version up!

Localize studio, curriculum, visualization and loading interfaces. Add persistent language and theme settings, refine module loading states, and normalize remote shell locales.

.env.example

@@ -0,0 +1,16 @@
+VITE_API_BASE_URL=http://localhost:4400/api
+VITE_LAUNCHER_API_BASE_URL=http://localhost:4200/api
+
+# Electron main process runtime overrides
+LOCAL_AUTOWARE_BRIDGE_IMAGE=autoware-ros-bridge
+LOCAL_NAV2_BRIDGE_IMAGE=nav2-ros-bridge
+LOCAL_NAV2_RUNTIME_IMAGE=future-nav2-gazebo:humble
+LOCAL_SLAM_BRIDGE_IMAGE=slam-ros-bridge
+LOCAL_SLAM_RUNTIME_IMAGE=future-nav2-gazebo:humble
+
+# Remote Jetson runtime overrides
+JETSON_AGENT_URL=http://100.64.0.2:8787
+JETSON_AGENT_TOKEN=
+JETSON_AUTOWARE_BRIDGE_IMAGE=reg.autonomystudio.net/fd-module/autoware-ros-bridge:jetson
+JETSON_NAV2_BRIDGE_IMAGE=reg.autonomystudio.net/fd-module/nav2-ros-bridge:jetson
+JETSON_NAV2_RUNTIME_IMAGE=reg.autonomystudio.net/fd-module/future-nav2:jetson

.gitignore

@@ -0,0 +1,7 @@
+node_modules
+out
+dist
+.env
+*.log
+*.tsbuildinfo
+.DS_Store

README.md

@@ -1,3 +1,128 @@
-# lms-fe
+# Autonomy Studio LMS
 
-lms 백엔드
+Autonomy Studio LMS의 학생용 데스크톱 애플리케이션입니다. Electron 기반으로 동작하며, 학습 워크스페이스에서 ROS 2/NAV2 모듈 설치와 실행, 코드 편집, Git 연동, 터미널, 맵 및 시각화를 제공합니다.
+
+로컬 PC 시뮬레이션과 원격 플랫폼 워크스페이스를 모두 지원합니다.
+
+## 주요 기능
+
+- 강좌, 학습 단계, 모듈 기반 워크스페이스 관리
+- 로컬 및 원격 플랫폼의 모듈 설치, 빌드, 실행, 종료
+- 코드 편집기, Git 소스 제어, 내장 터미널
+- ROS 토픽 연결 상태와 모듈 간 발행/구독 관계 확인
+- 2D/3D SLAM 맵 저장 및 주행 시각화
+- Docker 기반 ROS 런타임과 SLAM ROS 브리지 관리
+- 원격 플랫폼 에이전트와 연동한 워크스페이스 및 교보재 제어
+
+## 프로젝트 구조
+
+```text
+src/
+  main/                 Electron main process, Docker/워크스페이스/원격 제어
+  preload/              renderer에 노출하는 IPC API
+  renderer/src/         React 사용자 인터페이스
+resources/
+  slam-ros-bridge/      SLAM 및 시각화용 ROS 브리지
+  bin/                  패키징에 포함되는 실행 파일
+  licenses/             배포 라이선스
+```
+
+## 요구 사항
+
+- Node.js와 npm
+- Docker Engine
+- Git
+- Linux AppImage 패키징 시 필요한 시스템 의존성
+
+GPU 가속을 사용할 경우에는 NVIDIA 드라이버 외에 Docker용 NVIDIA Container Toolkit이 필요합니다. GPU 가속은 Docker 컨테이너에 `--gpus all` 옵션을 전달하므로, Docker 런타임이 GPU를 인식하지 못하면 모듈 실행이 실패합니다.
+
+## 개발 환경 실행
+
+```bash
+cp .env.example .env
+npm ci
+npm run dev
+```
+
+renderer 개발 서버는 기본적으로 `5176` 포트를 사용합니다.
+
+## 환경 변수
+
+`.env.example`을 복사해 로컬 환경에 맞게 설정합니다.
+
+| 변수 | 설명 |
+| --- | --- |
+| `VITE_API_BASE_URL` | LMS 백엔드 API 주소 |
+| `VITE_LAUNCHER_API_BASE_URL` | 런처/플랫폼 API 주소 |
+| `LOCAL_AUTOWARE_BRIDGE_IMAGE` | 로컬 Autoware ROS 브리지 이미지 |
+| `LOCAL_NAV2_BRIDGE_IMAGE` | 로컬 NAV2 ROS 브리지 이미지 |
+| `LOCAL_NAV2_RUNTIME_IMAGE` | 로컬 NAV2 런타임 이미지 |
+| `LOCAL_SLAM_BRIDGE_IMAGE` | 로컬 SLAM ROS 브리지 이미지 |
+| `LOCAL_SLAM_RUNTIME_IMAGE` | 로컬 SLAM 런타임 이미지 |
+| `JETSON_AGENT_URL` | 원격 Jetson 에이전트 주소 |
+| `JETSON_AGENT_TOKEN` | 원격 Jetson 에이전트 인증 토큰 |
+| `JETSON_AUTOWARE_BRIDGE_IMAGE` | 원격 Autoware ROS 브리지 이미지 |
+| `JETSON_NAV2_BRIDGE_IMAGE` | 원격 NAV2 ROS 브리지 이미지 |
+| `JETSON_NAV2_RUNTIME_IMAGE` | 원격 NAV2 런타임 이미지 |
+
+`VITE_` 접두사 변수는 renderer 번들에 포함됩니다. 운영 AppImage를 만들 때는 운영 API 주소로 빌드해야 하며, 토큰이나 비밀번호 같은 민감한 값은 `VITE_` 변수에 넣으면 안 됩니다.
+
+예시:
+
+```bash
+VITE_API_BASE_URL=https://workspace.autonomystudio.net/lms-api/api \
+VITE_LAUNCHER_API_BASE_URL=https://portal-api.autonomystudio.net/api \
+npm run build:linux
+```
+
+## 빌드
+
+```bash
+# Electron main, preload, renderer 빌드
+npm run build
+
+# Linux AppImage 생성
+npm run build:linux
+```
+
+패키징 결과물은 `dist/`에 생성됩니다. AppImage에는 아이콘, SLAM ROS 브리지, 실행 도구, 라이선스 리소스가 함께 포함됩니다.
+
+운영 배포용 AppImage는 관리자 웹의 빌드 변수와 동일한 API 주소, 동일한 소스 커밋을 기준으로 빌드해야 합니다. Kubernetes의 LMS 웹 배포 환경 변수는 Electron AppImage에 런타임으로 주입되지 않습니다.
+
+## 워크스페이스와 맵
+
+모듈, 빌드 결과물, 저장 맵은 선택한 사용자 워크스페이스 루트 아래에 관리됩니다. SLAM 맵은 기본적으로 다음 경로에 저장됩니다.
+
+```text
+<workspace>/maps
+```
+
+앱은 해당 워크스페이스를 Docker 컨테이너의 `/workspace`로 마운트하고, SLAM 브리지에는 `SAVED_MAPS_PATH=/workspace/maps`를 전달합니다.
+
+## GPU 가속
+
+GPU 가속을 켠 상태에서 다음과 비슷한 오류가 발생하면 Docker GPU 런타임이 설정되지 않은 상태입니다.
+
+```text
+failed to discover GPU vendor from CDI
+```
+
+NVIDIA Container Toolkit을 설치하고 Docker를 재시작한 뒤 아래 명령이 정상 동작하는지 확인합니다.
+
+```bash
+docker run --rm --gpus all nvidia/cuda:12.4.1-base-ubuntu22.04 nvidia-smi
+```
+
+GPU 설정이 준비되지 않은 PC에서는 앱 설정에서 GPU 가속을 끈 상태로 사용합니다.
+
+## 로그와 문제 확인
+
+- 앱 renderer 로그는 Electron의 사용자 로그 경로에 `renderer.log`로 기록됩니다.
+- 모듈 실행 실패는 워크스페이스 화면의 모듈 로그와 Docker 컨테이너 로그를 함께 확인합니다.
+- 원격 플랫폼 문제는 에이전트 상태, Tailscale/Headscale 연결, ROS Domain ID, 원격 Docker 이미지를 순서대로 점검합니다.
+
+## 보안 유의 사항
+
+- `.env`는 저장소에 커밋하지 않습니다.
+- 에이전트 토큰, API 키, 인증 정보는 빌드 변수 또는 별도 비밀 저장소로 관리합니다.
+- 운영 배포 전에는 API 주소와 원격 런타임 이미지 태그가 대상 환경과 일치하는지 확인합니다.

docs/localization.md

@@ -0,0 +1,47 @@
+# Korean and English UI
+
+Use the language selector at the top of the studio settings screen (local or
+remote workspace). Select a language and press Save to apply it. Unsaved choices
+do not change the UI or stored preference. Korean is the default. The choice is
+stored under `autonomy-studio.lms.language` in local storage and applies on the
+next launch. Switching language updates React subscribers without remounting the
+workspace, terminal, editor, or visualization iframe.
+
+## Scope
+
+- App navigation, curriculum UI, studio controls, settings, dialogs and help.
+- Known application status/error messages and NAV2/SLAM viewer controls.
+- Course titles, learning content, materials, module names, source code, terminal
+  output and server-authored notifications remain in their original language.
+- Unrecognized backend/SSH/Docker errors are preserved verbatim for diagnosis.
+- Embedded text in guide images and external pages is not translated.
+- This does not change ROS, Docker, SSH, the OS locale, or module parameters.
+
+## Adding Text
+
+Use `t('Korean source text')` from `src/renderer/src/i18n` at the display boundary
+and add the English value to `en.json`. Call `useLocaleRender()` in components
+which render translations so an open screen reacts to language changes.
+
+Keep identifiers and state values unchanged. Do not translate stored form values,
+parameter strings, module identifiers, or values used in conditions. Use whole
+sentences with named interpolation placeholders instead of joining translated
+fragments. Korean falls back to the source key; unknown messages retain the source.
+
+The standalone SLAM viewer uses `public/slam-viewer/locale.js` and explicitly
+marked text/attributes. It follows the same saved preference through storage
+events, without reconnecting the bridge or resetting the scene.
+
+## Verification
+
+```sh
+npm run test:i18n
+npx tsc --noEmit -p tsconfig.web.json
+npm run build
+```
+
+The tests cover language persistence, storage failure, cross-window updates,
+interpolation, source fallback and literal translation-key coverage. Browser
+checks should additionally cover both languages, narrow studio panels, preserving
+unsaved edits, and language changes with the viewer open. `npm run build` does not
+package an AppImage.

electron.vite.config.d.ts

@@ -0,0 +1,2 @@
+declare const _default: import("electron-vite").ElectronViteConfig;
+export default _default;

electron.vite.config.js

@@ -0,0 +1,20 @@
+import { resolve } from 'path';
+import { defineConfig, externalizeDepsPlugin } from 'electron-vite';
+import react from '@vitejs/plugin-react';
+import tailwindcss from '@tailwindcss/vite';
+export default defineConfig({
+    main: {
+        plugins: [externalizeDepsPlugin()]
+    },
+    preload: {
+        plugins: [externalizeDepsPlugin()]
+    },
+    renderer: {
+        resolve: {
+            alias: {
+                '@renderer': resolve('src/renderer/src')
+            }
+        },
+        plugins: [react(), tailwindcss()]
+    }
+});

electron.vite.config.ts

@@ -0,0 +1,24 @@
+import { resolve } from 'path'
+import { defineConfig, externalizeDepsPlugin } from 'electron-vite'
+import react from '@vitejs/plugin-react'
+import tailwindcss from '@tailwindcss/vite'
+
+export default defineConfig({
+  main: {
+    plugins: [externalizeDepsPlugin()]
+  },
+  preload: {
+    plugins: [externalizeDepsPlugin()]
+  },
+  renderer: {
+    server: {
+      port: 5176,
+    },
+    resolve: {
+      alias: {
+        '@renderer': resolve('src/renderer/src')
+      }
+    },
+    plugins: [react(), tailwindcss()]
+  }
+})

package.json

@@ -0,0 +1,84 @@
+{
+  "name": "lms",
+  "version": "1.2.2",
+  "description": "Autonomy Studio LMS Electron app",
+  "main": "./out/main/index.js",
+  "author": {
+    "name": "Autonomy Studio",
+    "email": "hooladhoon@gmail.com"
+  },
+  "scripts": {
+    "test:i18n": "node --test scripts/test-i18n.cjs",
+    "test:theme": "node --test scripts/test-studio-theme.cjs",
+    "dev": "electron-vite dev",
+    "build": "electron-vite build",
+    "build:linux": "npm run build && electron-builder --linux"
+  },
+  "build": {
+    "appId": "com.autonomystudio.lms",
+    "productName": "Autonomy Studio LMS",
+    "directories": {
+      "output": "dist"
+    },
+    "files": [
+      "out/**/*",
+      "package.json"
+    ],
+    "extraResources": [
+      {
+        "from": "resources/icon.png",
+        "to": "icon.png"
+      },
+      {
+        "from": "resources/slam-ros-bridge",
+        "to": "slam-ros-bridge"
+      },
+      {
+        "from": "resources/bin",
+        "to": "bin"
+      },
+      {
+        "from": "resources/licenses",
+        "to": "licenses"
+      }
+    ],
+    "linux": {
+      "target": "AppImage",
+      "icon": "resources/icon.png",
+      "category": "Education"
+    }
+  },
+  "dependencies": {
+    "@electron-toolkit/preload": "^3.0.1",
+    "@electron-toolkit/utils": "^4.0.0",
+    "@mkkellogg/gaussian-splats-3d": "^0.4.7",
+    "@monaco-editor/react": "^4.7.0",
+    "@types/three": "^0.181.0",
+    "@xterm/addon-fit": "^0.11.0",
+    "@xterm/xterm": "^6.0.0",
+    "driver.js": "^1.4.0",
+    "i18next": "^26.4.2",
+    "lucide-react": "^1.14.0",
+    "monaco-editor": "^0.55.1",
+    "node-pty": "^1.1.0",
+    "react-i18next": "^17.0.15",
+    "react-markdown": "^10.1.0",
+    "remark-gfm": "^4.0.1",
+    "socket.io-client": "^4.8.3",
+    "three": "^0.181.2"
+  },
+  "devDependencies": {
+    "@electron-toolkit/tsconfig": "^1.0.1",
+    "@tailwindcss/vite": "^4.2.4",
+    "@types/react": "^19.1.2",
+    "@types/react-dom": "^19.1.2",
+    "@vitejs/plugin-react": "^4.4.1",
+    "electron": "35.7.5",
+    "electron-builder": "^25.1.8",
+    "electron-vite": "^3.1.0",
+    "react": "^19.1.0",
+    "react-dom": "^19.1.0",
+    "tailwindcss": "^4.2.4",
+    "typescript": "^5.8.3"
+  }
+}

resources/autoware-ros-bridge/Dockerfile

@@ -0,0 +1,23 @@
+FROM ghcr.io/autowarefoundation/autoware-universe:humble-20240301-cuda
+
+WORKDIR /ros_bridge
+
+RUN curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+    -o /usr/share/keyrings/ros-archive-keyring.gpg \
+ && printf "deb [arch=%s signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu %s main\n" \
+    "$(dpkg --print-architecture)" "$(. /etc/os-release && echo "$UBUNTU_CODENAME")" \
+    > /etc/apt/sources.list.d/ros2.list \
+ && apt-get update \
+ && apt-get install -y --no-install-recommends \
+    ros-humble-autoware-adapi-v1-msgs \
+    ros-humble-autoware-planning-msgs \
+    ros-humble-autoware-vehicle-msgs \
+    ros-humble-nav2-msgs \
+ && rm -rf /var/lib/apt/lists/*
+
+COPY requirements.txt /ros_bridge/requirements.txt
+RUN pip3 install --no-cache-dir -r /ros_bridge/requirements.txt
+
+COPY bridge.py /ros_bridge/bridge.py
+
+CMD bash -c "source /opt/ros/humble/setup.bash && if [ -f /autoware_ws/install/setup.bash ]; then source /autoware_ws/install/setup.bash; fi && python3 /ros_bridge/bridge.py"

resources/autoware-ros-bridge/requirements.txt

@@ -0,0 +1,3 @@
+fastapi>=0.110.0
+uvicorn[standard]>=0.29.0
+pydantic>=2.0.0

resources/licenses/zstd/LICENSE

@@ -0,0 +1,30 @@
+BSD License
+
+For Zstandard software
+
+Copyright (c) Meta Platforms, Inc. and affiliates. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+ * Neither the name Facebook, nor Meta, nor the names of its contributors may
+   be used to endorse or promote products derived from this software without
+   specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

resources/nav2-ros-bridge/Dockerfile

@@ -0,0 +1,16 @@
+FROM ros:humble-ros-base
+
+WORKDIR /ros_bridge
+
+RUN apt-get update \
+ && apt-get install -y --no-install-recommends \
+    python3-pip \
+    ros-humble-nav2-msgs \
+ && rm -rf /var/lib/apt/lists/*
+
+COPY requirements.txt /ros_bridge/requirements.txt
+RUN pip3 install --no-cache-dir -r /ros_bridge/requirements.txt
+
+COPY bridge.py /ros_bridge/bridge.py
+
+CMD bash -c "source /opt/ros/humble/setup.bash && python3 /ros_bridge/bridge.py"

resources/nav2-ros-bridge/requirements.txt

@@ -0,0 +1,3 @@
+fastapi>=0.110.0
+uvicorn[standard]>=0.29.0
+pydantic>=2.0.0

resources/slam-ros-bridge/Dockerfile

@@ -0,0 +1,13 @@
+FROM future-nav2-gazebo:humble
+
+WORKDIR /app
+
+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 && \
+    pip3 install --no-cache-dir --retries 5 --timeout 180 -r /app/requirements.txt && \
+    rm -rf /var/lib/apt/lists/*
+
+CMD bash -c "source /opt/ros/humble/setup.bash && python3 /app/bridge.py"

resources/slam-ros-bridge/requirements.txt

@@ -0,0 +1,3 @@
+fastapi>=0.110.0
+uvicorn[standard]>=0.29.0
+pydantic>=2.0.0

resources/slam-ros-bridge/test_teleop.py

@@ -0,0 +1,70 @@
+import ast
+import math
+from pathlib import Path
+import threading
+from types import SimpleNamespace
+import unittest
+
+
+class Twist:
+    def __init__(self):
+        self.linear = SimpleNamespace(x=0.0)
+        self.angular = SimpleNamespace(z=0.0)
+
+
+class TeleopTest(unittest.TestCase):
+    def setUp(self):
+        self.now = 10.0
+        self.messages = []
+        source = ast.parse(Path(__file__).with_name('bridge.py').read_text())
+        node = next(item for item in source.body if isinstance(item, ast.ClassDef) and item.name == 'SlamNode')
+        methods = [item for item in node.body if isinstance(item, ast.FunctionDef)
+                   and item.name in ('publish_cmd_vel', '_check_teleop_timeout')]
+        scope = {'math': math, 'Twist': Twist, 'time': SimpleNamespace(monotonic=lambda: self.now)}
+        exec(compile(ast.Module(body=methods, type_ignores=[]), 'bridge-teleop', 'exec'), scope)
+        cls = type('Teleop', (), {name: scope[name] for name in ('publish_cmd_vel', '_check_teleop_timeout')})
+        self.node = cls()
+        self.node.read_only = False
+        self.node._teleop_lock = threading.Lock()
+        self.node._teleop_deadline = None
+        self.node._cmd_vel_pub = SimpleNamespace(publish=lambda msg: self.messages.append((msg.linear.x, msg.angular.z)))
+
+    def test_low_speed_and_expiry(self):
+        self.node.publish_cmd_vel(5.0, -5.0, True)
+        self.assertEqual(self.messages[-1], (0.1, -0.5))
+        self.now += 0.6
+        self.node._check_teleop_timeout()
+        self.assertEqual(self.messages[-1], (0.0, 0.0))
+        count = len(self.messages)
+        self.node._check_teleop_timeout()
+        self.assertEqual(len(self.messages), count)
+
+    def test_heartbeat_and_release(self):
+        self.node.publish_cmd_vel(0.1, 0, True)
+        self.now += 0.4
+        self.node.publish_cmd_vel(0.1, 0, True)
+        self.now += 0.2
+        self.node._check_teleop_timeout()
+        self.assertEqual(len(self.messages), 2)
+        self.node.publish_cmd_vel(0, 0, True)
+        self.assertIsNone(self.node._teleop_deadline)
+
+    def test_simulation_and_idle_navigation_unchanged(self):
+        self.node._check_teleop_timeout()
+        self.assertEqual(self.messages, [])
+        self.node.publish_cmd_vel(0.22, 2.84)
+        self.now += 2
+        self.node._check_teleop_timeout()
+        self.assertEqual(self.messages, [(0.22, 2.84)])
+
+    def test_invalid_and_readonly_rejected(self):
+        with self.assertRaises(RuntimeError):
+            self.node.publish_cmd_vel(float('nan'), 0, True)
+        self.node.read_only = True
+        with self.assertRaises(RuntimeError):
+            self.node.publish_cmd_vel(0.1, 0, True)
+        self.assertEqual(self.messages, [])
+
+
+if __name__ == '__main__':
+    unittest.main()

scripts/test-i18n.cjs

@@ -0,0 +1,209 @@
+const assert = require('node:assert/strict')
+const fs = require('node:fs')
+const path = require('node:path')
+const vm = require('node:vm')
+const { test } = require('node:test')
+const ts = require('typescript')
+const { createInstance } = require('i18next')
+
+const root = path.resolve(__dirname, '../src/renderer/src')
+const dictionary = JSON.parse(fs.readFileSync(path.join(root, 'i18n/en.json'), 'utf8'))
+
+test('all execution guide page titles have English translations', () => {
+  const source = fs.readFileSync(path.join(root, 'features/workspace/ModuleListView.tsx'), 'utf8')
+  const titles = [...source.matchAll(/environment: '([^']+)'/g)].map(match => match[1])
+  assert.equal(titles.length, 4)
+  for (const title of titles) assert.ok(dictionary[title], title)
+})
+
+test('visualization progress uses exact runtime translation keys', () => {
+  const { api } = setup('en')
+  assert.equal(api.t('맵 환경 준비 중'), 'Preparing map environment')
+  assert.equal(api.t('시작 중'), 'Starting')
+  assert.equal(api.t('종료 중'), 'Stopping')
+  const panel = fs.readFileSync(path.join(root, 'features/workspace/WorkspaceVisualizationPanel.tsx'), 'utf8')
+  assert.ok(panel.includes('busy ? t(statusMessage)'))
+})
+
+test('viewer translates before 3D initialization and accepts language only from its parent', () => {
+  const events = new Map()
+  const sent = []
+  const parent = { postMessage: message => sent.push(message) }
+  const label = { dataset: { i18n: '응답을 기다리는 중입니다.' }, textContent: '' }
+  const document = {
+    documentElement: {},
+    querySelectorAll: selector => selector === '[data-i18n]' ? [label] : []
+  }
+  const source = fs.readFileSync(path.join(root, '../public/slam-viewer/locale.js'), 'utf8')
+  const code = ts.transpileModule(source, { compilerOptions: {
+    module: ts.ModuleKind.CommonJS, target: ts.ScriptTarget.ES2022, allowJs: true
+  } }).outputText
+  vm.runInNewContext(code, {
+    exports: {}, document,
+    localStorage: { getItem: () => 'ko' },
+    window: { parent, addEventListener: (type, listener) => events.set(type, listener) }
+  })
+  assert.equal(sent[0].type, 'lms:language:ready')
+  events.get('message')({ source: {}, data: { type: 'lms:language', language: 'en' } })
+  assert.equal(label.textContent, '응답을 기다리는 중입니다.')
+  events.get('message')({ source: parent, data: { type: 'lms:language', language: 'en' } })
+  assert.equal(label.textContent, 'Waiting for a response.')
+  events.get('message')({ source: parent, data: { type: 'lms:language', language: 'ko' } })
+  assert.equal(label.textContent, '응답을 기다리는 중입니다.')
+  const html = fs.readFileSync(path.join(root, '../public/slam-viewer/index.html'), 'utf8')
+  assert.ok(html.includes('<script type="module" src="./locale.js"></script>'))
+})
+
+function setup(savedLanguage, storageBlocked = false) {
+  const instance = createInstance()
+  const storage = new Map([['autonomy-studio.lms.language', savedLanguage]])
+  const events = new Map()
+  const document = { documentElement: { lang: '' } }
+  const exports = {}
+  const source = fs.readFileSync(path.join(root, 'i18n/index.ts'), 'utf8')
+  const code = ts.transpileModule(source, { compilerOptions: {
+    module: ts.ModuleKind.CommonJS, target: ts.ScriptTarget.ES2022, esModuleInterop: true
+  } }).outputText
+  vm.runInNewContext(code, {
+    exports, document,
+    localStorage: {
+      getItem(key) { if (storageBlocked) throw Error('blocked'); return storage.get(key) },
+      setItem(key, value) { if (storageBlocked) throw Error('blocked'); storage.set(key, value) }
+    },
+    window: { addEventListener: (name, listener) => events.set(name, listener) },
+    require(name) {
+      if (name === 'i18next') return instance
+      if (name === './en.json') return dictionary
+      return require(name)
+    }
+  })
+  return { api: exports, storage, document, events }
+}
+
+test('Korean defaults, English persists, interpolation and fallback preserve user content', () => {
+  const { api, storage, document } = setup('invalid')
+  assert.equal(api.t('설정'), '설정')
+  assert.equal(document.documentElement.lang, 'ko')
+  api.setLanguage('en')
+  assert.equal(api.t('설정'), 'Settings')
+  assert.equal(api.t('{{week}}주차', { week: 3 }), 'Week 3')
+  assert.equal(api.t('강사가 작성한 강좌 제목'), '강사가 작성한 강좌 제목')
+  assert.equal(api.t('sim_mode:=false'), 'sim_mode:=false')
+  assert.equal(storage.get(api.LANGUAGE_STORAGE_KEY), 'en')
+  assert.equal(document.documentElement.lang, 'en')
+  api.setLanguage('ko')
+  assert.equal(api.t('{{week}}주차', { week: 3 }), '3주차')
+})
+
+test('restores preference and synchronizes other renderer windows', () => {
+  const { api, document, events } = setup('en')
+  assert.equal(api.t('설정'), 'Settings')
+  events.get('storage')({ key: api.LANGUAGE_STORAGE_KEY, newValue: 'ko' })
+  assert.equal(document.documentElement.lang, 'ko')
+})
+
+test('blocked storage does not prevent switching language', () => {
+  const { api } = setup(undefined, true)
+  api.setLanguage('en')
+  assert.equal(api.t('설정'), 'Settings')
+})
+
+test('language selector edits a draft without applying or persisting it', () => {
+  const { api, storage, document } = setup('ko')
+  const exports = {}
+  const source = fs.readFileSync(path.join(root, 'i18n/LanguageSelect.tsx'), 'utf8')
+  const code = ts.transpileModule(source, { compilerOptions: {
+    module: ts.ModuleKind.CommonJS, target: ts.ScriptTarget.ES2022,
+    jsx: ts.JsxEmit.ReactJSX, esModuleInterop: true
+  } }).outputText
+  vm.runInNewContext(code, { exports, require: name => name === './index' ? api : require(name) })
+  let draft = 'ko'
+  const element = exports.default({ dark: false, value: draft, onChange: value => { draft = value } })
+  const select = element.props.children.find(child => child.type === 'select')
+  select.props.onChange({ target: { value: 'en' } })
+  assert.equal(draft, 'en')
+  assert.equal(document.documentElement.lang, 'ko')
+  assert.equal(storage.get(api.LANGUAGE_STORAGE_KEY), 'ko')
+})
+
+test('built-in map labels follow language without changing map data or saved names', () => {
+  const { api } = setup('ko')
+  const exports = {}
+  const source = fs.readFileSync(path.join(root, 'features/workspace/WorldMapSelectorModal.tsx'), 'utf8')
+  const code = ts.transpileModule(source, { compilerOptions: {
+    module: ts.ModuleKind.CommonJS, target: ts.ScriptTarget.ES2022,
+    jsx: ts.JsxEmit.ReactJSX, esModuleInterop: true
+  } }).outputText
+  vm.runInNewContext(code, { exports, require: name => {
+    if (name === '../../i18n') return api
+    if (name === './studioTheme') return { useStudioTheme: () => 'dark' }
+    if (name.endsWith('.css')) return {}
+    return require(name)
+  } })
+  const map = exports.NAV2_MAP_OPTIONS[0]
+  assert.equal(exports.getMapDisplayName(map), '기본 월드')
+  api.setLanguage('en')
+  assert.equal(exports.getMapDisplayName(map), 'Default world')
+  assert.equal(exports.getMapDisplayName({ ...map, saved: true }), '기본 월드')
+  assert.equal(map.name, '기본 월드')
+  assert.equal(map.worldFile, 'turtlebot3_world.world')
+  assert.equal(api.t('새 2D 맵'), 'New 2D map')
+  assert.equal(api.t('새 3D 맵'), 'New 3D map')
+})
+
+test('translations preserve every interpolation placeholder', () => {
+  const placeholders = value => [...value.matchAll(/{{\s*([^}]+)\s*}}/g)].map(match => match[1]).sort()
+  for (const [key, value] of Object.entries(dictionary)) {
+    assert.ok(value.trim(), `Empty translation: ${key}`)
+    assert.deepEqual(placeholders(value), placeholders(key), key)
+  }
+})
+
+test('learning statistics translate API labels but preserve numeric values', () => {
+  const { api } = setup('ko')
+  const exports = {}
+  const source = fs.readFileSync(path.join(root, 'features/curriculum/LearningStatsCard.tsx'), 'utf8')
+  const code = ts.transpileModule(source, { compilerOptions: {
+    module: ts.ModuleKind.CommonJS, target: ts.ScriptTarget.ES2022,
+    jsx: ts.JsxEmit.ReactJSX, esModuleInterop: true
+  } }).outputText
+  vm.runInNewContext(code, { exports, require: name => name === '../../i18n'
+    ? { ...api, useLocaleRender() {} } : require(name) })
+  const stats = [
+    { key: 'weeks', label: '완료한 주차', value: '0/3', iconKey: 'check' },
+    { key: 'time', label: '학습 시간', value: '02:08', iconKey: 'clock' },
+    { key: 'commits', label: '커밋 수', value: '0', iconKey: 'trending' },
+    { key: 'score', label: '평균 점수', value: '0', iconKey: 'gauge' }
+  ]
+  const { createElement } = require('react')
+  const { renderToStaticMarkup } = require('react-dom/server')
+  const render = () => renderToStaticMarkup(createElement(exports.default, { stats }))
+  assert.ok(render().includes('완료한 주차'))
+  api.setLanguage('en')
+  const html = render()
+  for (const text of ['Completed weeks', 'Learning time', 'Commits', 'Average score', '0/3', '02:08']) {
+    assert.ok(html.includes(text), text)
+  }
+  for (const item of stats) assert.ok(!html.includes(item.label), item.label)
+  api.setLanguage('ko')
+  assert.ok(render().includes('평균 점수'))
+})
+
+test('all literal translation calls have an English entry', () => {
+  function check(dir) {
+    for (const entry of fs.readdirSync(dir, { withFileTypes: true })) {
+      const file = path.join(dir, entry.name)
+      if (entry.isDirectory()) { check(file); continue }
+      if (!/\.tsx?$/.test(file)) continue
+      const source = ts.createSourceFile(file, fs.readFileSync(file, 'utf8'), ts.ScriptTarget.Latest, true)
+      function visit(node) {
+        if (ts.isCallExpression(node) && node.expression.getText(source) === 't' && node.arguments[0] && ts.isStringLiteral(node.arguments[0])) {
+          assert.ok(Object.hasOwn(dictionary, node.arguments[0].text), `${file}: ${node.arguments[0].text}`)
+        }
+        ts.forEachChild(node, visit)
+      }
+      visit(source)
+    }
+  }
+  check(root)
+})

scripts/test-remote-shell.cjs

@@ -0,0 +1,85 @@
+const assert = require('node:assert/strict')
+const { test } = require('node:test')
+const { readFileSync, mkdtempSync, writeFileSync, rmSync } = require('node:fs')
+const { tmpdir } = require('node:os')
+const { join } = require('node:path')
+const { spawn } = require('node:child_process')
+const vm = require('node:vm')
+const ts = require('typescript')
+
+const transpile = (source) => ts.transpileModule(source, {
+  compilerOptions: { target: ts.ScriptTarget.ES2022, module: ts.ModuleKind.CommonJS }
+}).outputText
+const helpers = { exports: {} }
+vm.runInNewContext(transpile(readFileSync(join(__dirname, '../src/main/remoteShell.ts'), 'utf8')), helpers)
+const { remoteShellCommand, remoteShellEnvironment } = helpers.exports
+const source = readFileSync(join(__dirname, '../src/main/index.ts'), 'utf8')
+const start = source.indexOf('async function runCommandOutput(')
+const end = source.indexOf('\nasync function runCommand(', start)
+const context = { spawn, process, setTimeout, clearTimeout, createModuleProgressParser: () => () => {} }
+vm.runInNewContext(transpile(source.slice(start, end)), context)
+const run = context.runCommandOutput
+
+test('SSH data output excludes locale warnings even when command succeeds', async () => {
+  const result = await run('/bin/bash', ['--noprofile', '--norc', '-c', 'printf %s "/tmp/module with spaces"'], undefined,
+    { LC_ALL: 'missing_TEST.UTF-8' }, 5000, 'stdout')
+  assert.equal(result, '/tmp/module with spaces')
+})
+
+test('failed commands retain stderr diagnostics and stdout', async () => {
+  await assert.rejects(run('/bin/sh', ['-c', 'printf context; printf "permission denied" >&2; exit 7'], undefined, undefined, 5000, 'stdout'),
+    error => error.message.includes('context') && error.message.includes('permission denied'))
+})
+
+test('non-SSH combined output stays compatible and explicit log merging works', async () => {
+  const command = 'printf output; printf diagnostic >&2'
+  const combined = await run('/bin/sh', ['-c', command])
+  assert.match(combined, /output/)
+  assert.match(combined, /diagnostic/)
+  const logs = await run('/bin/sh', ['-c', `{ ${command}; } 2>&1`], undefined, undefined, 5000, 'stdout')
+  assert.match(logs, /diagnostic/)
+})
+
+test('SSH environment neutralizes locale forwarding without losing other settings', () => {
+  const original = { LANG: 'ko_KR.UTF-8', LC_ALL: 'en_US.UTF-8', LC_CTYPE: 'bad', LANGUAGE: 'ko:en', PATH: '/bin', TERM: 'xterm-256color' }
+  const env = remoteShellEnvironment(original)
+  assert.equal(env.LANG, 'C')
+  assert.equal(env.LC_ALL, 'C')
+  assert.equal(env.LC_CTYPE, undefined)
+  assert.equal(env.LANGUAGE, undefined)
+  assert.equal(env.PATH, '/bin')
+  assert.equal(env.TERM, 'xterm-256color')
+  assert.equal(original.LC_CTYPE, 'bad')
+})
+
+test('remote wrapper preserves multiline commands, Unicode, quotes and exit status', async () => {
+  const command = `cat <<'END'
+/tmp/한글 module's folder
+END`
+  const result = await run('/bin/sh', ['-c', remoteShellCommand(command)], undefined, remoteShellEnvironment(process.env), 5000, 'stdout')
+  assert.equal(result, "/tmp/한글 module's folder\n")
+  await assert.rejects(run('/bin/sh', ['-c', remoteShellCommand('echo remote-failure >&2; exit 9')], undefined, undefined, 5000, 'stdout'), /remote-failure/)
+})
+
+test('locale selection prefers C UTF-8, supports other UTF-8 locales and falls back to C', async () => {
+  const dir = mkdtempSync(join(tmpdir(), 'lms-locale-test-'))
+  try {
+    for (const [locales, expected] of [['en_GB.utf8 C.utf8', 'C.utf8'], ['C en_GB.utf8', 'en_GB.utf8'], ['C POSIX', 'C']]) {
+      writeFileSync(join(dir, 'locale'), `#!/bin/sh\nprintf '%s\\n' ${locales}\n`, { mode: 0o755 })
+      const result = await run('/bin/sh', ['-c', remoteShellCommand('printf "%s|%s" "$LANG" "$LC_ALL"')], undefined,
+        { PATH: `${dir}:${process.env.PATH}`, LC_ALL: 'C' }, 5000, 'stdout')
+      assert.equal(result, `${expected}|${expected}`)
+    }
+  } finally { rmSync(dir, { recursive: true, force: true }) }
+})
+
+test('queued SSH, stats probes and remote PTY use normalization; container logs keep stderr', () => {
+  const ssh = source.slice(source.indexOf('async function runSshOutput('), source.indexOf('async function readRemoteDockerStatsOutput('))
+  assert.equal((ssh.match(/remoteShellCommand\(command\)/g) || []).length, 2)
+  assert.equal((ssh.match(/'stdout'/g) || []).length, 2)
+  const terminal = source.slice(source.indexOf("ipcMain.handle('remote-workspace:terminal:start'"), source.indexOf("ipcMain.handle('terminal-resize'"))
+  assert.match(terminal, /remoteShellCommand\(mode === 'container'/)
+  assert.match(terminal, /remoteShellEnvironment\(terminalEnvironment/)
+  assert.match(source, /target \? remoteShellCommand\(init\)/)
+  assert.match(source, /docker logs --timestamps --tail 300.*2>&1/)
+})

scripts/test-studio-theme.cjs

@@ -0,0 +1,48 @@
+const { test } = require('node:test')
+const assert = require('node:assert/strict')
+const fs = require('node:fs')
+const path = require('node:path')
+const vm = require('node:vm')
+const ts = require('typescript')
+const root = path.resolve(__dirname, '../src/renderer/src/features/workspace')
+
+function setup(saved, blocked = false) {
+  const storage = new Map([['autonomy-studio.lms.studio-theme', saved]])
+  const events = new Map()
+  const exports = {}
+  const code = ts.transpileModule(fs.readFileSync(path.join(root, 'studioTheme.ts'), 'utf8'), {
+    compilerOptions: { module: ts.ModuleKind.CommonJS, target: ts.ScriptTarget.ES2022 }
+  }).outputText
+  vm.runInNewContext(code, { exports,
+    require: () => ({ useSyncExternalStore: (_subscribe, snapshot) => snapshot() }),
+    localStorage: {
+      getItem(key) { if (blocked) throw Error('blocked'); return storage.get(key) },
+      setItem(key, value) { if (blocked) throw Error('blocked'); storage.set(key, value) }
+    },
+    window: { addEventListener: (type, listener) => events.set(type, listener) }
+  })
+  return { api: exports, storage, events }
+}
+
+test('theme defaults dark, persists light, and restores the preference', () => {
+  const { api, storage } = setup('invalid')
+  assert.equal(api.useStudioTheme(), 'dark')
+  api.setStudioTheme('light')
+  assert.equal(api.useStudioTheme(), 'light')
+  assert.equal(storage.get(api.STUDIO_THEME_KEY), 'light')
+  assert.equal(setup('light').api.useStudioTheme(), 'light')
+})
+test('theme remains usable when storage is blocked', () => {
+  const { api } = setup(null, true)
+  api.setStudioTheme('light')
+  assert.equal(api.useStudioTheme(), 'light')
+})
+test('theme synchronizes across windows without writing runtime settings', () => {
+  const { api, storage, events } = setup('dark')
+  storage.set(api.STUDIO_THEME_KEY, 'light')
+  events.get('storage')({ key: api.STUDIO_THEME_KEY })
+  assert.equal(api.useStudioTheme(), 'light')
+  storage.clear()
+  events.get('storage')({ key: null })
+  assert.equal(api.useStudioTheme(), 'dark')
+})

src/main/bridgeArtifacts.test.ts

@@ -0,0 +1,22 @@
+import { strict as assert } from 'node:assert'
+import { test } from 'node:test'
+import { bridgeArtifact, jetsonBridgeImage, localBridgeImage } from './bridgeArtifacts'
+
+test('PC and Jetson bridges have separate pinned downloads', () => {
+  const pc = bridgeArtifact(localBridgeImage)!
+  const jetson = bridgeArtifact(jetsonBridgeImage)!
+  assert.equal(pc.architecture, 'amd64')
+  assert.equal(jetson.architecture, 'arm64')
+  assert.notEqual(pc.url, jetson.url)
+  assert.notEqual(pc.fileName, jetson.fileName)
+  for (const artifact of [pc, jetson]) {
+    assert.match(artifact.checksumSha256, /^[a-f0-9]{64}$/)
+    assert.equal(new URL(artifact.url).protocol, 'https:')
+    assert.ok(artifact.url.includes(artifact.checksumSha256.slice(0, 12)))
+    assert.equal(artifact.required, true)
+  }
+})
+
+test('custom images do not resolve to an unrelated built-in artifact', () => {
+  assert.equal(bridgeArtifact('custom-bridge:test'), undefined)
+})

src/main/bridgeArtifacts.ts

@@ -0,0 +1,27 @@
+const root = 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/slam-ros-bridge'
+
+export const localBridgeImage = 'slam-ros-bridge:20260813-3d-map-v2'
+export const jetsonBridgeImage = 'slam-ros-bridge:jetson_orin'
+
+const artifacts = [
+  {
+    image: localBridgeImage,
+    architecture: 'amd64',
+    url: `${root}/amd64/20260915-489a3e8b370c/slam-ros-bridge-amd64.tar.zst`,
+    fileName: 'slam-ros-bridge-amd64-489a3e8b370c.tar.zst',
+    checksumSha256: '489a3e8b370c19903043a39e92935f2e32e4b4423c28210f130df1acab1a9889',
+    required: true,
+  },
+  {
+    image: jetsonBridgeImage,
+    architecture: 'arm64',
+    url: `${root}/arm64/20260819-0659d4cf5578/slam-ros-bridge-jetson-orin.tar.zst`,
+    fileName: 'slam-ros-bridge-jetson-orin-0659d4cf5578.tar.zst',
+    checksumSha256: '0659d4cf5578c43bc9c25e4a4fc5d226ccd5b7bec43becfdff83b5390717114e',
+    required: true,
+  },
+]
+
+export function bridgeArtifact(image: string) {
+  return artifacts.find((artifact) => artifact.image === image)
+}

src/main/cameraRuntime.ts

@@ -0,0 +1,11 @@
+const image = 'future-nav2-camera-test:humble-jetson_orin'
+
+export function cameraRuntimeArtifacts<T extends { image?: string | null }>(
+  folder: string,
+  configured: T[] | null | undefined,
+): T[] | null | undefined {
+  if (!configured) return configured
+  const camera = folder.includes('lms-nav2-camera-test')
+  // The optional camera image must not be downloaded for other Nav2 modules.
+  return configured.filter((item) => (item.image?.trim() === image) === camera)
+}

src/main/containerTerminal.test.ts

@@ -0,0 +1,20 @@
+import { strict as assert } from 'node:assert'
+import { test } from 'node:test'
+import { resolveContainerTerminal } from './containerTerminal'
+
+const inspection = (running = true) => JSON.stringify([{
+  Id: 'container-id', State: { Running: running }, Mounts: [
+    { Source: '/home/user/ws', Destination: '/workspace' },
+    { Source: '/home/user/ws/module', Destination: '/module' }
+  ]
+}])
+
+test('resolves module path from the most specific actual mount', () => {
+  assert.deepEqual(resolveContainerTerminal(inspection(), '/home/user/ws/module'), { id: 'container-id', cwd: '/module' })
+  assert.equal(resolveContainerTerminal(inspection(), '/home/user/ws/other').cwd, '/workspace/other')
+})
+
+test('rejects stopped containers and unrelated workspace paths', () => {
+  assert.throws(() => resolveContainerTerminal(inspection(false), '/home/user/ws/module'), /not running/)
+  assert.throws(() => resolveContainerTerminal(inspection(), '/home/user/ws-other/module'), /not mounted/)
+})

src/main/containerTerminal.ts

@@ -0,0 +1,13 @@
+import { posix } from 'node:path'
+
+export function resolveContainerTerminal(inspectJson: string, moduleRoot: string): { id: string; cwd: string } {
+  const [container] = JSON.parse(inspectJson)
+  if (!container?.State?.Running) throw new Error('Module container is not running')
+  const root = posix.resolve(moduleRoot)
+  const mounts = (container.Mounts ?? []) as { Source: string; Destination: string }[]
+  const mount = mounts
+    .filter((item) => root === item.Source || root.startsWith(`${item.Source.replace(/\/$/, '')}/`))
+    .sort((a, b) => b.Source.length - a.Source.length)[0]
+  if (!mount) throw new Error('Module workspace is not mounted in this container')
+  return { id: container.Id, cwd: posix.join(mount.Destination, posix.relative(mount.Source, root)) }
+}

src/main/dockerStatus.test.ts

@@ -0,0 +1,19 @@
+import { strict as assert } from 'node:assert'
+import { test } from 'node:test'
+import { classifyDockerError } from './dockerStatus'
+
+test('missing CLI is distinguished from an unavailable daemon', () => {
+  assert.equal(classifyDockerError('ENOENT', 'spawn docker ENOENT'), 'missing')
+  assert.equal(classifyDockerError(1, 'Cannot connect to the Docker daemon'), 'unavailable')
+  assert.equal(classifyDockerError(1, 'dial unix /run/docker.sock: connect: connection refused'), 'unavailable')
+})
+
+test('permission errors take precedence over connection errors', () => {
+  assert.equal(classifyDockerError(1, 'Cannot connect: permission denied'), 'permission')
+  assert.equal(classifyDockerError('EACCES', 'spawn docker EACCES'), 'permission')
+})
+
+test('timeouts and unknown failures do not imply Docker needs installing', () => {
+  assert.equal(classifyDockerError(null, 'Command failed: docker info'), 'error')
+  assert.equal(classifyDockerError(1, 'context not found'), 'error')
+})

src/main/dockerStatus.ts

@@ -0,0 +1,27 @@
+import { execFile } from 'node:child_process'
+
+export type DockerStatus = 'ready' | 'missing' | 'permission' | 'unavailable' | 'error'
+
+export function classifyDockerError(code: string | number | null | undefined, message: string): DockerStatus {
+  if (code === 'ENOENT') return 'missing'
+  if (/permission denied|access is denied|EACCES/i.test(message)) return 'permission'
+  if (/cannot connect|connection refused|is the docker daemon running/i.test(message)) return 'unavailable'
+  return 'error'
+}
+
+export function checkDockerStatus(): Promise<{ status: DockerStatus; platform: string }> {
+  return new Promise((resolve) => {
+    execFile('docker', ['info', '--format', '{{.ServerVersion}}'], {
+      timeout: 5000,
+      maxBuffer: 256 * 1024,
+      env: { ...process.env, LC_ALL: 'C', LANG: 'C' },
+    }, (error, stdout, stderr) => {
+      resolve({
+        status: error
+          ? classifyDockerError(error.code, `${error.message}\n${stderr}`)
+          : stdout.trim() ? 'ready' : 'error',
+        platform: process.platform,
+      })
+    })
+  })
+}

src/main/moduleProgress.test.ts

@@ -0,0 +1,28 @@
+import { strict as assert } from 'node:assert'
+import { test } from 'node:test'
+import { createRequire } from 'node:module'
+
+const { moduleProgress, createModuleProgressParser } = createRequire(import.meta.url)('./moduleProgress.ts') as typeof import('./moduleProgress')
+
+test('progress parser handles split lines and ignores normal command output', () => {
+  const messages: string[] = []
+  const parse = moduleProgress.run((message) => messages.push(message), createModuleProgressParser)
+  parse('ordinary output\nLMS_MODULE_PRO')
+  parse('GRESS:download\nLMS_MODULE_PROGRESS:load\n')
+  assert.deepEqual(messages, ['download', 'load'])
+})
+
+test('concurrent operations retain their own progress callbacks', () => {
+  const first: string[] = []
+  const second: string[] = []
+  const a = moduleProgress.run((message) => first.push(message), createModuleProgressParser)
+  const b = moduleProgress.run((message) => second.push(message), createModuleProgressParser)
+  b('LMS_MODULE_PROGRESS:build\n')
+  a('LMS_MODULE_PROGRESS:download\n')
+  assert.deepEqual(first, ['download'])
+  assert.deepEqual(second, ['build'])
+})
+
+test('commands outside a module operation do not report progress', () => {
+  assert.doesNotThrow(() => createModuleProgressParser()('LMS_MODULE_PROGRESS:ignored\n'))
+})

src/main/moduleProgress.ts

@@ -0,0 +1,21 @@
+import { AsyncLocalStorage } from 'node:async_hooks'
+
+export const moduleProgress = new AsyncLocalStorage<(message: string) => void>()
+
+export function reportModuleProgress(message: string): void {
+  moduleProgress.getStore()?.(message)
+}
+
+export function createModuleProgressParser(): (chunk: string) => void {
+  const report = moduleProgress.getStore()
+  let pending = ''
+  return (chunk) => {
+    if (!report) return
+    pending += chunk
+    const lines = pending.split('\n')
+    pending = lines.pop()!.slice(-4096)
+    for (const line of lines) {
+      if (line.startsWith('LMS_MODULE_PROGRESS:')) report(line.slice('LMS_MODULE_PROGRESS:'.length).trim())
+    }
+  }
+}

src/main/remoteModuleFiles.ts

@@ -0,0 +1,69 @@
+type Request = { action: 'list' } | { action: 'content'; path: string } | { action: 'search'; query: string }
+
+export function remoteModuleFilesScript(root: string, request: Request): string {
+  const input = Buffer.from(JSON.stringify({ root, ...request })).toString('base64')
+  return `python3 - '${input}' <<'PY'
+import base64, json, os, stat, sys
+args = json.loads(base64.b64decode(sys.argv[1]))
+root = os.path.realpath(args['root'])
+skip = {'.git', 'build', 'install', 'log', 'node_modules', 'docker'}
+extensions = {'.c', '.cc', '.cpp', '.cxx', '.h', '.hpp', '.hh', '.py', '.xml', '.urdf', '.xacro', '.yaml', '.yml', '.json', '.txt', '.md', '.cmake', '.launch', '.sh', '.bash', '.toml', '.ini', '.cfg', '.rviz'}
+placeholder = 'Binary or large file preview is not available.'
+def content(relative):
+    if os.path.isabs(relative) or '..' in relative.split('/'):
+        raise ValueError('Invalid module path')
+    path = os.path.realpath(os.path.join(root, relative))
+    if os.path.commonpath([root, path]) != root:
+        raise ValueError('Invalid module path')
+    info = os.stat(path)
+    if not stat.S_ISREG(info.st_mode):
+        raise ValueError('Not a regular file')
+    if os.path.splitext(path)[1].lower() not in extensions or info.st_size > 1048576:
+        return placeholder
+    with open(path, 'rb') as fp:
+        data = fp.read(1048577)
+    if len(data) > 1048576 or b'\\x00' in data:
+        return placeholder
+    return data.decode('utf-8', errors='replace')
+def entries():
+    def fail(error):
+        raise error
+    for current, dirs, files in os.walk(root, onerror=fail, followlinks=False):
+        depth = len(os.path.relpath(current, root).split('/')) if current != root else 0
+        dirs[:] = sorted(d for d in dirs if d not in skip and not os.path.islink(os.path.join(current, d)))
+        if depth >= 10:
+            dirs[:] = []
+            continue
+        for name in dirs:
+            yield 'D', os.path.relpath(os.path.join(current, name), root)
+        for name in sorted(files):
+            path = os.path.join(current, name)
+            if not os.path.islink(path) and os.path.isfile(path):
+                yield 'F', os.path.relpath(path, root)
+if args['action'] == 'content':
+    print(json.dumps({'content': content(args['path'])}))
+elif args['action'] == 'list':
+    paths, folders = [], []
+    for kind, path in entries():
+        (folders if kind == 'D' else paths).append(path)
+    print(json.dumps({'filePaths': paths, 'folders': folders}))
+else:
+    query = args['query'].strip().lower()
+    results = []
+    if len(query) >= 2:
+        for kind, path in entries():
+            if kind != 'F':
+                continue
+            text = content(path)
+            if text == placeholder:
+                continue
+            for number, line in enumerate(text.split('\\n'), 1):
+                if query in line.lower():
+                    results.append({'file': path, 'lineNumber': number, 'lineText': (line.strip() or line)[:2000]})
+                    if len(results) >= 200:
+                        break
+            if len(results) >= 200:
+                break
+    print(json.dumps(results))
+PY`
+}

src/main/remoteShell.ts

@@ -0,0 +1,28 @@
+function quote(value: string): string {
+  return `'${value.replace(/'/g, `'"'"'`)}'`
+}
+
+// SSH may forward LANG/LC_* through the user's SendEnv configuration.
+// Undefined entries also remove inherited keys when merged by the command runner.
+export function remoteShellEnvironment(env: NodeJS.ProcessEnv): NodeJS.ProcessEnv {
+  const result = { ...env }
+  for (const key of Object.keys(result)) {
+    if (key === 'LANGUAGE' || key.startsWith('LC_')) result[key] = undefined
+  }
+  return { ...result, LANG: 'C', LC_ALL: 'C' }
+}
+
+export function remoteShellCommand(command: string): string {
+  const script = [
+    'selected_locale=C',
+    // Probe under C so an inherited, unavailable locale cannot break the probe.
+    'available_locales=$(locale -a 2>/dev/null) || available_locales=',
+    'for candidate in $available_locales; do',
+    '  case "$candidate" in C.utf8|C.UTF-8) selected_locale=$candidate; break ;;',
+    '    *utf8|*UTF-8|*utf-8) if [ "$selected_locale" = C ]; then selected_locale=$candidate; fi ;;',
+    '  esac',
+    'done',
+    `exec env LANG="$selected_locale" LC_ALL="$selected_locale" LANGUAGE=C /bin/bash --noprofile --norc -c ${quote(command)}`,
+  ].join('\n')
+  return `env LANG=C LC_ALL=C LANGUAGE=C /bin/sh -c ${quote(script)}`
+}

src/main/visualizationProgress.ts

@@ -0,0 +1,7 @@
+import { AsyncLocalStorage } from 'node:async_hooks'
+
+export const visualizationProgress = new AsyncLocalStorage<(message: string) => void>()
+
+export function reportVisualizationProgress(message: string): void {
+  visualizationProgress.getStore()?.(message)
+}

src/main/yahboomRuntime.test.ts

@@ -0,0 +1,115 @@
+import { strict as assert } from 'node:assert'
+import { readFileSync, mkdtempSync, mkdirSync, writeFileSync, rmSync } from 'node:fs'
+import { tmpdir } from 'node:os'
+import { join } from 'node:path'
+import { spawnSync } from 'node:child_process'
+import { test } from 'node:test'
+import { createRequire } from 'node:module'
+import ts from 'typescript'
+const { yahboomDevicePreflight, yahboomModuleCases, yahboomRuntimeImage, yahboomRuntimeArtifacts, yahboomSimulation } = createRequire(import.meta.url)('./yahboomRuntime.ts') as typeof import('./yahboomRuntime')
+
+test('simulation is an explicit opt-in and excludes physical device modules', () => {
+  for (const role of ['vehicle', 'slam', 'map', 'localization', 'planning', 'control']) {
+    const folder = `[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`
+    assert.equal(yahboomSimulation(folder, ''), false)
+    assert.equal(yahboomSimulation(folder, 'sim_mode:=false'), false)
+    assert.equal(yahboomSimulation(folder, 'foo:=bar sim_mode:=true'), true)
+  }
+  for (const role of ['agent', 'camera']) {
+    assert.equal(yahboomSimulation(`[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`, 'sim_mode:=true'), false)
+  }
+  assert.equal(yahboomSimulation('[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', 'sim_mode:=true'), false)
+})
+
+test('local simulation overrides ARM metadata and downloads only the PC image', async () => {
+  const source = ts.createSourceFile('index.ts', readFileSync(new URL('./index.ts', import.meta.url), 'utf8'), ts.ScriptTarget.Latest, true)
+  const declaration = source.statements.find((item): item is ts.FunctionDeclaration => ts.isFunctionDeclaration(item) && item.name?.text === 'resolveLocalModuleRuntime')
+  assert.ok(declaration)
+  const artifact = { image: 'future-nav2-gazebo:humble', url: 'https://example.com/gazebo.tar.zst' }
+  const resolver = new Function('yahboomSimulation', 'defaultNav2GazeboRuntimeImage', 'resolveCustomModuleRuntimeImage',
+    ts.transpile(declaration.getText(source), { target: ts.ScriptTarget.ES2022 }) + '; return resolveLocalModuleRuntime;'
+  )(yahboomSimulation, artifact, () => { throw new Error('ARM metadata must not override simulation') })
+  const result = await resolver('/module', '[lms-nav2-yahboom-vehicle]yahboom_vehicle_v1.0.0_ws', 'sim_mode:=true',
+    [{ image: 'future-nav2:humble-jetson_orin', url: 'https://example.com/arm.tar.zst' }])
+  assert.deepEqual(result, { image: artifact.image, artifacts: [artifact] })
+})
+
+test('remote Yahboom downloads only its own image and preserves explicit overrides', () => {
+  const configured = [{ image: 'future-nav2:humble-jetson_orin', url: 'https://example.com/jetson.tar.zst' }]
+  assert.equal(yahboomRuntimeArtifacts('[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', configured[0].image, configured), configured)
+  const folder = '[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws'
+  const image = 'future-nav2:humble-yahboom-agent'
+  const selected = yahboomRuntimeArtifacts(folder, image, configured)
+  assert.equal(selected?.length, 1)
+  assert.equal(selected?.[0].image, image)
+  assert.match(selected?.[0].checksumSha256 ?? '', /^[a-f0-9]{64}$/)
+  const override = { image, url: 'https://example.com/override.tar.zst' }
+  assert.deepEqual(yahboomRuntimeArtifacts(folder, image, [...configured, override]), [override])
+  assert.deepEqual(yahboomRuntimeArtifacts(folder, 'custom:tag', configured), [])
+})
+
+function runtimeScript(name: string): string {
+  const source = ts.createSourceFile('index.ts', readFileSync(new URL('./index.ts', import.meta.url), 'utf8'), ts.ScriptTarget.Latest, true)
+  const declaration = source.statements.find((item): item is ts.FunctionDeclaration => ts.isFunctionDeclaration(item) && item.name?.text === name)
+  assert.ok(declaration)
+  const code = ts.transpile(declaration.getText(source), { target: ts.ScriptTarget.ES2022 })
+  return new Function('yahboomModuleCases', 'yahboomDevicePreflight', `${code}; return ${name}();`)(yahboomModuleCases, yahboomDevicePreflight)
+}
+
+test('Yahboom image routing does not change MKMini, Gazebo or custom modules', () => {
+  assert.equal(yahboomRuntimeImage('[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws'), 'future-nav2:humble-yahboom-agent')
+  assert.equal(yahboomRuntimeImage('[lms-nav2-yahboom-slam]yahboom_slam_v1.0.0_ws'), 'future-nav2:humble-yahboom')
+  for (const name of ['[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', '[lms-nav2-gazebo-map]nav2-map_v1.0.0_ws', '[lms-nav2-custom]yahboom_agent_v1.0.0_ws', '[lms-nav2-yahboom-agent]other_v1.0.0_ws']) {
+    assert.equal(yahboomRuntimeImage(name), null)
+  }
+})
+
+test('all eight templates map to their own package in both runtime scripts', () => {
+  for (const build of [false, true]) {
+    for (const role of ['agent', 'vehicle', 'slam', 'map', 'localization', 'planning', 'control', 'camera']) {
+      const script = ['case "$1" in', ...yahboomModuleCases(build), 'esac', build ? 'printf "%s" "$TARGET"' : 'printf "%s %s" "$PACKAGE" "$LAUNCH"'].join('\n')
+      const result = spawnSync('bash', ['-c', script, '_', `[lms-nav2-yahboom-${role}]yahboom_${role}_v1.0.0_ws`], { encoding: 'utf8' })
+      assert.equal(result.status, 0, result.stderr)
+      assert.equal(result.stdout, build ? `yahboom_${role}` : `yahboom_${role} ${role}.launch.py`)
+    }
+  }
+})
+
+test('generated build and run shell scripts are syntactically valid', () => {
+  for (const name of ['buildNav2DockerRunScript', 'buildNav2DockerBuildScript']) {
+    const result = spawnSync('bash', ['-n'], { input: runtimeScript(name), encoding: 'utf8' })
+    assert.equal(result.status, 0, result.stderr)
+  }
+})
+
+test('invalid hardware path fails before Docker is called; MKMini still launches without extra device', () => {
+  const root = mkdtempSync(join(tmpdir(), 'yahboom-runtime-'))
+  try {
+    const bin = join(root, 'bin')
+    mkdirSync(bin)
+    writeFileSync(join(bin, 'docker'), '#!/bin/bash\nprintf "%s\\n" "$@"\n', { mode: 0o755 })
+    const script = join(root, 'docker_run_nav2.sh')
+    writeFileSync(script, runtimeScript('buildNav2DockerRunScript'))
+    for (const [folder, parameter] of [
+      ['[lms-nav2-yahboom-agent]yahboom_agent_v1.0.0_ws', 'serial_device:=/etc/passwd'],
+      ['[lms-nav2-yahboom-camera]yahboom_camera_v1.0.0_ws', 'video_device:=/dev/../etc/passwd'],
+      ['[lms-nav2-mkmini]nav2-mkmini_v1.0.0_ws', ''],
+    ]) {
+      mkdirSync(join(root, folder, 'install'), { recursive: true })
+      writeFileSync(join(root, folder, 'install/setup.bash'), '')
+      const result = spawnSync('bash', [script, 'test-container', root, folder, 'test-image', '77', 'false', parameter], {
+        encoding: 'utf8', env: { ...process.env, PATH: `${bin}:${process.env.PATH}`, DISPLAY: '', FASTDDS_CONFIG_PATH: '' },
+      })
+      if (parameter) {
+        assert.equal(result.status, 64)
+        assert.equal(result.stdout, '')
+      } else {
+        assert.equal(result.status, 0, result.stderr)
+        assert.match(result.stdout, /vehicle_pkg\nvehicle.launch.py/)
+        assert.doesNotMatch(result.stdout, /ttyUSB|video0|privileged/)
+      }
+    }
+  } finally {
+    rmSync(root, { recursive: true, force: true })
+  }
+})

src/main/yahboomRuntime.ts

@@ -0,0 +1,70 @@
+const roles = ['agent', 'vehicle', 'slam', 'map', 'localization', 'planning', 'control', 'camera'] as const
+
+export function yahboomSimulation(folderName: string | null | undefined, rosParams: string): boolean {
+  return Boolean(yahboomRuntimeImage(folderName))
+    && !/yahboom-(agent|camera)\]/.test(folderName ?? '')
+    && /(?:^|\s)sim_mode:=true(?:\s|$)/.test(rosParams)
+}
+
+type RuntimeArtifact = {
+  image?: string | null
+  url?: string | null
+  fileName?: string | null
+  checksumSha256?: string | null
+  required?: boolean | null
+}
+
+const artifactRoot = 'https://pub-ca72c40797144462bdb7d200c215d361.r2.dev/studio-artifacts/runtime-images/nav2/yahboom/arm64'
+const artifacts: RuntimeArtifact[] = [
+  ['future-nav2:humble-yahboom', 'future-nav2-humble-yahboom.tar.zst', 'b2f168c45b961ab96badeeb7df68d1c997996c75dcb5e0cc677b0b6669b1ffd2'],
+  ['future-nav2:humble-yahboom-agent', 'future-nav2-humble-yahboom-agent.tar.zst', 'e30404506c320af1d53c8733177eaf27997dcb2864019b8fcc6888874f02d191'],
+].map(([image, fileName, checksumSha256]) => ({
+  image, fileName, checksumSha256, required: true,
+  url: `${artifactRoot}/${checksumSha256.slice(0, 16)}/${fileName}`,
+}))
+
+export function yahboomRuntimeArtifacts(
+  folderName: string,
+  runtimeImage: string | null,
+  configured?: RuntimeArtifact[] | null,
+): RuntimeArtifact[] | null | undefined {
+  if (!yahboomRuntimeImage(folderName)) return configured
+  const selected = configured?.find((item) => item.image?.trim() === runtimeImage && item.url?.trim())
+    ?? artifacts.find((item) => item.image === runtimeImage)
+  // Yahboom must not download unrelated Jetson images from an existing profile.
+  return selected ? [selected] : []
+}
+
+export function yahboomRuntimeImage(folderName?: string | null): string | null {
+  const role = folderName?.match(/^\[lms-nav2-yahboom-([a-z]+)\]yahboom_\1_v[^/]+_ws$/)?.[1]
+  if (!roles.some((value) => value === role)) return null
+  return role === 'agent' ? 'future-nav2:humble-yahboom-agent' : 'future-nav2:humble-yahboom'
+}
+
+export function yahboomModuleCases(build = false): string[] {
+  return roles.map((role) => (
+    `  "[lms-nav2-yahboom-${role}]yahboom_${role}_v"*_ws) ${build ? `TARGET=yahboom_${role}` : `PACKAGE=yahboom_${role}; LAUNCH=${role}.launch.py`} ;;`
+  ))
+}
+
+// Keep hardware exposure limited to the two hardware-facing Yahboom templates.
+export function yahboomDevicePreflight(): string[] {
+  return [
+    'YAHBOOM_DEVICE=""',
+    'case "$MODULE_FOLDER" in',
+    '  "[lms-nav2-yahboom-agent]yahboom_agent_v"*_ws)',
+    '    YAHBOOM_DEVICE=/dev/ttyUSB0',
+    '    for arg in "$@"; do case "$arg" in serial_device:=*) YAHBOOM_DEVICE=${arg#serial_device:=} ;; esac; done',
+    '    case "$YAHBOOM_DEVICE" in /dev/ttyUSB*|/dev/ttyACM*|/dev/serial/by-id/*) ;; *) echo "Invalid Yahboom serial device" >&2; exit 64 ;; esac',
+    '    ;;',
+    '  "[lms-nav2-yahboom-camera]yahboom_camera_v"*_ws)',
+    '    YAHBOOM_DEVICE=/dev/video0',
+    '    for arg in "$@"; do case "$arg" in video_device:=*) YAHBOOM_DEVICE=${arg#video_device:=} ;; esac; done',
+    '    [[ "$YAHBOOM_DEVICE" =~ ^/dev/video[0-9]+$ ]] || { echo "Invalid Yahboom camera device" >&2; exit 64; }',
+    '    ;;',
+    'esac',
+    'if [ -n "$YAHBOOM_DEVICE" ]; then',
+    '  [[ "$YAHBOOM_DEVICE" != *".."* ]] && [ -c "$YAHBOOM_DEVICE" ] || { echo "Yahboom device not found: $YAHBOOM_DEVICE" >&2; exit 1; }',
+    'fi',
+  ]
+}

src/preload/index.ts

@@ -0,0 +1,361 @@
+import { contextBridge, ipcRenderer } from 'electron'
+import { electronAPI } from '@electron-toolkit/preload'
+import { readFileSync, rmSync } from 'fs'
+
+let visualizationRequestId = 0
+async function invokeVisualizationStart(channel: string, args: unknown[], onProgress?: (message: string) => void) {
+  const requestId = `${Date.now()}:${++visualizationRequestId}`
+  const listener = (_event: Electron.IpcRendererEvent, id: string, message: string) => {
+    if (id === requestId) onProgress?.(message)
+  }
+  ipcRenderer.on('visualization:progress', listener)
+  try {
+    return await ipcRenderer.invoke(channel, ...args, requestId)
+  } finally {
+    ipcRenderer.removeListener('visualization:progress', listener)
+  }
+}
+
+type LauncherAuthPayload = {
+  appUrl?: string | null
+  handoffToken?: string | null
+  audienceApp?: string | null
+}
+
+type RemoteWorkspaceTarget = {
+  host: string
+  user?: string | null
+  port?: number | null
+  workspaceRoot?: string | null
+}
+
+type ModulePrebuiltArtifact = {
+  type?: string | null
+  url?: string | null
+  fileName?: string | null
+  checksumSha256?: string | null
+  extractPath?: string | null
+  architecture?: string | null
+  required?: boolean | null
+}
+
+type RuntimeImageArtifact = {
+  image?: string | null
+  url?: string | null
+  fileName?: string | null
+  checksumSha256?: string | null
+  required?: boolean | null
+}
+
+type ModuleInstallOptions = {
+  prebuiltArtifacts?: ModulePrebuiltArtifact[] | null
+  runtimeImages?: RuntimeImageArtifact[] | null
+}
+
+type RosNetworkConfig = {
+  enabled?: boolean | null
+  allowExternal?: boolean
+  peer?: RemoteWorkspaceTarget | null
+}
+
+type SavedMapArtifactName = 'yaml' | 'pgm' | 'database'
+
+type SavedMapArtifactPath = {
+  name: SavedMapArtifactName
+  path: string
+}
+
+type SavedMapArtifactDownload = {
+  name: SavedMapArtifactName
+  fileName: string
+  url: string
+}
+
+const decodeArgValue = (prefix: string): string | null => {
+  const rawValue = process.argv.find((arg) => arg.startsWith(prefix))?.slice(prefix.length)
+  if (!rawValue) return null
+
+  try {
+    return decodeURIComponent(rawValue)
+  } catch {
+    return rawValue
+  }
+}
+
+const readLauncherAuthFile = (): LauncherAuthPayload | null => {
+  const filePath = process.env.ATNMY_HANDOFF_FILE
+  if (!filePath) {
+    console.info('[lms-preload] launcher auth file env is empty')
+    return null
+  }
+
+  try {
+    const payload = JSON.parse(readFileSync(filePath, 'utf8')) as LauncherAuthPayload
+    rmSync(filePath, { force: true })
+    console.info('[lms-preload] launcher auth file loaded', {
+      hasHandoffToken: Boolean(payload.handoffToken),
+      audienceApp: payload.audienceApp ?? null
+    })
+    return payload
+  } catch (error) {
+    console.warn('[lms-preload] launcher auth file read failed', error)
+    return null
+  }
+}
+
+const launcherAuthFile = readLauncherAuthFile()
+
+const launcherAuth = {
+  appUrl: launcherAuthFile?.appUrl ?? decodeArgValue('--url=') ?? process.env.ATNMY_APP_URL ?? null,
+  handoffToken: launcherAuthFile?.handoffToken ?? decodeArgValue('--handoff-token=') ?? process.env.ATNMY_HANDOFF_TOKEN ?? null,
+  audienceApp: launcherAuthFile?.audienceApp ?? decodeArgValue('--audience-app=') ?? process.env.ATNMY_AUDIENCE_APP ?? 'LMS'
+}
+
+console.info('[lms-preload] launcher auth resolved', {
+  hasHandoffToken: Boolean(launcherAuth.handoffToken),
+  audienceApp: launcherAuth.audienceApp
+})
+
+contextBridge.exposeInMainWorld('electron', electronAPI)
+contextBridge.exposeInMainWorld('launcherAuth', launcherAuth)
+contextBridge.exposeInMainWorld('lmsBootSplash', {
+  status: (message: string) => ipcRenderer.send('lms-boot-status', message),
+  done: () => ipcRenderer.send('lms-boot-done')
+})
+contextBridge.exposeInMainWorld('titlebar', {
+  minimize: () => ipcRenderer.send('titlebar-minimize'),
+  maximize: () => ipcRenderer.send('titlebar-maximize'),
+  openDevTools: () => ipcRenderer.invoke('titlebar-open-devtools'),
+  close: () => ipcRenderer.send('titlebar-close')
+})
+contextBridge.exposeInMainWorld('appDiagnostics', {
+  read: () => ipcRenderer.invoke('app-diagnostics:read')
+})
+contextBridge.exposeInMainWorld('appLifecycle', {
+  quit: () => ipcRenderer.send('app-quit')
+})
+contextBridge.exposeInMainWorld('learningVideo', {
+  open: (url: string, title?: string) => ipcRenderer.invoke('learning-video:open', { url, title })
+})
+contextBridge.exposeInMainWorld('moduleFiles', {
+  read: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('module-files:read', moduleName, workspaceRoot, folderName),
+  image: (moduleName: string, path: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('module-files:image', moduleName, path, workspaceRoot, folderName),
+  create: (moduleName: string, path: string, kind: 'file' | 'folder', workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('module-files:create', moduleName, path, kind, workspaceRoot, folderName),
+  write: (moduleName: string, path: string, content: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('module-files:write', moduleName, path, content, workspaceRoot, folderName),
+  copy: (moduleName: string, fromPath: string, toPath: string, mode: 'copy' | 'cut', workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('module-files:copy', moduleName, fromPath, toPath, mode, workspaceRoot, folderName),
+  rename: (moduleName: string, fromPath: string, toPath: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('module-files:rename', moduleName, fromPath, toPath, workspaceRoot, folderName),
+  delete: (moduleName: string, path: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('module-files:delete', moduleName, path, workspaceRoot, folderName)
+})
+contextBridge.exposeInMainWorld('modules', {
+  list: (workspaceRoot?: string, modules?: Array<{ sortOrder?: number | null; category: string; name: string; folderName: string; templateRepositoryUrl?: string | null }>) => ipcRenderer.invoke('modules:list', workspaceRoot, modules),
+  install: (moduleName: string, workspaceRoot?: string, folderName?: string, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => ipcRenderer.invoke('modules:install', moduleName, workspaceRoot, folderName, templateRepositoryUrl, studentRepositoryUrl, options),
+  delete: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('modules:delete', moduleName, workspaceRoot, folderName),
+  start: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('modules:start', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
+  build: (moduleName: string, workspaceRoot?: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string) => ipcRenderer.invoke('modules:build', moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams),
+  stop: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('modules:stop', moduleName, workspaceRoot, folderName),
+  stopMany: (modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string) => ipcRenderer.invoke('modules:stop-many', modules, workspaceRoot),
+  stopRunning: () => ipcRenderer.invoke('modules:stop-running'),
+  restart: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('modules:restart', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
+  logs: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('modules:logs', moduleName, workspaceRoot, folderName),
+  updateParameters: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string) => ipcRenderer.invoke('modules:update-parameters', moduleName, workspaceRoot, folderName, rosParams)
+})
+contextBridge.exposeInMainWorld('git', {
+  status: (moduleName: string, workspaceRoot?: string, folderName?: string, selectedFilePath?: string | null) => ipcRenderer.invoke('git:status', moduleName, workspaceRoot, folderName, selectedFilePath),
+  submit: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string, repositoryUrl?: string) => ipcRenderer.invoke('git:submit', moduleName, workspaceRoot, folderName, message, authorName, authorEmail, submissionId, repositoryUrl),
+  teamPublish: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string) => ipcRenderer.invoke('git:team-publish', moduleName, workspaceRoot, folderName, message, authorName, authorEmail),
+  teamPull: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('git:team-pull', moduleName, workspaceRoot, folderName),
+  submissions: (modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string) => ipcRenderer.invoke('git:submissions', modules, workspaceRoot),
+  commitDiff: (moduleName: string, workspaceRoot?: string, folderName?: string, commitHash?: string) => ipcRenderer.invoke('git:commit-diff', moduleName, workspaceRoot, folderName, commitHash)
+})
+contextBridge.exposeInMainWorld('exampleCode', {
+  read: () => ipcRenderer.invoke('example-code:read')
+})
+contextBridge.exposeInMainWorld('terminal', {
+  start: (moduleName?: string, cols?: number, rows?: number, sessionId?: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('terminal-start', moduleName, cols, rows, sessionId, workspaceRoot, folderName),
+  resize: (cols?: number, rows?: number, sessionId?: string) => ipcRenderer.invoke('terminal-resize', cols, rows, sessionId),
+  changeDirectory: (moduleName: string, sessionId?: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('terminal-change-directory', moduleName, sessionId, workspaceRoot, folderName),
+  write: (data: string, sessionId?: string) => ipcRenderer.send('terminal-write', data, sessionId),
+  stop: (sessionId?: string) => ipcRenderer.send('terminal-stop', sessionId),
+  onData: (callback: (data: string) => void, sessionId = 'default') => {
+    const listener = (_event: Electron.IpcRendererEvent, dataSessionId: string, data: string): void => {
+      if (dataSessionId === sessionId) callback(data)
+    }
+    ipcRenderer.on('terminal-data', listener)
+    return () => ipcRenderer.removeListener('terminal-data', listener)
+  },
+  onSuppressData: (callback: (data: string) => void, sessionId = 'default') => {
+    const listener = (_event: Electron.IpcRendererEvent, dataSessionId: string, data: string): void => {
+      if (dataSessionId === sessionId) callback(data)
+    }
+    ipcRenderer.on('terminal-suppress-data', listener)
+    return () => ipcRenderer.removeListener('terminal-suppress-data', listener)
+  }
+})
+contextBridge.exposeInMainWorld('visualization', {
+  status: () => ipcRenderer.invoke('visualization:status'),
+  start: (stack?: 'autoware' | 'nav2' | 'slam' | 'slam3d', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('visualization:start', stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork),
+  stop: (environmentProfile?: unknown) => ipcRenderer.invoke('visualization:stop', environmentProfile)
+})
+contextBridge.exposeInMainWorld('localWorkspace', {
+  onModuleProgress: (callback: (folderName: string, message: string) => void) => {
+    const listener = (_event: Electron.IpcRendererEvent, folderName: string, message: string) => callback(folderName, message)
+    ipcRenderer.on('module:progress', listener)
+    return () => ipcRenderer.removeListener('module:progress', listener)
+  },
+  docker: {
+    status: () => ipcRenderer.invoke('local-workspace:docker:status'),
+    openGuide: () => ipcRenderer.invoke('local-workspace:docker:guide'),
+  },
+  moduleFiles: {
+    read: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:module-files:read', moduleName, workspaceRoot, folderName),
+    image: (moduleName: string, path: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:module-files:image', moduleName, path, workspaceRoot, folderName),
+    create: (moduleName: string, path: string, kind: 'file' | 'folder', workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:module-files:create', moduleName, path, kind, workspaceRoot, folderName),
+    write: (moduleName: string, path: string, content: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:module-files:write', moduleName, path, content, workspaceRoot, folderName),
+    copy: (moduleName: string, fromPath: string, toPath: string, mode: 'copy' | 'cut', workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:module-files:copy', moduleName, fromPath, toPath, mode, workspaceRoot, folderName),
+    rename: (moduleName: string, fromPath: string, toPath: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:module-files:rename', moduleName, fromPath, toPath, workspaceRoot, folderName),
+    delete: (moduleName: string, path: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:module-files:delete', moduleName, path, workspaceRoot, folderName)
+  },
+  modules: {
+    list: (workspaceRoot?: string, modules?: Array<{ sortOrder?: number | null; category: string; name: string; folderName: string; templateRepositoryUrl?: string | null }>) => ipcRenderer.invoke('local-workspace:modules:list', workspaceRoot, modules),
+    listDockerImages: () => ipcRenderer.invoke('local-workspace:modules:docker-images'),
+    install: (moduleName: string, workspaceRoot?: string, folderName?: string, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => ipcRenderer.invoke('local-workspace:modules:install', moduleName, workspaceRoot, folderName, templateRepositoryUrl, studentRepositoryUrl, options),
+    createCustom: (workspaceRoot: string | undefined, input: { name: string; category: string; folderName: string; dockerImage?: string | null; packageName: string; launchFile: string }) => ipcRenderer.invoke('local-workspace:modules:create-custom', workspaceRoot, input),
+    selectImportSource: () => ipcRenderer.invoke('local-workspace:modules:select-import-source'),
+    importCustom: (workspaceRoot: string | undefined, input: { name: string; category: string; folderName: string; dockerImage?: string | null; packageName: string; launchFile: string; sourcePath: string }) => ipcRenderer.invoke('local-workspace:modules:import-custom', workspaceRoot, input),
+    delete: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:modules:delete', moduleName, workspaceRoot, folderName),
+    start: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('local-workspace:modules:start', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
+    build: (moduleName: string, workspaceRoot?: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosParams?: string) => ipcRenderer.invoke('local-workspace:modules:build', moduleName, workspaceRoot, folderName, gpuEnabled, rosDomainId, runtimeImages, rosParams),
+    stop: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:modules:stop', moduleName, workspaceRoot, folderName),
+    stopMany: (modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string) => ipcRenderer.invoke('local-workspace:modules:stop-many', modules, workspaceRoot),
+    stopRunning: () => ipcRenderer.invoke('local-workspace:modules:stop-running'),
+    restart: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('local-workspace:modules:restart', moduleName, workspaceRoot, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
+    logs: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:modules:logs', moduleName, workspaceRoot, folderName),
+    updateParameters: (moduleName: string, workspaceRoot?: string, folderName?: string, rosParams?: string) => ipcRenderer.invoke('local-workspace:modules:update-parameters', moduleName, workspaceRoot, folderName, rosParams)
+  },
+  rosGraph: {
+    snapshot: () => ipcRenderer.invoke('local-workspace:ros-graph')
+  },
+  nav2: {
+    setSimulatorPose: (pose: { x: number; y: number; yaw: number }) => ipcRenderer.invoke('local-workspace:nav2:set-simulator-pose', pose),
+    addRuntimeObstacle: (obstacle: { id: string; x: number; y: number; yaw: number; length: number; depth: number; height: number }) => ipcRenderer.invoke('local-workspace:nav2:add-runtime-obstacle', obstacle),
+    clearRuntimeObstacles: () => ipcRenderer.invoke('local-workspace:nav2:clear-runtime-obstacles')
+  },
+  worldLayout: {
+    read: (workspaceRoot?: string) => ipcRenderer.invoke('local-workspace:world-layout:read', workspaceRoot),
+    write: (workspaceRoot: string | undefined, layout: unknown) => ipcRenderer.invoke('local-workspace:world-layout:write', workspaceRoot, layout)
+  },
+  maps: {
+    readArtifacts: (workspaceRoot: string | undefined, artifacts: SavedMapArtifactPath[]) => ipcRenderer.invoke('local-workspace:maps:read-artifacts', workspaceRoot, artifacts),
+    sync: (workspaceRoot: string | undefined, artifacts: SavedMapArtifactDownload[]) => ipcRenderer.invoke('local-workspace:maps:sync', workspaceRoot, artifacts),
+    generateCollisionLayout: (workspaceRoot: string | undefined, yamlPath: string, pgmPath: string) => ipcRenderer.invoke('local-workspace:maps:generate-collision-layout', workspaceRoot, yamlPath, pgmPath),
+    generatePointCloudCollisionLayout: (workspaceRoot: string | undefined, databasePath: string) => ipcRenderer.invoke('local-workspace:maps:generate-point-cloud-collision-layout', workspaceRoot, databasePath)
+  },
+  visualization: {
+    status: () => ipcRenderer.invoke('local-workspace:visualization:status'),
+    start: (stack?: 'autoware' | 'nav2' | 'slam' | 'slam3d', workspaceRoot?: string, rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null, savedMapDatabasePath?: string | null, savedMapWorldLayoutPath?: string | null, onProgress?: (message: string) => void) => invokeVisualizationStart('local-workspace:visualization:start', [stack, workspaceRoot, rosDomainId, environmentProfile, rosNetwork, savedMapDatabasePath, savedMapWorldLayoutPath], onProgress),
+    stop: (environmentProfile?: unknown) => ipcRenderer.invoke('local-workspace:visualization:stop', environmentProfile)
+  },
+  git: {
+    status: (moduleName: string, workspaceRoot?: string, folderName?: string, selectedFilePath?: string | null) => ipcRenderer.invoke('local-workspace:git:status', moduleName, workspaceRoot, folderName, selectedFilePath),
+    submit: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string, repositoryUrl?: string) => ipcRenderer.invoke('local-workspace:git:submit', moduleName, workspaceRoot, folderName, message, authorName, authorEmail, submissionId, repositoryUrl),
+    teamPublish: (moduleName: string, workspaceRoot?: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string) => ipcRenderer.invoke('local-workspace:git:team-publish', moduleName, workspaceRoot, folderName, message, authorName, authorEmail),
+    teamPull: (moduleName: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:git:team-pull', moduleName, workspaceRoot, folderName),
+    restoreFile: (moduleName: string, workspaceRoot?: string, folderName?: string, filePath?: string, status?: string) => ipcRenderer.invoke('local-workspace:git:restore-file', moduleName, workspaceRoot, folderName, filePath, status),
+    submissions: (modules: Array<{ moduleName: string; folderName?: string | null }>, workspaceRoot?: string) => ipcRenderer.invoke('local-workspace:git:submissions', modules, workspaceRoot),
+    commitDiff: (moduleName: string, workspaceRoot?: string, folderName?: string, commitHash?: string) => ipcRenderer.invoke('local-workspace:git:commit-diff', moduleName, workspaceRoot, folderName, commitHash)
+  },
+  terminal: {
+    start: (moduleName?: string, cols?: number, rows?: number, sessionId?: string, workspaceRoot?: string, folderName?: string, mode?: 'host' | 'container') => ipcRenderer.invoke('local-workspace:terminal:start', moduleName, cols, rows, sessionId, workspaceRoot, folderName, mode),
+    resize: (cols?: number, rows?: number, sessionId?: string) => ipcRenderer.invoke('local-workspace:terminal:resize', cols, rows, sessionId),
+    changeDirectory: (moduleName: string, sessionId?: string, workspaceRoot?: string, folderName?: string) => ipcRenderer.invoke('local-workspace:terminal:change-directory', moduleName, sessionId, workspaceRoot, folderName),
+    write: (data: string, sessionId?: string) => ipcRenderer.send('local-workspace:terminal:write', data, sessionId),
+    stop: (sessionId?: string) => ipcRenderer.send('local-workspace:terminal:stop', sessionId),
+    onData: (callback: (data: string) => void, sessionId = 'default') => {
+      const listener = (_event: Electron.IpcRendererEvent, dataSessionId: string, data: string): void => {
+        if (dataSessionId === sessionId) callback(data)
+      }
+      ipcRenderer.on('terminal-data', listener)
+      return () => ipcRenderer.removeListener('terminal-data', listener)
+    },
+    onSuppressData: (callback: (data: string) => void, sessionId = 'default') => {
+      const listener = (_event: Electron.IpcRendererEvent, dataSessionId: string, data: string): void => {
+        if (dataSessionId === sessionId) callback(data)
+      }
+      ipcRenderer.on('terminal-suppress-data', listener)
+      return () => ipcRenderer.removeListener('terminal-suppress-data', listener)
+    }
+  }
+})
+contextBridge.exposeInMainWorld('remoteWorkspace', {
+  moduleFiles: {
+    read: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:read', target, moduleName, folderName),
+    content: (target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:content', target, moduleName, path, folderName),
+    search: (target: RemoteWorkspaceTarget, moduleName: string, query: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:search', target, moduleName, query, folderName),
+    image: (target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:image', target, moduleName, path, folderName),
+    create: (target: RemoteWorkspaceTarget, moduleName: string, path: string, kind: 'file' | 'folder', folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:create', target, moduleName, path, kind, folderName),
+    write: (target: RemoteWorkspaceTarget, moduleName: string, path: string, content: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:write', target, moduleName, path, content, folderName),
+    copy: (target: RemoteWorkspaceTarget, moduleName: string, fromPath: string, toPath: string, mode: 'copy' | 'cut', folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:copy', target, moduleName, fromPath, toPath, mode, folderName),
+    rename: (target: RemoteWorkspaceTarget, moduleName: string, fromPath: string, toPath: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:rename', target, moduleName, fromPath, toPath, folderName),
+    delete: (target: RemoteWorkspaceTarget, moduleName: string, path: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:module-files:delete', target, moduleName, path, folderName)
+  },
+  maps: {
+    readArtifacts: (target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactPath[]) => ipcRenderer.invoke('remote-workspace:maps:read-artifacts', target, artifacts),
+    copyActiveRtabmapDatabaseToLocal: (target: RemoteWorkspaceTarget, localWorkspaceRoot: string | undefined, destinationPath: string) => ipcRenderer.invoke('remote-workspace:maps:copy-active-rtabmap-database', target, localWorkspaceRoot, destinationPath),
+    uploadRtabmapDatabase: (target: RemoteWorkspaceTarget, uploadUrl: string, databasePath?: string | null) => ipcRenderer.invoke('remote-workspace:maps:upload-rtabmap-database', target, uploadUrl, databasePath),
+    sync: (target: RemoteWorkspaceTarget, artifacts: SavedMapArtifactDownload[]) => ipcRenderer.invoke('remote-workspace:maps:sync', target, artifacts)
+  },
+  modules: {
+    list: (target: RemoteWorkspaceTarget, modules?: Array<{ sortOrder?: number | null; category: string; name: string; folderName: string; templateRepositoryUrl?: string | null }>) => ipcRenderer.invoke('remote-workspace:modules:list', target, modules),
+    install: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, templateRepositoryUrl?: string | null, studentRepositoryUrl?: string | null, options?: ModuleInstallOptions | null) => ipcRenderer.invoke('remote-workspace:modules:install', target, moduleName, folderName, templateRepositoryUrl, studentRepositoryUrl, options),
+    createCustom: (target: RemoteWorkspaceTarget, input: { name: string; category: string; folderName: string; dockerImage?: string | null; packageName: string; launchFile: string }) => ipcRenderer.invoke('remote-workspace:modules:create-custom', target, input),
+    transfer: (target: RemoteWorkspaceTarget, sourceWorkspaceRoot: string | undefined, moduleName: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:modules:transfer', target, sourceWorkspaceRoot, moduleName, folderName),
+    start: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('remote-workspace:modules:start', target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
+    build: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null) => ipcRenderer.invoke('remote-workspace:modules:build', target, moduleName, folderName, gpuEnabled, rosDomainId, runtimeImages),
+    stop: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:modules:stop', target, moduleName, folderName),
+    stopMany: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => ipcRenderer.invoke('remote-workspace:modules:stop-many', target, modules),
+    resetSession: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null; templateRepositoryUrl?: string | null }>) => ipcRenderer.invoke('remote-workspace:modules:reset-session', target, modules),
+    restart: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, rosParams?: string, gpuEnabled?: boolean, rosDomainId?: string, runtimeImages?: RuntimeImageArtifact[] | null, rosNetwork?: RosNetworkConfig | null) => ipcRenderer.invoke('remote-workspace:modules:restart', target, moduleName, folderName, rosParams, gpuEnabled, rosDomainId, runtimeImages, rosNetwork),
+    logs: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:modules:logs', target, moduleName, folderName)
+  },
+  rosGraph: {
+    snapshot: (target: RemoteWorkspaceTarget) => ipcRenderer.invoke('remote-workspace:ros-graph', target)
+  },
+  ros: {
+    resetSession: (target: RemoteWorkspaceTarget) => ipcRenderer.invoke('remote-workspace:ros:reset-session', target)
+  },
+  visualization: {
+    status: (target: RemoteWorkspaceTarget) => ipcRenderer.invoke('remote-workspace:visualization:status', target),
+    start: (target: RemoteWorkspaceTarget, stack?: 'autoware' | 'nav2' | 'slam' | 'slam3d', rosDomainId?: string, environmentProfile?: unknown, rosNetwork?: RosNetworkConfig | null, onProgress?: (message: string) => void) => invokeVisualizationStart('remote-workspace:visualization:start', [target, stack, rosDomainId, environmentProfile, rosNetwork], onProgress),
+    stop: (target: RemoteWorkspaceTarget) => ipcRenderer.invoke('remote-workspace:visualization:stop', target)
+  },
+  git: {
+    status: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, selectedFilePath?: string | null) => ipcRenderer.invoke('remote-workspace:git:status', target, moduleName, folderName, selectedFilePath),
+    submit: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string, submissionId?: string, repositoryUrl?: string) => ipcRenderer.invoke('remote-workspace:git:submit', target, moduleName, folderName, message, authorName, authorEmail, submissionId, repositoryUrl),
+    teamPublish: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, message?: string, authorName?: string, authorEmail?: string) => ipcRenderer.invoke('remote-workspace:git:team-publish', target, moduleName, folderName, message, authorName, authorEmail),
+    teamPull: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:git:team-pull', target, moduleName, folderName),
+    restoreFile: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, filePath?: string, status?: string) => ipcRenderer.invoke('remote-workspace:git:restore-file', target, moduleName, folderName, filePath, status),
+    submissions: (target: RemoteWorkspaceTarget, modules: Array<{ moduleName: string; folderName?: string | null }>) => ipcRenderer.invoke('remote-workspace:git:submissions', target, modules),
+    commitDiff: (target: RemoteWorkspaceTarget, moduleName: string, folderName?: string, commitHash?: string) => ipcRenderer.invoke('remote-workspace:git:commit-diff', target, moduleName, folderName, commitHash)
+  },
+  terminal: {
+    start: (target: RemoteWorkspaceTarget, moduleName?: string, cols?: number, rows?: number, sessionId?: string, folderName?: string, mode?: 'host' | 'container') => ipcRenderer.invoke('remote-workspace:terminal:start', target, moduleName, cols, rows, sessionId, folderName, mode),
+    resize: (target: RemoteWorkspaceTarget, cols?: number, rows?: number, sessionId?: string) => ipcRenderer.invoke('remote-workspace:terminal:resize', target, cols, rows, sessionId),
+    changeDirectory: (target: RemoteWorkspaceTarget, moduleName: string, sessionId?: string, folderName?: string) => ipcRenderer.invoke('remote-workspace:terminal:change-directory', target, moduleName, sessionId, folderName),
+    write: (data: string, sessionId?: string) => ipcRenderer.send('remote-workspace:terminal:write', data, sessionId),
+    stop: (sessionId?: string) => ipcRenderer.send('remote-workspace:terminal:stop', sessionId),
+    onData: (callback: (data: string) => void, sessionId = 'default') => {
+      const listener = (_event: Electron.IpcRendererEvent, incomingSessionId: string, data: string) => {
+        if (incomingSessionId === sessionId) callback(data)
+      }
+      ipcRenderer.on('terminal-data', listener)
+      return () => ipcRenderer.removeListener('terminal-data', listener)
+    },
+    onSuppressData: (callback: (data: string) => void, sessionId = 'default') => {
+      const listener = (_event: Electron.IpcRendererEvent, incomingSessionId: string, data: string) => {
+        if (incomingSessionId === sessionId) callback(data)
+      }
+      ipcRenderer.on('terminal-suppress-data', listener)
+      return () => ipcRenderer.removeListener('terminal-suppress-data', listener)
+    }
+  }
+})

src/renderer/index.html

@@ -0,0 +1,12 @@
+<!doctype html>
+<html>
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Autonomy Studio LMS</title>
+  </head>
+  <body>
+    <div id="root"></div>
+    <script type="module" src="/src/main.tsx"></script>
+  </body>
+</html>

src/renderer/public/autoware-map/map1/map_projector_info.yaml

@@ -0,0 +1,3 @@
+projector_type: MGRS
+vertical_datum: WGS84
+mgrs_grid: 54SVE

src/renderer/public/autoware-map/map2/map_projector_info.yaml

@@ -0,0 +1,3 @@
+projector_type: MGRS
+vertical_datum: WGS84
+mgrs_grid: 54SUE

src/renderer/public/draco/README.md

@@ -0,0 +1,32 @@
+# Draco 3D Data Compression
+
+Draco is an open-source library for compressing and decompressing 3D geometric meshes and point clouds. It is intended to improve the storage and transmission of 3D graphics.
+
+[Website](https://google.github.io/draco/) | [GitHub](https://github.com/google/draco)
+
+## Contents
+
+This folder contains three utilities:
+
+* `draco_decoder.js` — Emscripten-compiled decoder, compatible with any modern browser.
+* `draco_decoder.wasm` — WebAssembly decoder, compatible with newer browsers and devices.
+* `draco_wasm_wrapper.js` — JavaScript wrapper for the WASM decoder.
+
+Each file is provided in two variations:
+
+* **Default:** Latest stable builds, tracking the project's [master branch](https://github.com/google/draco).
+* **glTF:** Builds targeted by the [glTF mesh compression extension](https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Khronos/KHR_draco_mesh_compression), tracking the [corresponding Draco branch](https://github.com/google/draco/tree/gltf_2.0_draco_extension).
+
+Either variation may be used with `DRACOLoader`:
+
+```js
+var dracoLoader = new DRACOLoader();
+dracoLoader.setDecoderPath('path/to/decoders/');
+dracoLoader.setDecoderConfig({type: 'js'}); // (Optional) Override detection of WASM support.
+```
+
+Further [documentation on GitHub](https://github.com/google/draco/tree/master/javascript/example#static-loading-javascript-decoder).
+
+## License
+
+[Apache License 2.0](https://github.com/google/draco/blob/master/LICENSE)

src/renderer/public/draco/draco_wasm_wrapper.js

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+return sc(d,b,c)};m.prototype.GetTrianglesUInt16Array=m.prototype.GetTrianglesUInt16Array=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!tc(g,b,c,d)};m.prototype.GetTrianglesUInt32Array=m.prototype.GetTrianglesUInt32Array=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!uc(g,b,c,d)};m.prototype.GetAttributeFloat=m.prototype.GetAttributeFloat=
+function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!vc(g,b,c,d)};m.prototype.GetAttributeFloatForAllPoints=m.prototype.GetAttributeFloatForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!wc(g,b,c,d)};m.prototype.GetAttributeIntForAllPoints=m.prototype.GetAttributeIntForAllPoints=function(b,c,d){var g=this.ptr;
+b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!xc(g,b,c,d)};m.prototype.GetAttributeInt8ForAllPoints=m.prototype.GetAttributeInt8ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!yc(g,b,c,d)};m.prototype.GetAttributeUInt8ForAllPoints=m.prototype.GetAttributeUInt8ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=
+b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!zc(g,b,c,d)};m.prototype.GetAttributeInt16ForAllPoints=m.prototype.GetAttributeInt16ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Ac(g,b,c,d)};m.prototype.GetAttributeUInt16ForAllPoints=m.prototype.GetAttributeUInt16ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&
+(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Bc(g,b,c,d)};m.prototype.GetAttributeInt32ForAllPoints=m.prototype.GetAttributeInt32ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Cc(g,b,c,d)};m.prototype.GetAttributeUInt32ForAllPoints=m.prototype.GetAttributeUInt32ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===
+typeof d&&(d=d.ptr);return!!Dc(g,b,c,d)};m.prototype.GetAttributeDataArrayForAllPoints=m.prototype.GetAttributeDataArrayForAllPoints=function(b,c,d,g,t){var aa=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);g&&"object"===typeof g&&(g=g.ptr);t&&"object"===typeof t&&(t=t.ptr);return!!Ec(aa,b,c,d,g,t)};m.prototype.SkipAttributeTransform=m.prototype.SkipAttributeTransform=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);Fc(c,
+b)};m.prototype.GetEncodedGeometryType_Deprecated=m.prototype.GetEncodedGeometryType_Deprecated=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return Gc(c,b)};m.prototype.DecodeBufferToPointCloud=m.prototype.DecodeBufferToPointCloud=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(Hc(d,b,c),C)};m.prototype.DecodeBufferToMesh=m.prototype.DecodeBufferToMesh=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===
+typeof c&&(c=c.ptr);return B(Ic(d,b,c),C)};m.prototype.__destroy__=m.prototype.__destroy__=function(){Jc(this.ptr)};(function(){function b(){a.ATTRIBUTE_INVALID_TRANSFORM=Kc();a.ATTRIBUTE_NO_TRANSFORM=Lc();a.ATTRIBUTE_QUANTIZATION_TRANSFORM=Mc();a.ATTRIBUTE_OCTAHEDRON_TRANSFORM=Nc();a.INVALID=Oc();a.POSITION=Pc();a.NORMAL=Qc();a.COLOR=Rc();a.TEX_COORD=Sc();a.GENERIC=Tc();a.INVALID_GEOMETRY_TYPE=Uc();a.POINT_CLOUD=Vc();a.TRIANGULAR_MESH=Wc();a.DT_INVALID=Xc();a.DT_INT8=Yc();a.DT_UINT8=Zc();a.DT_INT16=
+$c();a.DT_UINT16=ad();a.DT_INT32=bd();a.DT_UINT32=cd();a.DT_INT64=dd();a.DT_UINT64=ed();a.DT_FLOAT32=fd();a.DT_FLOAT64=gd();a.DT_BOOL=hd();a.DT_TYPES_COUNT=id();a.OK=jd();a.DRACO_ERROR=kd();a.IO_ERROR=ld();a.INVALID_PARAMETER=md();a.UNSUPPORTED_VERSION=nd();a.UNKNOWN_VERSION=od()}va?b():oa.unshift(b)})();if("function"===typeof a.onModuleParsed)a.onModuleParsed();a.Decoder.prototype.GetEncodedGeometryType=function(b){if(b.__class__&&b.__class__===a.DecoderBuffer)return a.Decoder.prototype.GetEncodedGeometryType_Deprecated(b);
+if(8>b.byteLength)return a.INVALID_GEOMETRY_TYPE;switch(b[7]){case 0:return a.POINT_CLOUD;case 1:return a.TRIANGULAR_MESH;default:return a.INVALID_GEOMETRY_TYPE}};return n.ready}}();"object"===typeof exports&&"object"===typeof module?module.exports=DracoDecoderModule:"function"===typeof define&&define.amd?define([],function(){return DracoDecoderModule}):"object"===typeof exports&&(exports.DracoDecoderModule=DracoDecoderModule);

src/renderer/public/slam-viewer/locale.js

@@ -0,0 +1,72 @@
+const storageKey = 'autonomy-studio.lms.language';
+let language = 'ko';
+try { language = localStorage.getItem(storageKey) === 'en' ? 'en' : 'ko'; } catch {}
+
+const english = {
+  '벽 배치': 'Place walls',
+  '맵 저장': 'Save map',
+  '로봇 경로 표시': 'Show robot path',
+  '센서 표시': 'Show sensors',
+  '초기 위치 지정': 'Set initial pose',
+  '목표 위치 지정': 'Set goal',
+  '카메라 시점': 'Camera view',
+  '미니맵 접기/펼치기': 'Toggle minimap',
+  '미니맵 접기': 'Collapse minimap',
+  '미니맵 펼치기': 'Expand minimap',
+  '카메라 화면 접기/펼치기': 'Toggle camera preview',
+  '카메라 화면 접기': 'Collapse camera preview',
+  '카메라 화면 펼치기': 'Expand camera preview',
+  '실시간 카메라 화면': 'Live camera preview',
+  'i 전진 · , 후진 · j/l 회전 · k 정지': 'i Forward · , Reverse · j/l Turn · k Stop',
+  'i 전진 · , 후진 · j/l 주행 중 조향 · k 정지': 'i Forward · , Reverse · j/l Steer while moving · k Stop',
+  'ROS 상태 접기/펼치기': 'Toggle ROS status',
+  'ROS 상태 접기': 'Collapse ROS status',
+  'ROS 상태 펼치기': 'Expand ROS status',
+  'ROS 상태': 'ROS status',
+  '응답을 기다리는 중입니다.': 'Waiting for a response.',
+  '맵을 저장하고 있습니다.': 'Saving the map.',
+  '가제보 로봇 위치를 적용하지 못했습니다.': 'Failed to set the Gazebo robot pose.',
+  '주행 시뮬레이션에서는 초기 위치를 한 번만 설정할 수 있습니다.': 'The initial pose can only be set once during navigation simulation.',
+  '로봇 초기 위치 설정': 'Set initial robot pose',
+  '3D 포인트클라우드를 표시 중입니다.': 'Displaying the 3D point cloud.',
+  '모듈을 연결해주세요.': 'Connect your modules.',
+  '맵 저장에 실패했습니다.': 'Failed to save the map.',
+  '기존 목표를 취소하지 못했습니다.': 'Failed to cancel the previous goal.',
+  '가제보 로봇 위치 적용 시간이 초과되었습니다.': 'Setting the Gazebo robot pose timed out.'
+};
+
+export function t(key) { return language === 'en' ? (english[key] ?? key) : key; }
+
+// Only explicitly marked viewer UI is translated. Topic names and telemetry stay intact.
+export function setText(element, key) {
+  element.dataset.i18n = key;
+  element.textContent = t(key);
+}
+
+function refresh() {
+  document.documentElement.lang = language;
+  document.querySelectorAll('[data-i18n]').forEach(element => {
+    element.textContent = t(element.dataset.i18n);
+  });
+  for (const attribute of ['title', 'aria-label', 'alt']) {
+    document.querySelectorAll(`[data-i18n-${attribute}]`).forEach(element => {
+      element.setAttribute(attribute, t(element.getAttribute(`data-i18n-${attribute}`)));
+    });
+  }
+}
+
+window.addEventListener('storage', event => {
+  if (event.key !== storageKey) return;
+  language = event.newValue === 'en' ? 'en' : 'ko';
+  refresh();
+});
+refresh();
+
+// Embedded viewers may not share storage with the app (for example file URLs).
+window.addEventListener('message', event => {
+  if (window.parent === window || event.source !== window.parent) return;
+  if (event.data?.type !== 'lms:language' || !['ko', 'en'].includes(event.data.language)) return;
+  language = event.data.language;
+  refresh();
+});
+if (window.parent !== window) window.parent.postMessage({ type: 'lms:language:ready' }, '*');

src/renderer/public/slam-viewer/turtlebot3_world_model/mailbox/meshes/mailbox.dae

@@ -0,0 +1,152 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Cole</author>
+      <authoring_tool>OpenCOLLADA for 3ds Max;  Version: 1.3.1;  Revision: 847M;  Platform: x64;  Configuration: Release_Max2012_static</authoring_tool>
+      <source_data>file:///C:/Users/Cole/Desktop/Houses.max</source_data>
+    </contributor>
+    <created>2012-12-21T07:14:54</created>
+    <modified>2012-12-21T07:14:54</modified>
+    <unit name="inch" meter="0.0254"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="_1_-_Default">
+      <profile_COMMON>
+        <technique sid="common">
+          <blinn>
+            <emission>
+              <color>0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color>1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <color>1 1 1 1</color>
+            </diffuse>
+            <specular>
+              <color>0.9 0.9 0.9 1</color>
+            </specular>
+            <shininess>
+              <float>9.999999</float>
+            </shininess>
+            <reflective>
+              <color>0 0 0 1</color>
+            </reflective>
+            <transparent opaque="A_ONE">
+              <color>1 1 1 1</color>
+            </transparent>
+            <transparency>
+              <float>1</float>
+            </transparency>
+          </blinn>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="OpenCOLLADA3dsMax">
+          <extended_shader>
+            <apply_reflection_dimming>0</apply_reflection_dimming>
+            <dim_level>0</dim_level>
+            <falloff_type>0</falloff_type>
+            <index_of_refraction>1.5</index_of_refraction>
+            <opacity_type>0</opacity_type>
+            <reflection_level>3</reflection_level>
+            <wire_size>1</wire_size>
+            <wire_units>0</wire_units>
+          </extended_shader>
+          <shader>
+            <ambient_diffuse_lock>1</ambient_diffuse_lock>
+            <ambient_diffuse_texture_lock>1</ambient_diffuse_texture_lock>
+            <diffuse_specular_lock>0</diffuse_specular_lock>
+            <soften>0.1</soften>
+            <use_self_illum_color>0</use_self_illum_color>
+          </shader>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="_1_-_Default-material" name="_1_-_Default">
+      <instance_effect url="#_1_-_Default"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="geom-Cylinder001" name="Cylinder001">
+      <mesh>
+        <source id="geom-Cylinder001-positions">
+          <float_array id="geom-Cylinder001-positions-array" count="279">63.77863 0.3839193 -94.24056 55.23391 31.88931 -94.24056 31.88931 55.23391 -94.24056 1.33153e-6 63.77862 -94.24056 -31.88931 55.23391 -94.24056 -55.2339 31.88931 -94.24056 -63.77862 0.3839193 -94.24056 55.23391 31.88931 101.6574 31.88931 55.23391 101.6574 -2.78785e-6 63.77862 101.6574 -31.88931 55.23391 101.6574 -55.23391 31.88931 101.6574 -63.77862 0.3839242 101.6574 63.77862 0.3839242 101.6574 63.77863 -135.6524 -94.24055 63.77862 -135.6524 101.6575 -63.77863 -135.6524 101.6575 -63.77862 -135.6524 -94.24055 69.09421 0.3839242 101.6574 60.08233 34.68855 101.6574 34.68855 60.08234 101.6574 -3.13332e-6 69.3771 101.6574 -34.68855 60.08233 101.6574 -60.08233 34.68855 101.6574 -69.18634 0.3839242 101.6574 -69.18634 -141.0601 101.6575 69.18633 -141.0602 101.6575 60.08233 34.68855 108.9806 34.68855 60.08234 108.9806 -3.13258e-6 69.3771 108.9806 -34.68855 60.08233 108.9806 -60.08233 34.68855 108.9806 -69.18634 0.3839244 108.9806 -69.18634 -141.0601 108.9806 69.18633 -141.0602 108.9806 69.09421 0.3839244 108.9806 -23.34707 -979.6222 17.01899 23.34707 -979.6222 17.01899 -23.34707 -979.6222 -9.602058 23.34707 -979.6222 -9.602058 -23.34707 -121.6467 17.01897 23.34707 -121.6467 17.01897 -23.34707 -121.6467 -9.602079 23.34707 -121.6467 -9.602079 -65.29713 -90.30914 34.35137 -65.29715 -90.30914 60.09743 -65.29715 -39.25652 63.45726 -73.57328 -90.30915 34.35137 -73.57329 -84.41591 63.45725 -73.57329 -39.25653 39.67269 -73.5733 -39.25652 63.45725 -73.57329 -48.59029 34.35137 -65.29715 -93.29141 67.81843 -65.29715 -39.25652 67.81852 -65.29713 -99.18414 34.35137 -65.29715 -84.41591 63.45726 -73.57329 -90.30914 60.09743 -65.29715 -99.1846 64.45859 -5.55696 73.37229 122.3759 5.556962 70.81001 120.9151 -5.556961 70.81001 109.6903 5.556962 70.81001 109.6903 -5.55696 85.82349 122.3759 5.556962 85.82349 122.3759 -5.55696 70.81001 120.9151 5.556962 73.37229 122.3759 -5.556959 66.63747 122.3759 5.556964 69.19975 120.9151 -5.55696 69.19975 109.6903 5.556963 69.19975 109.6903 -5.556959 54.18628 122.3759 5.556964 54.18628 122.3759 -5.556959 69.19975 120.9151 5.556964 66.63747 122.3759 -66.63045 -79.03947 42.09508 -66.63046 -79.03947 57.59226 -66.63046 162.3586 42.09508 -66.63046 99.09541 42.09508 -66.63046 162.3586 55.67602 -66.63046 148.0616 12.03616 -66.63045 102.9279 10.30568 -5.556961 70.81001 100.9286 5.556961 70.81001 100.9286 -5.556961 58.29042 100.9286 5.556961 58.29042 100.9286 -5.556961 70.81001 109.6903 5.556962 70.81001 109.6903 -5.55696 46.97038 109.6903 5.556962 46.97038 109.6903 -66.63046 101.0116 40.17884 -66.63046 160.4424 57.59225 -66.63046 145.3223 10.30569 -66.63045 101.0116 12.22192</float_array>
+          <technique_common>
+            <accessor source="#geom-Cylinder001-positions-array" count="93" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+              <param name="P" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="geom-Cylinder001-vertices">
+          <input semantic="POSITION" source="#geom-Cylinder001-positions"/>
+        </vertices>
+        <triangles material="_1_-_Default_1" count="121">
+          <input semantic="VERTEX" source="#geom-Cylinder001-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#geom-Cylinder001-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#geom-Cylinder001-map1" offset="2" set="0"/>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_lights>
+    <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight">
+      <technique_common>
+        <ambient>
+          <color>0 0 0</color>
+        </ambient>
+      </technique_common>
+    </light>
+  </library_lights>
+  <library_visual_scenes>
+    <visual_scene id="MaxScene">
+      <node name="EnvironmentAmbientLight">
+        <instance_light url="#EnvironmentAmbientLight"/>
+      </node>
+      <node id="node-Cylinder001" name="Cylinder001">
+        <rotate>5.33851e-8 0.7071068 0.7071068 -180</rotate>
+        <scale>0.0367934 0.0367934 0.06453677</scale>
+        <node>
+          <matrix>1 0 0 0 0 1 0 979.6222 0 0 1 -3.708471 0 0 0 1</matrix>
+          <instance_geometry url="#geom-Cylinder001">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="_1_-_Default_1" target="#_1_-_Default-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#MaxScene"/>
+  </scene>
+</COLLADA>

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/checker/materials/scripts/checker.material

@@ -0,0 +1,14 @@
+material checker
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture checker.png
+      }
+    }
+  }
+}
+

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/checker/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>checker</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/checker/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="checker">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.02 1 1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.02 1 1</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/checker/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/checker/materials/textures</uri>
+            <name>checker</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/course/materials/scripts/course.material

@@ -0,0 +1,14 @@
+material course
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture course.png
+      }
+    }
+  }
+}
+

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/course/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>course</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    A simple textured ground plane
+  </description>
+</model>
+

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/course/model.sdf

@@ -0,0 +1,41 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="course">
+    <static>true</static>
+    <link name="course_link">
+      <collision name="course_collision">
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>4 4</size>
+          </plane>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="course_visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+	        <plane>
+            <normal>0 0 1</normal>
+            <size>4 4</size>
+          </plane>
+        </geometry>
+	      <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/course/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/course/materials/textures</uri>
+            <name>course</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
+

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material

@@ -0,0 +1,14 @@
+material traffic_bar
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_bar.png
+      }
+    }
+  }
+}
+

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/traffic_bar/model.config

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_bar</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+    <name>Hyungyu Kim</name>
+    <email>kimhg@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/traffic_bar/model.sdf

@@ -0,0 +1,32 @@
+<?xml version='1.0'?>
+<sdf version="1.6">
+  <model name="traffic_bar">
+    <static>false</static>
+    <link name="traffic_bar">
+        <pose> 0 0 0 0 0 0</pose>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.3 0.02 0.05</size>
+            </box>
+         </geometry>
+        </collision>
+        <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.3 0.02 0.05</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_bar/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_bar/materials/textures</uri>
+            <name>traffic_bar</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <plugin name="traffic_bar_plugin" filename="libtraffic_bar_plugin.so">
+    </plugin>   
+  </model>
+</sdf>

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material

@@ -0,0 +1,14 @@
+material traffic_construction
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_construction.png
+      }
+    }
+  }
+}
+

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/traffic_construction/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_construction</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/renderer/public/slam-viewer/turtlebot3_world_model/turtlebot3_autorace_2020/traffic_construction/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_construction">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_construction/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_construction/materials/textures</uri>
+            <name>traffic_construction</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>