial_pose_session_id,
+            }), encoding="utf-8")
+            temporary_path.replace(self._initial_pose_state_path)
+        except OSError as error:
+            self.get_logger().warning(f"Failed to persist initial pose state: {error}")
+
+    def _on_localization_session(self, msg: String):
+        session_id = msg.data.strip()
+        if not session_id:
+            return
+
+        should_persist = False
+        with self._lock:
+            if self._localization_session_id == session_id:
+                return
+
+            self._localization_session_id = session_id
+            if self._initial_pose_set and self._initial_pose_session_id == "__pending__":
+                self._initial_pose_session_id = session_id
+                should_persist = True
+            elif self._initial_pose_session_id != session_id:
+                # A localization module restart starts a new estimation session.
+                # Never reuse the previous session's initial pose in it.
+                self._initial_pose_set = False
+                self._initial_pose_session_id = None
+                should_persist = True
+
+        if should_persist:
+            self._save_initial_pose_state()
+            self.get_logger().info("Localization session changed; initial pose state was reset.")
+
     def _on_odom(self, msg: Odometry):
         with self._lock:
             self._odom = msg
             self._odom_count += 1
             self._last_odom_wall_time = time.time()
 
-    def publish_initial_pose(self, x: float, y: float, yaw: float = 0.0, frame_id: str = "map") -> None:
+    def publish_initial_pose(self, x: float, y: float, yaw: float = 0.0, frame_id: str = "map") -> dict:
-        # AMCL transforms the initial pose at the message timestamp. On a real
+        """Provide a map-frame seed without overwriting live ICP odometry."""
-        # platform the bridge clock can be a few milliseconds ahead of the
-        # latest odom/TF sample, which makes AMCL reject the pose as a future
-        # extrapolation. Anchor it to the latest received odometry instead.
         with self._lock:
-            odom_stamp = self._odom.header.stamp if self._odom is not None else None
+            has_3d_localization = self._icp_odom is not None
+
+        # A zero ROS timestamp means "use the latest available transform".
+        # The bridge and platform receive odometry through different DDS
+        # processes, so an odometry-derived timestamp can still be newer than
+        # AMCL's TF buffer.
         message = PoseWithCovarianceStamped()
-        if odom_stamp:
+        message.header.stamp = Time().to_msg()
-            # The odom callback can lead the TF buffer by a few milliseconds.
-            # Keep a small margin so AMCL can always transform map -> odom.
-            message.header.stamp = (Time.from_msg(odom_stamp) - Duration(seconds=0.1)).to_msg()
-        else:
-            message.header.stamp = self.get_clock().now().to_msg()
         message.header.frame_id = frame_id
         message.pose.pose.position.x = x
         message.pose.pose.position.y = y
@@ -284,9 +427,10 @@ class SlamNode(Node):
         message.pose.covariance[0] = 0.25
         message.pose.covariance[7] = 0.25
         message.pose.covariance[35] = 0.0685
+        if not has_3d_localization:
             with self._lock:
-            # Use this only until AMCL starts publishing map -> odom. It is a
+                # Use this only until AMCL starts publishing map -> odom. It
-            # short-lived viewer fallback, not a replacement for live TF.
+                # is a short-lived viewer fallback, not a replacement for TF.
                 self._requested_initial_pose = {
                     "x": float(x),
                     "y": float(y),
@@ -296,8 +440,20 @@ class SlamNode(Node):
                     "t": time.time(),
                     "expires_at": time.monotonic() + 2.0,
                 }
+        # In 3D this is consumed by the localization module's local relay,
+        # which can call ICP odometry without crossing the DDS peer boundary.
         self._initial_pose_pub.publish(message)
 
+        with self._lock:
+            self._initial_pose_set = True
+            self._initial_pose_session_id = self._localization_session_id or "__pending__"
+        self._save_initial_pose_state()
+        return {
+            "mode": "rtabmap-3d" if has_3d_localization else "amcl-2d",
+            "refining": has_3d_localization,
+        }
+
+
     def save_map(self, name: Optional[str] = None) -> dict:
         with self._lock:
             grid = self._map
@@ -369,6 +525,10 @@ class SlamNode(Node):
         database_path = None
         database_source = Path(os.environ.get("RTABMAP_DATABASE_PATH", ""))
         if os.environ.get("RTABMAP_MAP_SAVE_ENABLED", "").lower() == "true" and database_source.is_file():
+            # RTAB-Map keeps the optimized pose graph in memory until its
+            # backup service flushes it. Copying SQLite directly here leaves a
+            # usable PGM but a DB that cannot localize on the saved map.
+            self._backup_rtabmap_database()
             database_snapshot = maps_dir / f"{safe_name}.db"
             source_connection = None
             destination_connection = None
@@ -386,6 +546,11 @@ class SlamNode(Node):
                     destination_connection.close()
                 if source_connection is not None:
                     source_connection.close()
+            # A saved map must start unlocalized. RTAB-Map stores the last
+            # localization pose beside the optimized graph; retaining it
+            # makes a later localization session place the vehicle before the
+            # learner supplies the first pose.
+            self._clear_database_last_localization(database_snapshot)
             database_path = str(database_snapshot)
 
         return {
@@ -399,6 +564,28 @@ class SlamNode(Node):
             "previewPgm": base64.b64encode(preview_pgm).decode("ascii"),
         }
 
+    def _backup_rtabmap_database(self, timeout_seconds: float = 30.0) -> None:
+        if not self._rtabmap_backup_client.wait_for_service(timeout_sec=5.0):
+            raise RuntimeError("3D SLAM DB 저장 서비스를 찾지 못했습니다. RTAB-Map 모듈이 실행 중인지 확인하세요.")
+
+        future = self._rtabmap_backup_client.call_async(Empty.Request())
+        deadline = time.monotonic() + timeout_seconds
+        while not future.done() and time.monotonic() < deadline:
+            time.sleep(0.05)
+
+        if not future.done():
+            raise RuntimeError("3D SLAM DB 저장 시간이 초과되었습니다.")
+        if future.exception() is not None:
+            raise RuntimeError(f"3D SLAM DB 저장에 실패했습니다: {future.exception()}")
+
+    @staticmethod
+    def _clear_database_last_localization(database_path: Path) -> None:
+        try:
+            with sqlite3.connect(str(database_path)) as connection:
+                connection.execute("UPDATE Admin SET opt_last_localization = NULL")
+        except sqlite3.Error as error:
+            raise RuntimeError(f"저장한 3D SLAM DB를 정리하지 못했습니다: {error}") from error
+
     def _on_scan(self, msg: LaserScan):
         with self._lock:
             self._scan = msg
@@ -423,6 +610,18 @@ class SlamNode(Node):
             self._fallback_point_cloud_count += 1
             self._last_fallback_point_cloud_wall_time = time.time()
 
+    def _on_color_point_cloud(self, msg: PointCloud2):
+        with self._lock:
+            self._color_point_cloud = msg
+            self._color_point_cloud_count += 1
+            self._last_color_point_cloud_wall_time = time.time()
+
+    def _on_camera_image(self, msg: CompressedImage):
+        with self._lock:
+            self._camera_image = msg
+            self._camera_image_count += 1
+            self._last_camera_image_wall_time = time.time()
+
     def _active_point_cloud(self) -> Optional[PointCloud2]:
         with self._lock:
             primary = self._point_cloud
@@ -478,6 +677,8 @@ class SlamNode(Node):
             amcl_pose_last = self._last_amcl_pose_wall_time
             point_cloud_last = self._last_point_cloud_wall_time
             fallback_point_cloud_last = self._last_fallback_point_cloud_wall_time
+            color_point_cloud_last = self._last_color_point_cloud_wall_time
+            camera_image_last = self._last_camera_image_wall_time
             map_count = self._map_count
             plan_count = self._plan_count
 
@@ -500,7 +701,24 @@ class SlamNode(Node):
             "amcl_pose": {"name": self.amcl_pose_topic, "available": received_recently(amcl_pose_last)},
             "point_cloud": {
                 "name": self.point_cloud_topic,
-                "available": received_recently(point_cloud_last) or received_recently(fallback_point_cloud_last),
+                # RTAB-Map publishes the reconstructed global cloud with
+                # TRANSIENT_LOCAL durability. In localization it may publish
+                # only once after loading the database, so a received map is
+                # still valid even when it is older than the live-topic
+                # freshness window used for sensors.
+                "available": self._saved_map_point_cloud is not None or point_cloud_last is not None,
+            },
+            "sensor_point_cloud": {
+                "name": self.fallback_point_cloud_topic,
+                "available": received_recently(fallback_point_cloud_last),
+            },
+            "color_point_cloud": {
+                "name": self.color_point_cloud_topic,
+                "available": received_recently(color_point_cloud_last),
+            },
+            "camera_image": {
+                "name": self.camera_image_topic,
+                "available": received_recently(camera_image_last),
             },
             "plan": {"name": self.plan_topic, "available": plan_available},
             "cmd_vel": {"name": self.cmd_vel_topic, "available": cmd_vel_available},
@@ -725,8 +943,14 @@ class SlamNode(Node):
             plan = self._plan
             amcl_pose = self._amcl_pose
             requested_initial_pose = dict(self._requested_initial_pose) if self._requested_initial_pose else None
+            initial_pose_set = self._initial_pose_set
+            localization_session_id = self._localization_session_id
+            initial_pose_session_id = self._initial_pose_session_id
             joint_positions = dict(self._joint_positions)
             steering_feedback = self._steering_feedback
+            fallback_point_cloud = self._fallback_point_cloud
+            color_point_cloud = self._color_point_cloud
+            camera_image = self._camera_image
             tf_snapshot = dict(self._tf)
             navigation = dict(self._navigation)
         effective_map = self._effective_map(grid, scan, odom)
@@ -897,15 +1121,14 @@ class SlamNode(Node):
                 "yaw": euler["yaw"],
                 "t": icp_odom.header.stamp.sec + icp_odom.header.stamp.nanosec * 1e-9,
             }
-            cloud_frame = point_cloud.header.frame_id if point_cloud is not None else ""
+            map_to_icp_odom = resolve_2d_transform(tf_snapshot, "map", icp_odom.header.frame_id)
-            map_to_icp_odom = tf_snapshot.get((cloud_frame, icp_odom.header.frame_id)) if cloud_frame else None
             if map_to_icp_odom is not None:
-                # RTAB-Map publishes /cloud_map in map, while ICP odometry is
+                # ICP is local odometry. RTAB-Map localization publishes the
-                # expressed in icp_odom. Render both in the cloud frame.
+                # map -> icp_odom correction needed to render it on the saved map.
                 pose_3d = {
                     **pose_3d,
                     **compose_2d(map_to_icp_odom, pose_3d),
-                    "frame_id": cloud_frame,
+                    "frame_id": "map",
                     "source_frame_id": icp_odom.header.frame_id,
                 }
 
@@ -943,12 +1166,38 @@ class SlamNode(Node):
                 "t": point_cloud.header.stamp.sec + point_cloud.header.stamp.nanosec * 1e-9,
             }
 
+        sensor_point_cloud_payload = None
+        if fallback_point_cloud is not None:
+            sensor_point_cloud_payload = {
+                "frame_id": fallback_point_cloud.header.frame_id,
+                "count": fallback_point_cloud.width * fallback_point_cloud.height,
+                "t": fallback_point_cloud.header.stamp.sec + fallback_point_cloud.header.stamp.nanosec * 1e-9,
+            }
+
+        color_point_cloud_payload = None
+        if color_point_cloud is not None:
+            color_point_cloud_payload = {
+                "frame_id": color_point_cloud.header.frame_id,
+                "count": color_point_cloud.width * color_point_cloud.height,
+                "t": color_point_cloud.header.stamp.sec + color_point_cloud.header.stamp.nanosec * 1e-9,
+            }
+
+        camera_image_payload = None
+        if camera_image is not None:
+            camera_image_payload = {
+                "frame_id": camera_image.header.frame_id,
+                "t": camera_image.header.stamp.sec + camera_image.header.stamp.nanosec * 1e-9,
+            }
+
         return {
             "ok": True,
             "topics": {
                 "odom": self.odom_topic,
                 "scan": self.scan_topic,
                 "point_cloud": self.point_cloud_topic,
+                "sensor_point_cloud": self.fallback_point_cloud_topic,
+                "color_point_cloud": self.color_point_cloud_topic,
+                "camera_image": self.camera_image_topic,
                 "icp_odom": self.icp_odom_topic,
                 "map": self.map_topic,
                 "cmd_vel": self.cmd_vel_topic,
@@ -962,11 +1211,17 @@ class SlamNode(Node):
             "vehicle": vehicle,
             "scan": scan_payload,
             "point_cloud": point_cloud_payload,
+            "sensor_point_cloud": sensor_point_cloud_payload,
+            "color_point_cloud": color_point_cloud_payload,
+            "camera_image": camera_image_payload,
             "map": map_payload,
             "tf": {
                 "map_to_odom": resolve_2d_transform(tf_snapshot, "map", "odom"),
             },
             "navigation": navigation,
+            "initial_pose_set": initial_pose_set,
+            "localization_session_id": localization_session_id,
+            "initial_pose_session_id": initial_pose_session_id,
             "topic_status": self.topic_status(),
             "plan": {
                 "frame_id": plan.header.frame_id,
@@ -983,7 +1238,57 @@ class SlamNode(Node):
         }
 
     def point_cloud_payload(self, limit: int = _POINT_CLOUD_LIMIT) -> Optional[dict]:
-        cloud = self._active_point_cloud()
+        with self._lock:
+            saved_map_point_cloud = self._saved_map_point_cloud
+            # A saved RTAB-Map map may be published in the local ICP frame
+            # during navigation, while a live SLAM map is normally in `map`.
+            # Preserve the source frame here so the viewer can place either
+            # cloud in the common map scene.
+            cloud = self._point_cloud or self._fallback_point_cloud
+            tf_snapshot = dict(self._tf)
+        if saved_map_point_cloud is not None:
+            return saved_map_point_cloud
+        payload = self._serialize_point_cloud(cloud, limit)
+        if payload is None:
+            return None
+        payload["transform"] = resolve_2d_transform(tf_snapshot, "map", payload["frame_id"])
+        return payload
+
+    def sensor_point_cloud_payload(self, limit: int = 10_000) -> Optional[dict]:
+        with self._lock:
+            cloud = self._fallback_point_cloud
+            tf_snapshot = dict(self._tf)
+            received_at = self._last_fallback_point_cloud_wall_time
+        payload = self._serialize_point_cloud(cloud, limit)
+        if payload is None:
+            return None
+        payload["transform"] = resolve_2d_transform(tf_snapshot, "map", payload["frame_id"])
+        payload["received_at"] = received_at
+        return payload
+
+    def color_point_cloud_payload(self, limit: int = 10_000) -> Optional[dict]:
+        with self._lock:
+            cloud = self._color_point_cloud
+            tf_snapshot = dict(self._tf)
+            received_at = self._last_color_point_cloud_wall_time
+        payload = self._serialize_point_cloud(cloud, limit, include_colors=True)
+        if payload is None:
+            return None
+        payload["transform"] = resolve_2d_transform(tf_snapshot, "map", payload["frame_id"])
+        payload["received_at"] = received_at
+        return payload
+
+    def camera_frame_jpeg(self) -> Optional[bytes]:
+        with self._lock:
+            image = self._camera_image
+            received_at = self._last_camera_image_wall_time
+        if image is None or received_at is None or time.time() - received_at > _CAMERA_FRAME_MAX_AGE_SECONDS:
+            return None
+        if not image.data or "jpeg" not in image.format.lower():
+            return None
+        return bytes(image.data)
+
+    def _serialize_point_cloud(self, cloud: Optional[PointCloud2], limit: int, include_colors: bool = False) -> Optional[dict]:
         if cloud is None or cloud.point_step <= 0 or not cloud.data:
             return None
 
@@ -998,6 +1303,9 @@ class SlamNode(Node):
         prefix = ">" if cloud.is_bigendian else "<"
         data = cloud.data
         points = []
+        colors = []
+        color_offset = offsets.get("rgb", offsets.get("rgba"))
+        color_field = next((field for field in cloud.fields if field.name in ("rgb", "rgba")), None)
         for index in range(0, total, stride):
             offset = index * cloud.point_step
             if offset + cloud.point_step > len(data):
@@ -1010,12 +1318,27 @@ class SlamNode(Node):
                 break
             if math.isfinite(x) and math.isfinite(y) and math.isfinite(z):
                 points.append([x, y, z])
+                if include_colors:
+                    rgb = 0xFFFFFF
+                    if color_offset is not None and color_field is not None:
+                        try:
+                            if color_field.datatype == 6:  # PointField.UINT32
+                                rgb = struct.unpack_from(f"{prefix}I", data, offset + color_offset)[0]
+                            elif color_field.datatype == 7:  # PointField.FLOAT32 packed RGB
+                                packed = struct.unpack_from(f"{prefix}f", data, offset + color_offset)[0]
+                                rgb = struct.unpack(f"{prefix}I", struct.pack(f"{prefix}f", packed))[0]
+                        except struct.error:
+                            pass
+                    colors.append([(rgb >> 16) & 0xFF, (rgb >> 8) & 0xFF, rgb & 0xFF])
 
-        return {
+        payload = {
             "frame_id": cloud.header.frame_id,
             "stamp": cloud.header.stamp.sec + cloud.header.stamp.nanosec * 1e-9,
             "points": points,
         }
+        if include_colors:
+            payload["colors"] = colors
+        return payload
 
     def map_binary(self) -> Optional[bytes]:
         with self._lock:
@@ -1049,7 +1372,7 @@ class SlamNode(Node):
     def topic_debug(self) -> dict:
         topics = {}
         for name, types in self.get_topic_names_and_types():
-            if name in (self.odom_topic, self.icp_odom_topic, self.scan_topic, self.point_cloud_topic, self.fallback_point_cloud_topic, self.map_topic, self.cmd_vel_topic):
+            if name in (self.odom_topic, self.icp_odom_topic, self.scan_topic, self.point_cloud_topic, self.fallback_point_cloud_topic, self.color_point_cloud_topic, self.camera_image_topic, self.map_topic, self.cmd_vel_topic):
                 topics[name] = types
 
         return {
@@ -1058,6 +1381,8 @@ class SlamNode(Node):
                 "scan": self.scan_topic,
                 "point_cloud": self.point_cloud_topic,
                 "fallback_point_cloud": self.fallback_point_cloud_topic,
+                "color_point_cloud": self.color_point_cloud_topic,
+                "camera_image": self.camera_image_topic,
                 "icp_odom": self.icp_odom_topic,
                 "map": self.map_topic,
                 "cmd_vel": self.cmd_vel_topic,
@@ -1067,6 +1392,8 @@ class SlamNode(Node):
             "scan_publishers": self.count_publishers(self.scan_topic),
             "point_cloud_publishers": self.count_publishers(self.point_cloud_topic),
             "fallback_point_cloud_publishers": self.count_publishers(self.fallback_point_cloud_topic),
+            "color_point_cloud_publishers": self.count_publishers(self.color_point_cloud_topic),
+            "camera_image_publishers": self.count_publishers(self.camera_image_topic),
             "icp_odom_publishers": self.count_publishers(self.icp_odom_topic),
             "odom_publishers": self.count_publishers(self.odom_topic),
             "map_publishers": self.count_publishers(self.map_topic),
@@ -1075,6 +1402,8 @@ class SlamNode(Node):
                 "scan_count": self._scan_count,
                 "point_cloud_count": self._point_cloud_count,
                 "fallback_point_cloud_count": self._fallback_point_cloud_count,
+                "color_point_cloud_count": self._color_point_cloud_count,
+                "camera_image_count": self._camera_image_count,
                 "icp_odom_count": self._icp_odom_count,
                 "odom_count": self._odom_count,
                 "map_count": self._map_count,
@@ -1082,6 +1411,8 @@ class SlamNode(Node):
                 "last_scan_wall_time": self._last_scan_wall_time,
                 "last_point_cloud_wall_time": self._last_point_cloud_wall_time,
                 "last_fallback_point_cloud_wall_time": self._last_fallback_point_cloud_wall_time,
+                "last_color_point_cloud_wall_time": self._last_color_point_cloud_wall_time,
+                "last_camera_image_wall_time": self._last_camera_image_wall_time,
                 "last_icp_odom_wall_time": self._last_icp_odom_wall_time,
                 "last_odom_wall_time": self._last_odom_wall_time,
                 "last_map_wall_time": self._last_map_wall_time,
@@ -1155,6 +1486,36 @@ def point_cloud():
     return payload
 
 
+@app.get("/sensor-point-cloud")
+def sensor_point_cloud():
+    if not slam_node:
+        raise HTTPException(status_code=503, detail="ROS node is not ready")
+    payload = slam_node.sensor_point_cloud_payload()
+    if payload is None:
+        raise HTTPException(status_code=404, detail="센서 포인트클라우드를 아직 수신하지 못했습니다.")
+    return payload
+
+
+@app.get("/color-point-cloud")
+def color_point_cloud():
+    if not slam_node:
+        raise HTTPException(status_code=503, detail="ROS node is not ready")
+    payload = slam_node.color_point_cloud_payload()
+    if payload is None:
+        raise HTTPException(status_code=404, detail="컬러 포인트클라우드를 아직 수신하지 못했습니다.")
+    return payload
+
+
+@app.get("/camera-frame")
+def camera_frame():
+    if not slam_node:
+        raise HTTPException(status_code=503, detail="ROS node is not ready")
+    frame = slam_node.camera_frame_jpeg()
+    if frame is None:
+        raise HTTPException(status_code=404, detail="카메라 프레임을 아직 수신하지 못했습니다.")
+    return Response(content=frame, media_type="image/jpeg", headers={"Cache-Control": "no-store"})
+
+
 @app.get("/world-layout")
 def world_layout():
     path = Path(os.environ.get("WORLD_LAYOUT_PATH", "/workspace/world-layout.json"))
@@ -1172,7 +1533,7 @@ def save_map(payload: SaveMapPayload):
         raise HTTPException(status_code=503, detail="ROS node is not ready")
     try:
         return {"ok": True, "map": slam_node.save_map(payload.name)}
-    except ValueError as error:
+    except (ValueError, RuntimeError) as error:
         raise HTTPException(status_code=409, detail=str(error)) from error
 
 
@@ -1239,8 +1600,11 @@ def initial_pose(payload: InitialPosePayload):
         raise HTTPException(status_code=503, detail="ROS node is not ready")
     if slam_node.read_only:
         raise HTTPException(status_code=403, detail="읽기 전용 3D SLAM 화면에서는 초기 위치를 설정할 수 없습니다.")
-    slam_node.publish_initial_pose(payload.x, payload.y, payload.yaw, payload.frame_id)
+    try:
-    return {"ok": True}
+        result = slam_node.publish_initial_pose(payload.x, payload.y, payload.yaw, payload.frame_id)
+    except RuntimeError as error:
+        raise HTTPException(status_code=409, detail=str(error)) from error
+    return {"ok": True, **result}
 
 
 @app.websocket("/ws/state")

src/main/index.ts

@@ -352,7 +352,11 @@ async function syncWorkspaceSavedMapArtifacts(
   }
   await Promise.all(artifacts.map(async (artifact) => {
     const normalized = validateSavedMapDownload(artifact)
-    await downloadArtifact(normalized.url, resolve(mapsDirectory, normalized.fileName))
+    const targetPath = resolve(mapsDirectory, normalized.fileName)
+    // SLAM containers can leave an artifact owned by root. Removing it first
+    // lets the download recreate the file with the desktop user's ownership.
+    await rm(targetPath, { force: true })
+    await downloadArtifact(normalized.url, targetPath)
   }))
   return { ok: true }
 }
@@ -1335,6 +1339,45 @@ async function readRemoteSavedMapArtifacts(
   }))
 }
 
+async function copyRemoteActiveRtabmapDatabaseToLocal(
+  targetInput: RemoteWorkspaceTarget,
+  localWorkspaceRoot: string | null | undefined,
+  destinationPath: string,
+): Promise<{ databasePath: string }> {
+  const target = normalizeRemoteTarget(targetInput)
+  const destinationFileName = savedMapArtifactFileName('database', destinationPath)
+  const sourcePath = `${target.workspaceRoot}/maps/rtabmap-active.db`
+  const snapshotScript = [
+    'import sqlite3, sys',
+    'source, destination = sys.argv[1:3]',
+    'source_db = sqlite3.connect(f"file:{source}?mode=ro", uri=True)',
+    'destination_db = sqlite3.connect(destination)',
+    'source_db.backup(destination_db)',
+    'destination_db.close()',
+    'source_db.close()',
+  ].join('; ')
+  const remoteCommand = [
+    'set -e',
+    `SOURCE=${quoteShellSingle(sourcePath)}`,
+    'test -f "$SOURCE" || { echo "3D SLAM DB를 찾을 수 없습니다: $SOURCE" >&2; exit 1; }',
+    'SNAPSHOT=$(mktemp)',
+    `python3 -c ${quoteShellSingle(snapshotScript)} "$SOURCE" "$SNAPSHOT"`,
+    'base64 -w0 "$SNAPSHOT"',
+    'rm -f "$SNAPSHOT"',
+  ].join('\n')
+  const base64 = (await runSshOutput(target, remoteCommand, 120_000)).trim()
+  if (!base64) throw new Error('3D SLAM DB 스냅샷을 읽지 못했습니다.')
+
+  await syncWorkspaceSavedMapArtifacts(localWorkspaceRoot, [])
+  const root = expandUserPath(localWorkspaceRoot)
+  if (!root) throw new Error('로컬 워크스페이스 경로가 설정되어 있지 않습니다.')
+  const mapsDirectory = resolve(root, 'maps')
+  const destination = resolve(mapsDirectory, destinationFileName)
+  if (!destination.startsWith(`${mapsDirectory}/`)) throw new Error('저장된 3D 맵 경로가 올바르지 않습니다.')
+  await writeFile(destination, Buffer.from(base64, 'base64'))
+  return { databasePath: `/workspace/maps/${destinationFileName}` }
+}
+
 async function syncRemoteSavedMapArtifacts(
   targetInput: RemoteWorkspaceTarget,
   artifacts: SavedMapArtifactDownload[],
@@ -1347,7 +1390,13 @@ async function syncRemoteSavedMapArtifacts(
     `ROOT=${quoteShellSingle(target.workspaceRoot)}`,
     `MAPS_DIRECTORY=${quoteShellSingle(mapsDirectory)}`,
     'if [ ! -d "$MAPS_DIRECTORY" ] || [ ! -w "$MAPS_DIRECTORY" ]; then',
-    '  IMAGE="$(docker image inspect future-nav2:humble-jetson_orin --format {{.Id}} >/dev/null 2>&1 && printf future-nav2:humble-jetson_orin || docker image inspect future-nav2:humble --format {{.Id}} >/dev/null 2>&1 && printf future-nav2:humble || true)"',
+    '  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',
     '  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',
@@ -1460,7 +1509,7 @@ async function startRemoteVisualizationBridge(
       `-e ROBOT_STACK=${quoteShellSingle(stack === 'autoware' ? 'autoware' : 'nav2')}`,
       '-e ODOM_TOPIC=/odom -e SCAN_TOPIC=/scan -e MAP_TOPIC=/map -e CMD_VEL_TOPIC=/cmd_vel -e NAVIGATE_TO_POSE_ACTION=/navigate_to_pose',
       ...(stack === 'slam3d'
-        ? ['-e POINT_CLOUD_TOPIC=/cloud_map -e FALLBACK_POINT_CLOUD_TOPIC=/lidar_filtered -e ICP_ODOM_TOPIC=/icp_odom -e POINT_CLOUD_LIMIT=50000 -e READ_ONLY=true -e RTABMAP_MAP_SAVE_ENABLED=true']
+        ? ['-e POINT_CLOUD_TOPIC=/cloud_map -e FALLBACK_POINT_CLOUD_TOPIC=/lidar_filtered -e ICP_ODOM_TOPIC=/icp_odom -e POINT_CLOUD_LIMIT=50000 -e RTABMAP_MAP_SAVE_ENABLED=true']
         : []),
       bridgeEnvArgs,
       '-e WORLD_LAYOUT_PATH=/workspace/world-layout.json -e SAVED_MAPS_PATH=/workspace/maps -e RTABMAP_DATABASE_PATH=/workspace/maps/rtabmap-active.db',
@@ -2450,7 +2499,7 @@ function bridgeContainerCommand(stack: VisualizationStack): string {
   return [
     'source /opt/ros/humble/setup.bash',
     setupWorkspace,
-    `python3 -c "import fastapi, uvicorn, websockets" || python3 -m pip install --no-cache-dir -r ${requirementPath}`,
+    `(python3 -c "import fastapi, uvicorn, websockets" || python3 -m pip install --no-cache-dir -r ${requirementPath})`,
     `python3 ${bridgePath}`
   ].filter(Boolean).join(' && ')
 }
@@ -2739,6 +2788,7 @@ async function startVisualizationBridge(
   rosDomainId?: string | null,
   environmentProfile?: EnvironmentProfileConfig | null,
   rosNetwork?: RosNetworkConfig | null,
+  savedMapDatabasePath?: string | null,
 ): Promise<VisualizationBridgeStatus> {
   const stack = normalizeVisualizationStack(environmentProfile?.type?.toLowerCase() ?? stackInput)
   const resolvedProfile = withRuntimeProfileDefaults(environmentProfile, stack)
@@ -2840,6 +2890,10 @@ async function startVisualizationBridge(
         '-e', 'RTABMAP_DATABASE_PATH=/workspace/maps/rtabmap-active.db',
       )
       if (stack === 'slam3d') args.push('-e', 'RTABMAP_MAP_SAVE_ENABLED=true')
+      const savedMapFileName = savedMapDatabasePath ? safeSavedMapFileName(basename(savedMapDatabasePath)) : null
+      if (savedMapFileName?.endsWith('.db') && existsSync(resolve(layoutWorkspaceRoot, 'maps', savedMapFileName))) {
+        args.push('-e', `SAVED_MAP_DATABASE_PATH=/workspace/maps/${savedMapFileName}`)
+      }
     }
     const fastDdsConfigPath = await prepareLocalRosNetworkConfig(rosNetwork, requestedRosDomainId)
     if (fastDdsConfigPath && existsSync(fastDdsConfigPath)) {
@@ -3101,7 +3155,14 @@ async function installRemoteWorkspaceModule(
     '    expected = (item.get("checksumSha256") or "").strip().lower()',
     '    if expected:',
     '        import hashlib',
-    '        with open(path, "rb") as fp: actual = hashlib.sha256(fp.read()).hexdigest().lower()',
+    '        def checksum(file_path):',
+    '            with open(file_path, "rb") as fp: return hashlib.sha256(fp.read()).hexdigest().lower()',
+    '        actual = checksum(path)',
+    '        if actual != expected:',
+    '            # Stable artifact URLs may have a newer object than the local cache.',
+    '            os.unlink(path)',
+    '            subprocess.run(["curl", "-fL", url, "-o", path], check=True)',
+    '            actual = checksum(path)',
     '            if actual != expected: raise SystemExit(f"artifact checksum mismatch: {name}")',
     '    entries = subprocess.check_output(["tar", *tar_args(path, "list"), path], text=True)',
     '    for entry in entries.splitlines():',
@@ -3512,13 +3573,13 @@ function buildNav2DockerRunScript(): string {
     'esac',
     'fi',
     '',
-    'if [[ "$MODULE_FOLDER" == *lms-nav2-gazebo-slam3d* ]]; then',
+    'if [[ "$MODULE_FOLDER" == *lms-nav2-gazebo-slam3d* || "$MODULE_FOLDER" == *lms-nav2-gazebo-localization* ]]; then',
     '  mkdir -p "$MODULE_ROOT/maps"',
     '  has_database_path=false',
     '  for arg in "$@"; do',
     '    if [[ "$arg" == database_path:=* ]]; then has_database_path=true; break; fi',
     '  done',
-    '  if [ "$has_database_path" = false ]; then',
+    '  if [[ "$MODULE_FOLDER" == *lms-nav2-gazebo-slam3d* && "$has_database_path" = false ]] || [[ "$MODULE_FOLDER" == *lms-nav2-gazebo-localization* && "$has_database_path" = false ]]; then',
     '    set -- "database_path:=/modules/maps/rtabmap-active.db" "$@"',
     '  fi',
     'fi',
@@ -3621,11 +3682,19 @@ function buildNav2DockerBuildScript(): string {
     '    set -e',
     '    source /opt/ros/humble/setup.bash',
     '    mapfile -t paths < <(colcon list --base-paths src --paths-only)',
-    "    rosdep install --from-paths \"${paths[@]}\" --ignore-src \\",
+    '    ROSDEP_SKIP_ARGS=()',
+    '    if ! apt-cache show ros-humble-gazebo-ros >/dev/null 2>&1; then',
+    '      ROSDEP_SKIP_ARGS=(--skip-keys gazebo_ros)',
+    '    fi',
+    "    rosdep install --from-paths \"${paths[@]}\" --ignore-src \"${ROSDEP_SKIP_ARGS[@]}\" \\",
     "      --dependency-types buildtool --dependency-types build \\",
     '      --dependency-types build_export --dependency-types exec -r -y',
+    '    BUILD_TARGETS=("$2")',
+    '    if [[ "$1" == *lms-nav2-gazebo-slam* && "$1" != *lms-nav2-gazebo-slam3d* ]]; then',
+    '      BUILD_TARGETS=(slam_pkg slam2d_pkg slam3d_pkg)',
+    '    fi',
     "    colcon --log-base log build --base-paths src --build-base build --install-base install \\",
-    '      --executor sequential --cmake-args -DBUILD_TESTING=OFF --packages-up-to "$2"',
+    '      --executor sequential --cmake-args -DBUILD_TESTING=OFF --packages-up-to "${BUILD_TARGETS[@]}"',
     "' bash \"$MODULE_FOLDER\" \"$TARGET\"",
     ''
   ].join('\n')
@@ -3785,6 +3854,22 @@ async function findRunningNav2SimulatorContainer(): Promise<string | null> {
 }
 
 async function findNav2SimulatorRobotModel(containerName: string): Promise<string> {
+  // 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']
+  for (const modelName of knownModels) {
+    const pose = await runCommandOutput(
+      'docker',
+      ['exec', containerName, 'gz', 'model', '-m', modelName, '-p'],
+      undefined,
+      undefined,
+      5_000,
+    ).catch(() => '')
+    const values = pose.trim().split(/\s+/).map(Number)
+    if (values.length === 6 && values.every(Number.isFinite)) return modelName
+  }
+
   const output = await runCommandOutput(
     'docker',
     [
@@ -3798,7 +3883,7 @@ 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|robot/i.test(modelName) && !/world/i.test(modelName)
+    /turtlebot|burger|mkmini|mk-mini|robot/i.test(modelName) && !/world/i.test(modelName)
   ))
   if (!robotModel) throw new Error('Gazebo 로봇 모델을 찾을 수 없습니다.')
   return robotModel
@@ -3815,6 +3900,10 @@ async function setNav2SimulatorPose(
   const containerName = await findRunningNav2SimulatorContainer()
   if (!containerName) throw new Error('실행 중인 NAV2 Simulator를 찾을 수 없습니다.')
   const robotModel = await findNav2SimulatorRobotModel(containerName)
+  // MK-mini's model origin is higher than TurtleBot's. Teleporting it at the
+  // TurtleBot ground height puts its chassis and wheels into the floor, which
+  // makes Gazebo eject or tip the vehicle while resolving the collision.
+  const spawnHeight = /^mkmini/i.test(robotModel) ? '0.16' : '0.01'
 
   await runCommand(
     'docker',
@@ -3823,7 +3912,7 @@ async function setNav2SimulatorPose(
       'gz', 'model', '-m', robotModel,
       '-x', String(x),
       '-y', String(y),
-      '-z', '0.01',
+      '-z', spawnHeight,
       '-R', '0',
       '-P', '0',
       '-Y', String(yaw),
@@ -5141,6 +5230,9 @@ function registerLocalWorkspaceHandlers(): void {
   ipcMain.handle('remote-workspace:maps:read-artifacts', (_event, target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactPath[]) => (
     readRemoteSavedMapArtifacts(target, artifacts)
   ))
+  ipcMain.handle('remote-workspace:maps:copy-active-rtabmap-database', (_event, target: RemoteWorkspaceTarget, localWorkspaceRoot: string | null | undefined, destinationPath: string) => (
+    copyRemoteActiveRtabmapDatabaseToLocal(target, localWorkspaceRoot, destinationPath)
+  ))
   ipcMain.handle('remote-workspace:maps:sync', (_event, target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactDownload[]) => (
     syncRemoteSavedMapArtifacts(target, artifacts)
   ))
@@ -5204,7 +5296,7 @@ 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) => startVisualizationBridge(stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork))
+  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: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

@@ -220,7 +220,7 @@ contextBridge.exposeInMainWorld('localWorkspace', {
   },
   visualization: {
     status: () => ipcRenderer.invoke('local-workspace:visualization:status'),
-    start: (stack?: 'autoware' | 'nav2' | 'slam', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('local-workspace:visualization:start', stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork),
+    start: (stack?: 'autoware' | 'nav2' | 'slam', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null) => ipcRenderer.invoke('local-workspace:visualization:start', stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork, savedMapDatabasePath),
     stop: (environmentProfile?: unknown) => ipcRenderer.invoke('local-workspace:visualization:stop', environmentProfile)
   },
   git: {
@@ -266,6 +266,7 @@ contextBridge.exposeInMainWorld('remoteWorkspace', {
   },
   maps: {
     readArtifacts: (target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactPath[]) => ipcRenderer.invoke('remote-workspace:maps:read-artifacts', target, artifacts),
+    copyActiveRtabmapDatabaseToLocal: (target: RemoteWorkspaceTarget, localWorkspaceRoot: string | undefined, destinationPath: string) => ipcRenderer.invoke('remote-workspace:maps:copy-active-rtabmap-database', target, localWorkspaceRoot, destinationPath),
     sync: (target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactDownload[]) => ipcRenderer.invoke('remote-workspace:maps:sync', target, artifacts)
   },
   modules: {

src/renderer/src/App.tsx

@@ -428,6 +428,7 @@ function LocalPcWorkspaceMockup({
   platformEnvironmentProfiles,
   platformEnvironmentConfigOverride,
   platformOptions,
+  workspaceVisible,
   skipInitialLoading,
   visualizationOpen,
   onVisualizationOpenChange,
@@ -476,6 +477,7 @@ function LocalPcWorkspaceMockup({
   platformEnvironmentProfiles?: EnvironmentProfile[]
   platformEnvironmentConfigOverride?: Record<string, unknown> | null
   platformOptions: PlatformOption[]
+  workspaceVisible: boolean
   skipInitialLoading?: boolean
   visualizationOpen: boolean
   onVisualizationOpenChange: WorkspaceVisualizationStateSetter<boolean>
@@ -527,6 +529,7 @@ function LocalPcWorkspaceMockup({
     clearQaConversation
   } = useQaChat({
     accessToken,
+    courseId: courseKey,
     weekNumber,
     apiBaseUrl: LMS_API_BASE_URL,
     socketBaseUrl: LMS_SOCKET_ORIGIN,
@@ -804,6 +807,9 @@ function LocalPcWorkspaceMockup({
     const configuredMaps = (curriculumWeek.maps ?? [])
       .filter((map): map is WorkspaceMapOption => map.platformKey === 'NAV2')
     const baseMaps = [...configuredMaps]
+    const usesThreeDimensionalSlam = (curriculumWeek.modules ?? []).some((module) => (
+      /lms-nav2-gazebo-slam3d/i.test(module.folderName ?? '')
+    ))
     const platformSlamMap: WorkspaceMapOption = {
       key: 'nav2-platform-slam',
       platformKey: 'NAV2',
@@ -812,7 +818,7 @@ function LocalPcWorkspaceMockup({
       worldFile: '',
       viewerModel: 'turtlebot3_world',
       remoteSlam: true,
-      runtimeKind: 'PLATFORM_2D',
+      runtimeKind: usesThreeDimensionalSlam ? 'PLATFORM_3D' : 'PLATFORM_2D',
     }
     const maps = [...baseMaps, platformSlamMap, ...savedSlamMaps]
     const keys = new Set<string>()
@@ -821,7 +827,7 @@ function LocalPcWorkspaceMockup({
       keys.add(map.key)
       return true
     })
-  }, [curriculumWeek.maps, savedSlamMaps])
+  }, [curriculumWeek.maps, curriculumWeek.modules, savedSlamMaps])
   useEffect(() => {
     const storedMapKey = window.localStorage.getItem(sessionMapStorageKey)
       ?? window.localStorage.getItem(simulationMapStorageKey)
@@ -839,6 +845,9 @@ function LocalPcWorkspaceMockup({
     })
   }, [platformMapStorageKey, savedSlamMapsLoaded, selectedWorldMapKey, sessionMapStorageKey, sessionWorldMaps, simulationMapStorageKey])
   const selectedWorldMap = sessionWorldMaps.find((map) => map.key === selectedWorldMapKey) ?? sessionWorldMaps[0]
+  const prepareVisualizationSavedMapRef = useRef<(
+    () => Promise<{ savedMapDatabasePath?: string }>
+  ) | null>(null)
   const isPlatformWorldMap = selectedWorldMap?.runtimeKind === 'PLATFORM_2D'
     || selectedWorldMap?.runtimeKind === 'PLATFORM_3D'
     || selectedWorldMap?.remoteSlam === true
@@ -1004,6 +1013,11 @@ function LocalPcWorkspaceMockup({
     sessionKey: `${studentSlug}:${courseKey}:week-${weekNumber}`,
     mapKey: selectedWorldMap.saved ? selectedWorldMap.sourceMapKey : selectedWorldMap.key,
     platform: visualizationPlatform,
+    threeDimensional: Boolean(
+      selectedWorldMap.databasePath || selectedWorldMap.runtimeKind === 'PLATFORM_3D'
+    ),
+    savedMapDatabasePath: selectedWorldMap.databasePath,
+    prepareSavedMap: async () => prepareVisualizationSavedMapRef.current?.() ?? {},
     visualizationRuntime: selectedWorldMap.runtimeKind === 'PLATFORM_2D'
       || selectedWorldMap.runtimeKind === 'PLATFORM_3D'
       || selectedWorldMap.remoteSlam
@@ -1023,11 +1037,16 @@ function LocalPcWorkspaceMockup({
     if (initializedVisualizationMapRef.current === mapIdentity) return
     initializedVisualizationMapRef.current = mapIdentity
     const navigationMap = Boolean(selectedWorldMap?.saved)
+    const threeDimensionalMap = Boolean(
+      selectedWorldMap?.databasePath || selectedWorldMap?.runtimeKind === 'PLATFORM_3D'
+    )
+    // Saved RTAB-Map databases are navigable maps. Keep the 3D viewer while
+    // enabling the same pose and goal controls used by NAV2 navigation.
     const nextMode = navigationMap ? 'navigation' : 'slam'
-    const nextStack = navigationMap
+    const nextStack = threeDimensionalMap
-      ? 'nav2'
-      : selectedWorldMap?.databasePath || selectedWorldMap?.runtimeKind === 'PLATFORM_3D'
       ? 'slam3d'
+      : navigationMap
+        ? 'nav2'
         : 'slam'
     if (visualizationStack !== nextStack) setVisualizationStack(nextStack)
     if (nav2VisualizationMode !== nextMode) setNav2VisualizationMode(nextMode)
@@ -1108,7 +1127,14 @@ function LocalPcWorkspaceMockup({
       const response = await fetchWithFreshAuth(`${LMS_API_BASE_URL}/studio/maps?courseId=${encodeURIComponent(courseKey)}&week=${weekNumber}`)
       if (!response.ok) throw new Error(`saved_maps_failed_${response.status}`)
       const maps = await response.json() as Array<{ id: string; name: string; yamlPath: string; pgmPath: string; yamlUrl?: string | null; pgmUrl?: string | null; previewPgm?: string | null; databasePath?: string | null; databaseUrl?: string | null; runtimeKind?: SavedMapRuntimeKind; sourceMapKey: string; worldFile: string; viewerModel: 'turtlebot3_world' | 'turtlebot3_house'; createdAt: string }>
-      setSavedSlamMaps(maps.map((map) => ({
+      setSavedSlamMaps(maps.map((map) => {
+        const isThreeDimensional = map.runtimeKind === 'PLATFORM_3D'
+          || Boolean(map.databasePath || map.databaseUrl)
+        // Older 3D map rows can omit databasePath even though the database
+        // artifact follows the YAML filename in the workspace maps directory.
+        const databasePath = map.databasePath
+          ?? (isThreeDimensional ? map.yamlPath.replace(/\.yaml$/i, '.db') : undefined)
+        return {
         key: `saved-slam-${map.id}`,
         platformKey: 'NAV2',
         name: map.name,
@@ -1124,11 +1150,12 @@ function LocalPcWorkspaceMockup({
         yamlUrl: map.yamlUrl ?? undefined,
         pgmUrl: map.pgmUrl ?? undefined,
         previewPgm: map.previewPgm ?? undefined,
-        databasePath: map.databasePath ?? undefined,
+        databasePath,
         databaseUrl: map.databaseUrl ?? undefined,
         runtimeKind: map.runtimeKind
-          ?? (map.databasePath ? 'PLATFORM_3D' : map.sourceMapKey === 'nav2-platform-slam' ? 'PLATFORM_2D' : 'SIMULATION'),
+          ?? (databasePath ? 'PLATFORM_3D' : map.sourceMapKey === 'nav2-platform-slam' ? 'PLATFORM_2D' : 'SIMULATION'),
-      })))
+        }
+      }))
     } catch (error) {
       console.warn('[studio] saved SLAM maps load failed', error)
     } finally {
@@ -1150,20 +1177,28 @@ function LocalPcWorkspaceMockup({
         message?: string
       }
       if (payload?.source !== 'autonomy-slam-viewer') return
-      if (payload.type === 'navigation-init') {
+      if (payload.type === 'simulator-pose-request' && payload.requestId && payload.pose) {
-        const isPlatformMap = selectedWorldMap.runtimeKind === 'PLATFORM_2D'
+        const reply = (ok: boolean, message?: string) => {
-          || selectedWorldMap.runtimeKind === 'PLATFORM_3D'
+          const target = event.source as Window | null
-          || selectedWorldMap.remoteSlam
+          target?.postMessage({
-        // Only the Gazebo simulation has a model pose to reset. A platform
+            source: 'autonomy-studio',
-        // map can also be opened from the local workspace, where this IPC
+            type: 'simulator-pose-result',
-        // would incorrectly fail because no Simulator container is running.
+            requestId: payload.requestId,
-        if (remoteWorkspace || isPlatformMap) return
+            ok,
-        void Promise.all([
+            message,
-          window.localWorkspace.nav2.setSimulatorPose({ x: -2, y: -0.5, yaw: 0 }),
+          }, '*')
-          window.localWorkspace.nav2.clearRuntimeObstacles(),
+        }
-        ]).catch((error) => {
+        if (remoteWorkspace) {
-          console.warn('[studio] nav2 initialization failed', error)
+          reply(false, '원격 플랫폼의 로봇 위치는 시각화에서 변경할 수 없습니다.')
-          onTitlebarNotice('NAV2 초기화에 실패했습니다.', 'error')
+          return
+        }
+        void window.localWorkspace.nav2.setSimulatorPose({
+          x: Number(payload.pose.x),
+          y: Number(payload.pose.y),
+          yaw: Number(payload.pose.yaw ?? 0),
+        }).then(() => reply(true)).catch((error) => {
+          console.warn('[studio] nav2 simulator pose update failed', error)
+          reply(false, error instanceof Error ? error.message : '가제보 로봇 위치 적용에 실패했습니다.')
         })
         return
       }
@@ -1191,42 +1226,6 @@ function LocalPcWorkspaceMockup({
         })
         return
       }
-      if (payload.type === 'initial-pose-selected') {
-        const x = Number(payload.pose?.x)
-        const y = Number(payload.pose?.y)
-        const yaw = Number(payload.pose?.yaw ?? 0)
-        if (![x, y, yaw].every(Number.isFinite)) return
-        if (remoteWorkspace) {
-          ;(event.source as WindowProxy | null)?.postMessage({
-            source: 'autonomy-lms-shell',
-            type: 'initial-pose-applied',
-            requestId: payload.requestId,
-            ok: true,
-          }, '*')
-          return
-        }
-        void window.localWorkspace.nav2.setSimulatorPose({ x, y, yaw })
-          .then(() => {
-            (event.source as WindowProxy | null)?.postMessage({
-              source: 'autonomy-lms-shell',
-              type: 'initial-pose-applied',
-              requestId: payload.requestId,
-              ok: true,
-            }, '*')
-          })
-          .catch((error) => {
-            console.warn('[studio] nav2 simulator pose update failed', error)
-            onTitlebarNotice('Gazebo 로봇 위치 적용에 실패했습니다.', 'error')
-            ;(event.source as WindowProxy | null)?.postMessage({
-              source: 'autonomy-lms-shell',
-              type: 'initial-pose-applied',
-              requestId: payload.requestId,
-              ok: false,
-              message: error instanceof Error ? error.message : 'Gazebo 로봇 위치 적용에 실패했습니다.',
-            }, '*')
-          })
-        return
-      }
       if (payload.type === 'map-save-failed') {
         onTitlebarNotice(payload.message || '맵 저장에 실패했습니다.', 'error')
         return
@@ -1234,14 +1233,33 @@ function LocalPcWorkspaceMockup({
       if (payload.type !== 'map-saved' || !payload.map?.yamlPath || !payload.map.pgmPath) return
       void (async () => {
         try {
+          let databasePath = payload.map.databasePath ?? null
+          const savesThreeDimensionalMap = remoteWorkspace
+            && visualizationBridgeLocation === 'local'
+            && selectedWorldMap.runtimeKind === 'PLATFORM_3D'
+          if (savesThreeDimensionalMap && !databasePath) {
+            const databaseFileName = payload.map.yamlPath.replace(/\.yaml$/i, '.db')
+            const copied = await window.remoteWorkspace.maps.copyActiveRtabmapDatabaseToLocal(
+              getRemoteWorkspaceTarget(),
+              localVisualizationWorkspaceRoot,
+              databaseFileName,
+            )
+            databasePath = copied.databasePath
+          }
           const sourceArtifacts = [
             { name: 'yaml' as const, path: payload.map.yamlPath },
             { name: 'pgm' as const, path: payload.map.pgmPath },
-            ...(payload.map.databasePath ? [{ name: 'database' as const, path: payload.map.databasePath }] : []),
+            ...(databasePath ? [{ name: 'database' as const, path: databasePath }] : []),
           ]
-          const artifacts = remoteWorkspace
+          // A remote ROS session can still use a bridge running on this PC.
+          // Read saved artifacts from the bridge host, not merely from the
+          // currently selected workspace.
+          const artifacts = remoteWorkspace && visualizationBridgeLocation === 'platform'
             ? await window.remoteWorkspace.maps.readArtifacts(getRemoteWorkspaceTarget(), sourceArtifacts)
-            : await window.localWorkspace.maps.readArtifacts(clonePathPreview, sourceArtifacts)
+            : await window.localWorkspace.maps.readArtifacts(
+              remoteWorkspace ? localVisualizationWorkspaceRoot : clonePathPreview,
+              sourceArtifacts,
+            )
           const form = new FormData()
           form.set('courseId', courseKey)
           form.set('week', String(weekNumber))
@@ -1249,12 +1267,12 @@ function LocalPcWorkspaceMockup({
           form.set('worldFile', selectedWorldMap.worldFile)
           form.set('viewerModel', selectedWorldMap.viewerModel)
           form.set('runtimeKind', remoteWorkspace
-            ? (payload.map.databasePath ? 'PLATFORM_3D' : 'PLATFORM_2D')
+            ? (databasePath ? 'PLATFORM_3D' : 'PLATFORM_2D')
             : 'SIMULATION')
           form.set('yamlPath', payload.map.yamlPath)
           form.set('pgmPath', payload.map.pgmPath)
           if (payload.map.previewPgm) form.set('previewPgm', payload.map.previewPgm)
-          if (payload.map.databasePath) form.set('databasePath', payload.map.databasePath)
+          if (databasePath) form.set('databasePath', databasePath)
           artifacts.forEach((artifact) => {
             const binary = atob(artifact.base64)
             const bytes = Uint8Array.from(binary, (character) => character.charCodeAt(0))
@@ -1281,7 +1299,7 @@ function LocalPcWorkspaceMockup({
     }
     window.addEventListener('message', handleViewerMessage)
     return () => window.removeEventListener('message', handleViewerMessage)
-  }, [clonePathPreview, courseKey, fetchWithFreshAuth, getFreshAccessToken, getRemoteWorkspaceTarget, loadSavedSlamMaps, onTitlebarNotice, remoteWorkspace, selectedWorldMap.key, selectedWorldMap.remoteSlam, selectedWorldMap.runtimeKind, selectedWorldMap.viewerModel, selectedWorldMap.worldFile, weekNumber])
+  }, [clonePathPreview, courseKey, fetchWithFreshAuth, getFreshAccessToken, getRemoteWorkspaceTarget, loadSavedSlamMaps, localVisualizationWorkspaceRoot, onTitlebarNotice, remoteWorkspace, selectedWorldMap.key, selectedWorldMap.remoteSlam, selectedWorldMap.runtimeKind, selectedWorldMap.viewerModel, selectedWorldMap.worldFile, visualizationBridgeLocation, weekNumber])
   const remoteWorkspaceTargetKey = JSON.stringify(resolveRemoteWorkspaceTarget())
   const workspaceUiSessionKey = makeWorkspaceUiSessionKey(studentSlug, weekNumber, platformId)
   const hasRestorableWorkspaceUi = Boolean(
@@ -1290,7 +1308,10 @@ function LocalPcWorkspaceMockup({
   )
   const [workspaceRestoreLoading, setWorkspaceRestoreLoading] = useState(!skipInitialLoading && hasRestorableWorkspaceUi)
   const workspaceRestoreStartedAtRef = useRef(Date.now())
-  const getModuleParameterStorageKey = (module: ModuleRow): string => makeModuleParameterKey(courseKey, weekNumber, module.folderName ?? module.name)
+  const moduleParameterScope = remoteWorkspace ? `platform:${platformId}` : 'local'
+  const getModuleParameterStorageKey = (module: ModuleRow): string => (
+    makeModuleParameterKey(courseKey, weekNumber, module.folderName ?? module.name, moduleParameterScope)
+  )
   const applyModuleParameterOverrides = useCallback((modules: ModuleRow[]): ModuleRow[] => {
     const storedParameters = readStoredModuleParameters()
     return modules.map((module) => {
@@ -1304,7 +1325,7 @@ function LocalPcWorkspaceMockup({
           : defaultParameters.length ? defaultParameters : module.parameters
       }
     })
-  }, [courseKey, runtimeModules, weekNumber])
+  }, [courseKey, moduleParameterScope, runtimeModules, weekNumber])
   const curriculumModuleKey = runtimeModules
     .map((module) => `${module.id}:${module.name}:${module.folderName}:${module.sortOrder}:${JSON.stringify(module.prebuiltArtifacts ?? [])}:${JSON.stringify(module.defaultParameters ?? [])}`)
     .join('|')
@@ -1312,6 +1333,7 @@ function LocalPcWorkspaceMockup({
     availableModules,
     setAvailableModules,
     markModuleState,
+    removeModule,
     modulesLoading,
     moduleListError,
     clearModuleListError,
@@ -2408,16 +2430,21 @@ function LocalPcWorkspaceMockup({
       artifacts.push({ name: 'database', fileName: databaseFileName, url: selectedWorldMap.databaseUrl })
       databasePath = `/workspace/maps/${databaseFileName}`
     }
-    if (remoteWorkspace) {
+    const syncToPlatformWorkspace = remoteWorkspace && visualizationBridgeLocation === 'platform'
+    if (syncToPlatformWorkspace) {
       await window.remoteWorkspace.maps.sync(getRemoteWorkspaceTarget(), artifacts)
     } else {
-      await window.localWorkspace.maps.sync(clonePathPreview, artifacts)
+      await window.localWorkspace.maps.sync(
+        remoteWorkspace ? localVisualizationWorkspaceRoot : clonePathPreview,
+        artifacts,
+      )
     }
     return {
       savedMapYamlPath: `/workspace/maps/${yamlFileName}`,
       savedMapDatabasePath: databasePath,
     }
-  }, [clonePathPreview, getRemoteWorkspaceTarget, remoteWorkspace, selectedWorldMap])
+  }, [clonePathPreview, getRemoteWorkspaceTarget, localVisualizationWorkspaceRoot, remoteWorkspace, selectedWorldMap, visualizationBridgeLocation])
+  prepareVisualizationSavedMapRef.current = prepareSavedMap
   const vehicleRuntimeProfiles = useMemo(() => {
     const profiles = new Map<string, NonNullable<PlatformOption['vehicleRuntimeProfile']>>()
     platformOptions.forEach((platform) => {
@@ -2447,6 +2474,8 @@ function LocalPcWorkspaceMockup({
     weekNumber,
     clonePathPreview,
     remoteWorkspace,
+    moduleParameterScope,
+    workspaceActive: workspaceVisible,
     sourceSettings: runtimeSourceSettings,
     rosNetwork: moduleRosNetworkConfig,
     simulatorWorldFile: selectedWorldMap.worldFile,
@@ -2483,7 +2512,7 @@ function LocalPcWorkspaceMockup({
     }
     if (map.saved) {
       setNav2VisualizationMode('navigation')
-      setVisualizationStack('nav2')
+      setVisualizationStack(map.databasePath ? 'slam3d' : 'nav2')
     } else {
       setNav2VisualizationMode('slam')
       if (map.remoteSlam && visualizationStacks.includes('slam3d')) setVisualizationStack('slam3d')
@@ -2575,7 +2604,11 @@ function LocalPcWorkspaceMockup({
         delete nextRoots[module.name]
         return nextRoots
       })
-      await loadAvailableModules()
+      if (module.sourceType === 'CUSTOM') {
+        removeModule(module)
+      } else {
+        markModuleState(module, 'uninstalled')
+      }
       onTitlebarNotice(options.deleteRepository ? `[${module.name}] 모듈과 저장소가 삭제되었습니다` : `[${module.name}] 삭제되었습니다`, 'info')
     } catch (error) {
       console.error('[modules] delete failed', error)
@@ -4178,6 +4211,7 @@ export default function App(): React.JSX.Element {
     deleteAiConversation: deleteGuideAiConversation
   } = useQaChat({
     accessToken: authSession?.accessToken ?? '',
+    courseId: selectedCourseId,
     weekNumber: 0,
     globalScope: true,
     apiBaseUrl: LMS_API_BASE_URL,
@@ -5605,6 +5639,7 @@ export default function App(): React.JSX.Element {
                   platformEnvironmentProfiles={workspacePlatform?.environmentProfiles}
                   platformEnvironmentConfigOverride={workspacePlatform?.environmentConfigOverride}
                   platformOptions={platformOptions}
+                  workspaceVisible={localPcLayoutOpen}
                   skipInitialLoading={skipWorkspaceInitialLoading}
                   visualizationOpen={workspaceVisualizationOpen}
                   onVisualizationOpenChange={setWorkspaceVisualizationOpen}

src/renderer/src/env.d.ts

@@ -235,7 +235,7 @@ interface Window {
 	      stack: 'autoware' | 'nav2' | 'slam' | null
 	      message?: string
 	    }>
-    start: (stack?: 'autoware' | 'nav2' | 'slam', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null) => Promise<{
+    start: (stack?: 'autoware' | 'nav2' | 'slam', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null) => Promise<{
 	      ok: boolean
 	      running: boolean
 	      stack: 'autoware' | 'nav2' | 'slam' | null
@@ -280,6 +280,7 @@ interface Window {
     }
     maps: {
       readArtifacts: (target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactPath[]) => Promise<Array<{ name: SavedMapArtifactName; fileName: string; base64: string }>>
+      copyActiveRtabmapDatabaseToLocal: (target: RemoteWorkspaceTarget, localWorkspaceRoot: string | undefined, destinationPath: string) => Promise<{ databasePath: string }>
       sync: (target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactDownload[]) => Promise<{ ok: boolean }>
     }
     modules: {

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

@@ -338,7 +338,7 @@ function WorkspaceSourceControlView({
                     onClick={() => onOpenGitChangedFile(selectedGitTarget.moduleName, selectedGitTarget.filePath)}
                     className={['h-7 cursor-pointer rounded-md border px-3 text-[11px] font-bold transition', dark ? 'border-white/12 text-white/58 hover:bg-white/8 hover:text-white' : 'border-[#cfd6e4] text-[#687284] hover:bg-[#eef1f7] hover:text-[#111520]'].join(' ')}
                   >
-                    파일 열기
+                    열기
                   </button>
                 )}
               </div>

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

@@ -212,6 +212,12 @@ export default function WorldMapSelectorModal({ weekNumber, initialScope = 'simu
           {maps.map((map) => {
             const pending = map.key === pendingMap?.key
             const selected = map.key === 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.
+            const mapDimension = map.saved
+              ? (map.runtimeKind === 'PLATFORM_3D' || Boolean(map.databasePath) ? '3D' : '2D')
+              : null
             return (
               <button
                 key={map.key}
@@ -224,7 +230,15 @@ export default function WorldMapSelectorModal({ weekNumber, initialScope = 'simu
               >
                 <WorkspaceMapPreview map={map} selected={pending} />
                 <span className="min-w-0 flex-1">
-                  <span className="block text-[14px] font-bold">{map.name}</span>
+                  <span className="flex min-w-0 items-center gap-2">
+                    <span className="truncate text-[14px] font-bold">{map.name}</span>
+                    {mapDimension && (
+                      <span className={[
+                        'shrink-0 rounded px-1.5 py-0.5 text-[10px] font-bold',
+                        mapDimension === '3D' ? 'bg-cyan-400/15 text-cyan-200' : 'bg-white/10 text-white/55',
+                      ].join(' ')}>{mapDimension}</span>
+                    )}
+                  </span>
                   <span className="mt-1 block text-[12px] leading-5 text-white/50">{map.description}</span>
                 </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>}

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

@@ -54,6 +54,11 @@ export function storeModuleParameters(key: string, parameters: ModuleParameterPa
   }
 }
 
-export function makeModuleParameterKey(courseKey: string, week: number, folderName?: string): string {
+export function makeModuleParameterKey(
-  return `${courseKey || 'default-course'}:week-${week}:${folderName || 'module'}`
+  courseKey: string,
+  week: number,
+  folderName?: string,
+  workspaceScope = 'local'
+): string {
+  return `${courseKey || 'default-course'}:week-${week}:${workspaceScope}:${folderName || 'module'}`
 }

src/renderer/src/features/workspace/useQaChat.ts

@@ -52,6 +52,7 @@ type ChatNotificationPayload = {
 
 type UseQaChatOptions = {
   accessToken: string
+  courseId: string
   weekNumber: number
   globalScope?: boolean
   apiBaseUrl: string
@@ -73,6 +74,7 @@ const qaVisibleMessageLimit = 20
 
 export function useQaChat({
   accessToken,
+  courseId,
   weekNumber,
   globalScope = false,
   apiBaseUrl,
@@ -100,9 +102,12 @@ export function useQaChat({
   const aiRevealCancelRef = useRef(false)
   const expandedAiMessageIdsRef = useRef<Set<string>>(new Set())
 
+  const normalizedCourseId = courseId.trim()
   const validChatWeek = globalScope ? null : Number.isInteger(weekNumber) && weekNumber >= 1 ? weekNumber : null
-  const chatAvailable = globalScope || validChatWeek !== null
+  const chatAvailable = Boolean(normalizedCourseId) && (globalScope || validChatWeek !== null)
-  const chatWeekQuery = validChatWeek ? `&week=${validChatWeek}` : ''
+  const chatQuery = new URLSearchParams({ courseId: normalizedCourseId })
+  if (validChatWeek) chatQuery.set('week', String(validChatWeek))
+  const chatQueryString = chatQuery.toString()
 
   const requestChatApi = async <T,>(path: string, options?: RequestInit): Promise<T> => {
     const requestAccessToken = accessToken ? await getFreshAccessToken() : null
@@ -166,7 +171,7 @@ export function useQaChat({
     let cancelled = false
 
     setAiMessagesLoading(true)
-    requestChatApi<{ threads: ChatThreadResponse[] }>(`/chat/threads?mode=ai${chatWeekQuery}&includeArchived=true`)
+    requestChatApi<{ threads: ChatThreadResponse[] }>(`/chat/threads?${chatQueryString}&mode=ai&includeArchived=true`)
       .then((payload) => {
         if (cancelled) return
         const conversations = payload.threads.map((thread) => ({
@@ -191,7 +196,7 @@ export function useQaChat({
       })
 
     setTeacherMessagesLoading(true)
-    requestChatApi<{ threads: ChatThreadResponse[] }>(`/chat/threads?mode=teacher${chatWeekQuery}`)
+    requestChatApi<{ threads: ChatThreadResponse[] }>(`/chat/threads?${chatQueryString}&mode=teacher`)
       .then((payload) => {
         if (cancelled) return
         const thread = payload.threads[0]
@@ -211,7 +216,7 @@ export function useQaChat({
     return () => {
       cancelled = true
     }
-  }, [accessToken, chatAvailable, chatRefreshSignal, chatWeekQuery])
+  }, [accessToken, chatAvailable, chatQueryString, chatRefreshSignal])
 
   useEffect(() => {
     const target = workspaceChatScrollRef.current
@@ -264,7 +269,7 @@ export function useQaChat({
       setAiPending(false)
       void requestChatApi<{ message: ChatThreadResponse['messages'][number] | null }>('/chat/ai/cancel-active', {
         method: 'POST',
-        body: JSON.stringify(validChatWeek ? { week: validChatWeek } : {})
+        body: JSON.stringify({ courseId: normalizedCourseId, ...(validChatWeek ? { week: validChatWeek } : {}) })
       }).catch(() => {})
       setAiMessages((messages) => [
         ...messages,
@@ -294,7 +299,7 @@ export function useQaChat({
       try {
         const response = await requestChatApi<{ message: { id: string; content: string; createdAt: string } }>('/chat/messages', {
           method: 'POST',
-          body: JSON.stringify({ mode: 'teacher', content, ...(validChatWeek ? { week: validChatWeek } : {}) })
+          body: JSON.stringify({ courseId: normalizedCourseId, mode: 'teacher', content, ...(validChatWeek ? { week: validChatWeek } : {}) })
         })
         setTeacherMessages((messages) => messages.map((message) => (
           message.id === userMessage.id
@@ -333,6 +338,7 @@ export function useQaChat({
       const response = await requestChatApi<{ threadId: string; threadTitle?: string | null; message: { id: string; content: string; createdAt: string }; content: string; canceled?: boolean }>('/chat/ai/respond', {
         method: 'POST',
         body: JSON.stringify({
+          courseId: normalizedCourseId,
           content,
           ...(validChatWeek ? { week: validChatWeek } : {}),
           ...(options?.contextWeek ? { contextWeek: options.contextWeek } : {})
@@ -429,7 +435,7 @@ export function useQaChat({
       setAiTypingMessageId(null)
     }
 
-    await requestChatApi<{ deletedCount: number }>(`/chat/threads?mode=${qaMode}${chatWeekQuery}`, {
+    await requestChatApi<{ deletedCount: number }>(`/chat/threads?${chatQueryString}&mode=${qaMode}`, {
       method: 'DELETE'
     })
 

src/renderer/src/features/workspace/useSourceControl.ts

@@ -1,4 +1,4 @@
-import { useCallback, useEffect, useMemo, useState } from 'react'
+import { useCallback, useEffect, useMemo, useRef, useState } from 'react'
 import type { ModuleRow } from './types'
 import type { GitStatusInfo, GitSubmissionInfo } from './gitUtils'
 
@@ -36,6 +36,7 @@ export function useSourceControl({
   const [selectedGitSubmissionDiff, setSelectedGitSubmissionDiff] = useState('')
   const [gitSubmissionDiffLoading, setGitSubmissionDiffLoading] = useState(false)
   const [gitSubmitting, setGitSubmitting] = useState(false)
+  const gitFileSelectionRequestRef = useRef(0)
 
   const moduleIdentityKey = modules.map((module) => `${module.name}:${module.folderName ?? ''}:${module.state}`).join('|')
   const moduleFolderKey = modules.map((module) => `${module.name}:${module.folderName ?? ''}`).join('|')
@@ -87,8 +88,30 @@ export function useSourceControl({
   const selectGitFile = useCallback(async (moduleName: string, filePath: string): Promise<void> => {
     const target = { moduleName, filePath }
     setSelectedGitTarget(target)
-    await refreshGitStatuses(target)
+    const cachedStatus = gitModuleStatuses[moduleName]
-  }, [refreshGitStatuses])
+    if (cachedStatus?.selectedFilePath === filePath) return
+
+    const module = installedGitModules.find((item) => item.name === moduleName)
+    if (!module) return
+
+    const requestId = ++gitFileSelectionRequestRef.current
+    setGitLoading(true)
+    setGitError(null)
+    try {
+      // Selecting a file used to refresh every module's status and history.
+      // Only the selected module needs its diff refreshed here.
+      const status = await readGitStatus(module, filePath)
+      if (requestId !== gitFileSelectionRequestRef.current) return
+      setGitModuleStatuses((statuses) => ({ ...statuses, [moduleName]: status }))
+      if (!status.ok) setGitError(status.message ?? '파일 변경 내용을 불러오지 못했습니다.')
+    } catch (error) {
+      if (requestId !== gitFileSelectionRequestRef.current) return
+      console.error('[git] selected file status failed', error)
+      setGitError(error instanceof Error ? error.message : '파일 변경 내용을 불러오지 못했습니다.')
+    } finally {
+      if (requestId === gitFileSelectionRequestRef.current) setGitLoading(false)
+    }
+  }, [gitModuleStatuses, installedGitModules, readGitStatus])
 
   const refreshGitSubmissions = useCallback(async (): Promise<void> => {
     if (!installedGitModules.length) {

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

@@ -1,4 +1,4 @@
-import { useCallback, useRef, useState } from 'react'
+import { useCallback, useEffect, useRef, useState } from 'react'
 import { LMS_API_BASE_URL } from '../../config/appConfig'
 import type { StudioSourceSettings, VehicleRuntimeProfile } from '../platforms/types'
 import { serializeModuleParameters, storeModuleParameters, makeModuleParameterKey } from './moduleParameters'
@@ -40,6 +40,8 @@ type UseWorkspaceModuleControlOptions = {
   weekNumber: number
   clonePathPreview: string
   remoteWorkspace: boolean
+  moduleParameterScope: string
+  workspaceActive?: boolean
   sourceSettings: StudioSourceSettings
   rosNetwork?: RosNetworkConfig | null
   simulatorWorldFile?: string | null
@@ -80,6 +82,8 @@ export function useWorkspaceModuleControl({
   weekNumber,
   clonePathPreview,
   remoteWorkspace,
+  moduleParameterScope,
+  workspaceActive = true,
   sourceSettings,
   rosNetwork,
   simulatorWorldFile,
@@ -99,7 +103,23 @@ export function useWorkspaceModuleControl({
   const [controllingModuleNames, setControllingModuleNames] = useState<string[]>([])
   const [moduleInstallError, setModuleInstallError] = useState<string | null>(null)
   const moduleActionQueueRef = useRef<Promise<void>>(Promise.resolve())
-  const queuedModuleNamesRef = useRef(new Set<string>())
+  const queuedModuleActionsRef = useRef(new Map<string, number>())
+  const moduleActionIdRef = useRef(0)
+  const controlGenerationRef = useRef(0)
+  const workspaceActiveRef = useRef(workspaceActive)
+
+  useEffect(() => {
+    workspaceActiveRef.current = workspaceActive
+    if (workspaceActive) return
+
+    // Workspace pages remain mounted while another LMS page is shown. Do not
+    // leave their control buttons locked behind a detached IPC request.
+    controlGenerationRef.current += 1
+    queuedModuleActionsRef.current.clear()
+    moduleActionQueueRef.current = Promise.resolve()
+    setControllingModuleNames([])
+    setInstallingModuleName(null)
+  }, [workspaceActive])
   const isExcludedFromBulkControl = useCallback((module: ModuleRow): boolean => (
     bulkExcludedModuleKeys.includes(module.folderName ?? module.name)
   ), [bulkExcludedModuleKeys])
@@ -120,9 +140,18 @@ export function useWorkspaceModuleControl({
         !parameter.startsWith('runtime_wheelbase:=')
         && !parameter.startsWith('runtime_max_speed:=')
         && !parameter.startsWith('runtime_max_steering_angle:=')
+        && (remoteWorkspace || (
+          !parameter.startsWith('sim_mode:=')
+          && !parameter.startsWith('simulator:=')
+        ))
       ))
     ))
     if (isMkMiniModule && mkMiniProfile) {
+      if (!remoteWorkspace) {
+        // The local workspace pairs MK-mini with NAV2-Gazebo Simulator. Do not
+        // let the real-platform module default start hardware CAN/LiDAR here.
+        parameters.push('sim_mode:=true', 'simulator:=gazebo')
+      }
       parameters.push(`runtime_wheelbase:=${mkMiniProfile.wheelbaseMeters}`)
       parameters.push(`runtime_max_speed:=${mkMiniProfile.maxSpeedMetersPerSecond}`)
       parameters.push(`runtime_max_steering_angle:=${mkMiniProfile.maxSteeringAngleRadians}`)
@@ -134,12 +163,15 @@ export function useWorkspaceModuleControl({
       parameters.push(`world_layout_enabled:=${worldFile === 'empty_world.world'}`)
       if (mapYamlPath) parameters.push(`map:=${mapYamlPath.replace(/^\/workspace\//, '/modules/')}`)
     }
-    if (/lms-nav2-gazebo-slam3d/i.test(module.folderName ?? '') && mapDatabasePath) {
+    const isLocalizationModule = /lms-nav2-gazebo-localization/i.test(module.folderName ?? '')
-      parameters.push(`database_path:=${mapDatabasePath.replace(/^\/workspace\//, '/modules/')}`)
+    const databasePath = mapDatabasePath
-      parameters.push('localization:=true')
+      ?? (isLocalizationModule ? '/workspace/maps/rtabmap-active.db' : null)
+    if (/(lms-nav2-gazebo-slam3d|lms-nav2-gazebo-localization)/i.test(module.folderName ?? '') && databasePath) {
+      parameters.push(`database_path:=${databasePath.replace(/^\/workspace\//, '/modules/')}`)
+      if (/lms-nav2-gazebo-slam3d/i.test(module.folderName ?? '')) parameters.push('localization:=true')
     }
     return parameters.join(' ')
-  }, [savedMapDatabasePath, savedMapYamlPath, simulatorWorldFile, vehicleRuntimeProfiles])
+  }, [remoteWorkspace, savedMapDatabasePath, savedMapYamlPath, simulatorWorldFile, vehicleRuntimeProfiles])
 
   const createCustomModuleSource = useCallback(async (module: ModuleRow): Promise<void> => {
     if (!module.folderName || !module.packageName || !module.launchFile) {
@@ -427,6 +459,7 @@ export function useWorkspaceModuleControl({
   }, [activeRuntimeImages, availableModules, clonePathPreview, getModuleRosParams, getRemoteWorkspaceTarget, installingModuleName, loadAvailableModules, markModuleState, onStopVisualization, onTitlebarNotice, prepareSavedMap, remoteModuleStart, remoteWorkspace, rosNetwork, sourceSettings.gpuEnabled, sourceSettings.rosDomainId])
 
   const runModuleControl = useCallback(async (module: ModuleRow, action: 'start' | 'stop' | 'restart' | 'build'): Promise<void> => {
+    if (!workspaceActiveRef.current) return
     // The parking area only opts modules out of bulk actions; those modules
     // must remain individually controllable while the rest are stopping.
     const canControlExcludedModuleDuringBulkStop = (
@@ -435,14 +468,22 @@ export function useWorkspaceModuleControl({
     )
     if (
       (!canControlExcludedModuleDuringBulkStop && installingModuleName)
-      || queuedModuleNamesRef.current.has(module.name)
+      || queuedModuleActionsRef.current.has(module.name)
     ) return
 
-    queuedModuleNamesRef.current.add(module.name)
+    const actionId = ++moduleActionIdRef.current
+    const controlGeneration = controlGenerationRef.current
+    queuedModuleActionsRef.current.set(module.name, actionId)
     setControllingModuleNames((names) => (names.includes(module.name) ? names : [...names, module.name]))
     setModuleInstallError(null)
     const execute = async (): Promise<void> => {
+      const isCurrentControl = (): boolean => (
+        workspaceActiveRef.current
+        && controlGenerationRef.current === controlGeneration
+        && queuedModuleActionsRef.current.get(module.name) === actionId
+      )
       try {
+        if (!isCurrentControl()) return
         const savedMapOverrides = action === 'start' || action === 'restart'
           ? await prepareSavedMap?.()
           : undefined
@@ -462,6 +503,7 @@ export function useWorkspaceModuleControl({
               ? await remoteModuleStart(module, savedMapOverrides)
               : await window.localWorkspace.modules.start(module.name, clonePathPreview, module.folderName, getModuleRosParams(module, savedMapOverrides), sourceSettings.gpuEnabled, sourceSettings.rosDomainId, activeRuntimeImages, rosNetwork)
         if (!result.ok) throw new Error(result.message)
+        if (!isCurrentControl()) return
 
         if (action === 'start' || action === 'restart') {
           markModuleState(module, 'running')
@@ -480,7 +522,9 @@ export function useWorkspaceModuleControl({
             if (!vehicleResult.ok) throw new Error(vehicleResult.message ?? '로봇 모듈 재시작 실패')
           }
         }
+        if (!isCurrentControl()) return
         await loadAvailableModules({ silent: true })
+        if (!isCurrentControl()) return
         const actionLabel = action === 'stop'
           ? '종료되었습니다'
           : action === 'build'
@@ -491,6 +535,7 @@ export function useWorkspaceModuleControl({
         onTitlebarNotice(`[${module.name}] ${actionLabel}`, 'info')
       } catch (error) {
         console.error(`[modules] ${action} failed`, error)
+        if (!isCurrentControl()) return
         setModuleInstallError(error instanceof Error ? error.message : '모듈 제어 실패')
         const actionLabel = action === 'stop'
           ? '종료 실패'
@@ -502,10 +547,12 @@ export function useWorkspaceModuleControl({
         onTitlebarNotice(`[${module.name}] ${actionLabel}`, 'error')
         await loadAvailableModules({ silent: true })
       } finally {
-        queuedModuleNamesRef.current.delete(module.name)
+        if (queuedModuleActionsRef.current.get(module.name) === actionId) {
+          queuedModuleActionsRef.current.delete(module.name)
           setControllingModuleNames((names) => names.filter((name) => name !== module.name))
         }
       }
+    }
 
     if (action === 'stop') {
       await execute()
@@ -540,14 +587,17 @@ export function useWorkspaceModuleControl({
       const normalizedParameters = parameters
         .map((parameter) => ({ ...parameter, name: parameter.name.trim(), value: parameter.value.trim() }))
         .filter((parameter) => parameter.name)
-      storeModuleParameters(makeModuleParameterKey(courseKey, weekNumber, module.folderName ?? module.name), normalizedParameters)
+      storeModuleParameters(
+        makeModuleParameterKey(courseKey, weekNumber, module.folderName ?? module.name, moduleParameterScope),
+        normalizedParameters
+      )
       const nextTokens = serializeModuleParameters(normalizedParameters).split(/\s+/).filter(Boolean)
       setAvailableModules((modules) => modules.map((item) => item.name === module.name ? { ...item, parameters: nextTokens } : item))
     } catch (error) {
       console.error('[modules] update parameters failed', error)
       setModuleInstallError(error instanceof Error ? error.message : '파라미터 저장 실패')
     }
-  }, [courseKey, setAvailableModules, weekNumber])
+  }, [courseKey, moduleParameterScope, setAvailableModules, weekNumber])
 
   return {
     installingModuleName,

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

@@ -23,6 +23,7 @@ type UseWorkspaceModuleListResult = {
   availableModules: ModuleRow[]
   setAvailableModules: Dispatch<SetStateAction<ModuleRow[]>>
   markModuleState: (module: ModuleRow, state: ModuleRow['state']) => void
+  removeModule: (module: ModuleRow) => void
   modulesLoading: boolean
   moduleListError: string | null
   clearModuleListError: () => void
@@ -130,6 +131,16 @@ export function useWorkspaceModuleList({
     })
   }, [moduleCacheKey])
 
+  const removeModule = useCallback((module: ModuleRow): void => {
+    const key = moduleStateKey(module)
+    pendingModuleStatesRef.current.delete(key)
+    setAvailableModules((current) => {
+      const next = current.filter((item) => moduleStateKey(item) !== key)
+      storeRemoteModuleCache(moduleCacheKey, next)
+      return next
+    })
+  }, [moduleCacheKey])
+
   useEffect(() => {
     moduleInputsRef.current = { curriculumModules, applyModuleParameterOverrides }
   }, [applyModuleParameterOverrides, curriculumModuleKey, curriculumModules])
@@ -219,6 +230,7 @@ export function useWorkspaceModuleList({
     availableModules,
     setAvailableModules,
     markModuleState,
+    removeModule,
     modulesLoading,
     moduleListError,
     clearModuleListError: () => setModuleListError(null),

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

@@ -73,6 +73,9 @@ type UseWorkspaceVisualizationOptions = {
   rosNetwork?: RosNetworkConfig | null
   mapKey?: string | null
   platform?: string | null
+  threeDimensional?: boolean
+  savedMapDatabasePath?: string | null
+  prepareSavedMap?: () => Promise<{ savedMapDatabasePath?: string }>
   visualizationRuntime?: 'real' | 'simulation'
   worldLayoutVersion?: number
   onTitlebarNotice: (title: string, tone?: NoticeTone, addToList?: boolean) => void
@@ -114,6 +117,9 @@ export function useWorkspaceVisualization({
   rosNetwork,
   mapKey,
   platform,
+  threeDimensional = false,
+  savedMapDatabasePath,
+  prepareSavedMap,
   visualizationRuntime,
   worldLayoutVersion,
   onTitlebarNotice
@@ -165,7 +171,10 @@ export function useWorkspaceVisualization({
   const visualizationBridgeUrl = visualizationBridgeHttpUrl.replace(/^http:/, 'ws:').replace(/^https:/, 'wss:')
   const visualizationBackendUrl = visualizationBridgeHttpUrl
   const visualizationRuntimeStack = visualizationStack === 'slam' || visualizationStack === 'slam3d' ? 'nav2' : visualizationStack
-  const pointCloudQuery = visualizationStack === 'slam3d' ? '&pointCloud=1' : ''
+  // A saved RTAB-Map database can be selected while the profile itself still
+  // resolves to the generic NAV2 viewer. Keep the viewer mode tied to the map,
+  // not only to the profile label, so 3D state is never rendered as /scan.
+  const pointCloudQuery = visualizationStack === 'slam3d' || threeDimensional ? '&pointCloud=1' : ''
   const viewerRuntime = visualizationRuntime ?? (isRealPlatformProfile(activeEnvironmentProfile) ? 'real' : 'simulation')
   const localBridgeProfile = useMemo(() => {
     const configuredBridge = typeof activeEnvironmentConfig.bridge === 'object' && activeEnvironmentConfig.bridge !== null
@@ -184,7 +193,7 @@ export function useWorkspaceVisualization({
     }
   }, [activeEnvironmentConfig, visualizationRuntimeStack])
   const visualizationViewerUrl = visualizationStack === 'slam' || visualizationStack === 'slam3d' || visualizationStack === 'nav2'
-    ? `./slam-viewer/index.html?directBridge=1&mode=${visualizationStack === 'nav2' ? nav2VisualizationMode : 'slam'}&runtime=${viewerRuntime}&platform=${encodeURIComponent(platform?.trim() || '')}&bridgeWs=${encodeURIComponent(`${visualizationBridgeUrl}/ws/state`)}&bridgeHttp=${encodeURIComponent(visualizationBridgeHttpUrl)}&mapKey=${encodeURIComponent(mapKey ?? 'nav2-turtlebot3-world')}&layoutVersion=${worldLayoutVersion ?? 0}${pointCloudQuery}`
+    ? `./slam-viewer/index.html?directBridge=1&mode=${nav2VisualizationMode}&runtime=${viewerRuntime}&platform=${encodeURIComponent(platform?.trim() || '')}&bridgeWs=${encodeURIComponent(`${visualizationBridgeUrl}/ws/state`)}&bridgeHttp=${encodeURIComponent(visualizationBridgeHttpUrl)}&mapKey=${encodeURIComponent(mapKey ?? 'nav2-turtlebot3-world')}&layoutVersion=${worldLayoutVersion ?? 0}${pointCloudQuery}`
     : `./autoware-viewer/index.html?source=ros&stack=${visualizationStack}&bridge=${encodeURIComponent(visualizationBridgeUrl)}&backend=${encodeURIComponent(visualizationBackendUrl)}`
 
   useEffect(() => {
@@ -244,11 +253,15 @@ export function useWorkspaceVisualization({
     setVisualizationBusy(true)
     setVisualizationStatusMessage('시작 중')
     try {
+      // Download the selected map artifacts before starting the bridge. The
+      // bridge only receives workspace-local paths, never an R2 URL.
+      const preparedMap = await prepareSavedMap?.()
+      const bridgeSavedMapDatabasePath = preparedMap?.savedMapDatabasePath ?? savedMapDatabasePath
       const status = bridgeRunsOnPlatform
         ? 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)
+        : await window.localWorkspace.visualization.start(visualizationRuntimeStack, bridgeWorkspaceRoot ?? clonePathPreview, rosDomainId, localBridgeProfile, rosNetwork, bridgeSavedMapDatabasePath)
       if (!status.ok) throw new Error(status.message ?? '시작 실패')
       setVisualizationRunning(Boolean(status.running))
       const statusStack = status.stack === 'nav2' && visualizationStack === 'slam3d'