From 8e51c2b662f289f7b1404f992ec084f9c9d65f39 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Helena=20J=C3=A4ger?= <helena.jaeger@studium.uni-hamburg.de>
Date: Wed, 18 Dec 2024 14:22:41 +0100
Subject: [PATCH 01/90] added README

---
 README.md | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 README.md

diff --git a/README.md b/README.md
new file mode 100644
index 000000000..168c29bc4
--- /dev/null
+++ b/README.md
@@ -0,0 +1 @@
+# bitbots_pathplanning_rust
\ No newline at end of file

From 8c2b20be84a366000904c0f4d47578683b6b6e75 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Helena=20J=C3=A4ger?= <helena.jaeger@studium.uni-hamburg.de>
Date: Wed, 18 Dec 2024 16:04:44 +0100
Subject: [PATCH 02/90] initial commit (untested)

---
 .github/workflows/CI.yml | 181 +++++++++++++
 .gitignore               |  72 ++++++
 Cargo.lock               | 545 +++++++++++++++++++++++++++++++++++++++
 Cargo.toml               |  15 ++
 pyproject.toml           |  15 ++
 src/lib.rs               |  18 ++
 src/map.rs               |  75 ++++++
 src/obstacle.rs          |  58 +++++
 src/planner.rs           | 119 +++++++++
 9 files changed, 1098 insertions(+)
 create mode 100644 .github/workflows/CI.yml
 create mode 100644 .gitignore
 create mode 100644 Cargo.lock
 create mode 100644 Cargo.toml
 create mode 100644 pyproject.toml
 create mode 100644 src/lib.rs
 create mode 100644 src/map.rs
 create mode 100644 src/obstacle.rs
 create mode 100644 src/planner.rs

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
new file mode 100644
index 000000000..01e101321
--- /dev/null
+++ b/.github/workflows/CI.yml
@@ -0,0 +1,181 @@
+# This file is autogenerated by maturin v1.7.5
+# To update, run
+#
+#    maturin generate-ci github
+#
+name: CI
+
+on:
+  push:
+    branches:
+      - main
+      - master
+    tags:
+      - '*'
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  linux:
+    runs-on: ${{ matrix.platform.runner }}
+    strategy:
+      matrix:
+        platform:
+          - runner: ubuntu-22.04
+            target: x86_64
+          - runner: ubuntu-22.04
+            target: x86
+          - runner: ubuntu-22.04
+            target: aarch64
+          - runner: ubuntu-22.04
+            target: armv7
+          - runner: ubuntu-22.04
+            target: s390x
+          - runner: ubuntu-22.04
+            target: ppc64le
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+      - name: Build wheels
+        uses: PyO3/maturin-action@v1
+        with:
+          target: ${{ matrix.platform.target }}
+          args: --release --out dist --find-interpreter
+          sccache: 'true'
+          manylinux: auto
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-linux-${{ matrix.platform.target }}
+          path: dist
+
+  musllinux:
+    runs-on: ${{ matrix.platform.runner }}
+    strategy:
+      matrix:
+        platform:
+          - runner: ubuntu-22.04
+            target: x86_64
+          - runner: ubuntu-22.04
+            target: x86
+          - runner: ubuntu-22.04
+            target: aarch64
+          - runner: ubuntu-22.04
+            target: armv7
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+      - name: Build wheels
+        uses: PyO3/maturin-action@v1
+        with:
+          target: ${{ matrix.platform.target }}
+          args: --release --out dist --find-interpreter
+          sccache: 'true'
+          manylinux: musllinux_1_2
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-musllinux-${{ matrix.platform.target }}
+          path: dist
+
+  windows:
+    runs-on: ${{ matrix.platform.runner }}
+    strategy:
+      matrix:
+        platform:
+          - runner: windows-latest
+            target: x64
+          - runner: windows-latest
+            target: x86
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+          architecture: ${{ matrix.platform.target }}
+      - name: Build wheels
+        uses: PyO3/maturin-action@v1
+        with:
+          target: ${{ matrix.platform.target }}
+          args: --release --out dist --find-interpreter
+          sccache: 'true'
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-windows-${{ matrix.platform.target }}
+          path: dist
+
+  macos:
+    runs-on: ${{ matrix.platform.runner }}
+    strategy:
+      matrix:
+        platform:
+          - runner: macos-13
+            target: x86_64
+          - runner: macos-14
+            target: aarch64
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: 3.x
+      - name: Build wheels
+        uses: PyO3/maturin-action@v1
+        with:
+          target: ${{ matrix.platform.target }}
+          args: --release --out dist --find-interpreter
+          sccache: 'true'
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-macos-${{ matrix.platform.target }}
+          path: dist
+
+  sdist:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Build sdist
+        uses: PyO3/maturin-action@v1
+        with:
+          command: sdist
+          args: --out dist
+      - name: Upload sdist
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-sdist
+          path: dist
+
+  release:
+    name: Release
+    runs-on: ubuntu-latest
+    if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
+    needs: [linux, musllinux, windows, macos, sdist]
+    permissions:
+      # Use to sign the release artifacts
+      id-token: write
+      # Used to upload release artifacts
+      contents: write
+      # Used to generate artifact attestation
+      attestations: write
+    steps:
+      - uses: actions/download-artifact@v4
+      - name: Generate artifact attestation
+        uses: actions/attest-build-provenance@v1
+        with:
+          subject-path: 'wheels-*/*'
+      - name: Publish to PyPI
+        if: "startsWith(github.ref, 'refs/tags/')"
+        uses: PyO3/maturin-action@v1
+        env:
+          MATURIN_PYPI_TOKEN: ${{ secrets.PYPI_API_TOKEN }}
+        with:
+          command: upload
+          args: --non-interactive --skip-existing wheels-*/*
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 000000000..c8f044299
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,72 @@
+/target
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+.pytest_cache/
+*.py[cod]
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+.venv/
+env/
+bin/
+build/
+develop-eggs/
+dist/
+eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+include/
+man/
+venv/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+pip-selfcheck.json
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.cache
+nosetests.xml
+coverage.xml
+
+# Translations
+*.mo
+
+# Mr Developer
+.mr.developer.cfg
+.project
+.pydevproject
+
+# Rope
+.ropeproject
+
+# Django stuff:
+*.log
+*.pot
+
+.DS_Store
+
+# Sphinx documentation
+docs/_build/
+
+# PyCharm
+.idea/
+
+# VSCode
+.vscode/
+
+# Pyenv
+.python-version
diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 000000000..dc316f713
--- /dev/null
+++ b/Cargo.lock
@@ -0,0 +1,545 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "ahash"
+version = "0.8.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e89da841a80418a9b391ebaea17f5c112ffaaa96f621d2c285b5174da76b9011"
+dependencies = [
+ "cfg-if",
+ "once_cell",
+ "version_check",
+ "zerocopy",
+]
+
+[[package]]
+name = "allocator-api2"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
+
+[[package]]
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+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "autocfg"
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+checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
+
+[[package]]
+name = "bitbots_pathplanning_rust"
+version = "0.1.0"
+dependencies = [
+ "geo",
+ "keyed_priority_queue",
+ "ordered-float",
+ "pyo3",
+]
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
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+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
+[[package]]
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+
+[[package]]
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+checksum = "9dd111b7b7f7d55b72c0a6ae361660ee5853c9af73f70c3c2ef6858b950e2e51"
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+ "crossbeam-utils",
+]
+
+[[package]]
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+
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+
+[[package]]
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+ "itertools",
+ "num-traits",
+]
+
+[[package]]
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+checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0"
+
+[[package]]
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+
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+[[package]]
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+dependencies = [
+ "earcutr",
+ "float_next_after",
+ "geo-types",
+ "geographiclib-rs",
+ "i_overlay",
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+ "pyo3-build-config",
+]
+
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fdb6da8ec6fa5cedd1626c886fc8749bdcbb09424a86461eb8cdf096b7c33257"
+dependencies = [
+ "proc-macro2",
+ "pyo3-macros-backend",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "pyo3-macros-backend"
+version = "0.23.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38a385202ff5a92791168b1136afae5059d3ac118457bb7bc304c197c2d33e7d"
+dependencies = [
+ "heck",
+ "proc-macro2",
+ "pyo3-build-config",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.37"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5b9d34b8991d19d98081b46eacdd8eb58c6f2b201139f7c5f643cc155a633af"
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+ "proc-macro2",
+]
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+[[package]]
+name = "rayon"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b418a60154510ca1a002a752ca9714984e21e4241e804d32555251faf8b78ffa"
+dependencies = [
+ "either",
+ "rayon-core",
+]
+
+[[package]]
+name = "rayon-core"
+version = "1.12.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1465873a3dfdaa8ae7cb14b4383657caab0b3e8a0aa9ae8e04b044854c8dfce2"
+dependencies = [
+ "crossbeam-deque",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "robust"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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+ "num-traits",
+ "smallvec",
+]
+
+[[package]]
+name = "serde"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b9781016e935a97e8beecf0c933758c97a5520d32930e460142b4cd80c6338e"
+dependencies = [
+ "serde_derive",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46f859dbbf73865c6627ed570e78961cd3ac92407a2d117204c49232485da55e"
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+ "quote",
+ "syn",
+]
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+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
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+[[package]]
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+dependencies = [
+ "hashbrown 0.14.5",
+ "num-traits",
+ "robust",
+ "smallvec",
+]
+
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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+
+[[package]]
+name = "syn"
+version = "2.0.90"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "919d3b74a5dd0ccd15aeb8f93e7006bd9e14c295087c9896a110f490752bcf31"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "target-lexicon"
+version = "0.12.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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+
+[[package]]
+name = "unicode-ident"
+version = "1.0.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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+
+[[package]]
+name = "unindent"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7de7d73e1754487cb58364ee906a499937a0dfabd86bcb980fa99ec8c8fa2ce"
+
+[[package]]
+name = "version_check"
+version = "0.9.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
+
+[[package]]
+name = "zerocopy"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 000000000..39c62ef28
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,15 @@
+[package]
+name = "bitbots_pathplanning_rust"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+[lib]
+name = "bitbots_pathplanning_rust"
+crate-type = ["cdylib"]
+
+[dependencies]
+geo = "0.29.3"
+keyed_priority_queue = "0.4.2"
+ordered-float = "4.5.0"
+pyo3 = "0.23.1"
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 000000000..14318d892
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,15 @@
+[build-system]
+requires = ["maturin>=1.7,<2.0"]
+build-backend = "maturin"
+
+[project]
+name = "bitbots_pathplanning_rust"
+requires-python = ">=3.8"
+classifiers = [
+    "Programming Language :: Rust",
+    "Programming Language :: Python :: Implementation :: CPython",
+    "Programming Language :: Python :: Implementation :: PyPy",
+]
+dynamic = ["version"]
+[tool.maturin]
+features = ["pyo3/extension-module"]
diff --git a/src/lib.rs b/src/lib.rs
new file mode 100644
index 000000000..665e69766
--- /dev/null
+++ b/src/lib.rs
@@ -0,0 +1,18 @@
+use pyo3::prelude::*;
+
+mod map;
+mod obstacle;
+mod planner;
+
+/// Formats the sum of two numbers as string.
+#[pyfunction]
+fn sum_as_string(a: usize, b: usize) -> PyResult<String> {
+    Ok((a + b).to_string())
+}
+
+/// A Python module implemented in Rust.
+#[pymodule]
+fn bitbots_pathplanning_rust(m: &Bound<'_, PyModule>) -> PyResult<()> {
+    m.add_function(wrap_pyfunction!(sum_as_string, m)?)?;
+    Ok(())
+}
diff --git a/src/map.rs b/src/map.rs
new file mode 100644
index 000000000..f4fe57b53
--- /dev/null
+++ b/src/map.rs
@@ -0,0 +1,75 @@
+use geo::{BooleanOps, Coord, LineString, MultiPolygon, Polygon};
+use pyo3::prelude::*;
+
+use crate::{obstacle::{Obstacle, RoundObstacle}, planner::PathPlanner};
+
+/// Configuration values for the ObstacleMap, these should be given by ROS parameters
+#[pyclass(
+    eq,
+    str = "ObstacleMapConfig(dilate={dilate:?} num_vertices={num_vertices:?})"
+)]
+#[derive(Debug, Copy, Clone, PartialEq)]
+pub struct ObstacleMapConfig {
+    /// A distance by which the obstacles should be dilated
+    #[pyo3(set, get)]
+    pub dilate: f64,
+    /// The number of vertices that the polygon representing an obstacle has
+    #[pyo3(set, get)]
+    pub num_vertices: usize,
+}
+
+#[pymethods]
+impl ObstacleMapConfig {
+    #[new]
+    /// Create a new config with the given values
+    pub fn new(dilate: f64, num_vertices: usize) -> Self {
+        Self {
+            dilate,
+            num_vertices,
+        }
+    }
+}
+
+#[pyclass(eq, str = "ObstacleMap(obstacles={obstacles:?})")]
+#[derive(Debug, Clone, PartialEq)]
+pub struct ObstacleMap {
+    config: ObstacleMapConfig,
+    obstacles: Vec<RoundObstacle>,
+}
+
+#[pymethods]
+impl ObstacleMap {
+    #[new]
+    pub fn new(config: ObstacleMapConfig, obstacles: Vec<RoundObstacle>) -> Self {
+        Self { config, obstacles }
+    }
+
+    pub fn shortest_path(&self, start: (f64, f64), goal: (f64, f64)) -> Vec<(f64, f64)> {
+        PathPlanner::new(&self, start, goal).shortest_path()
+    }
+}
+
+impl ObstacleMap {
+    pub fn as_vertices(&self) -> Vec<Coord> {
+        self.obstacles
+            .iter()
+            .map(|obstacle| obstacle.as_vertices(&self.config))
+            .flatten()
+            .collect()
+    }
+
+    fn as_polygons(&self) -> Vec<Polygon> {
+        self.obstacles
+            .iter()
+            .map(|obstacle| obstacle.as_polygon(&self.config))
+            .collect()
+    }
+
+    pub fn as_multipolygon(&self) -> MultiPolygon {
+        let polygons = self.as_polygons();
+        polygons.iter().fold(
+            MultiPolygon::new(vec![Polygon::new(LineString::new(vec![]), vec![])]),
+            |a, b| a.union(b),
+        )
+    }
+}
diff --git a/src/obstacle.rs b/src/obstacle.rs
new file mode 100644
index 000000000..240e5d4e6
--- /dev/null
+++ b/src/obstacle.rs
@@ -0,0 +1,58 @@
+use pyo3::prelude::*;
+
+use geo::{Coord, LineString, Polygon};
+
+use crate::map::ObstacleMapConfig;
+
+pub trait Obstacle {
+    /// Return the vertices of this obstacle for the visibility graph
+    fn as_vertices(&self, config: &ObstacleMapConfig) -> Vec<Coord>;
+
+    /// Return the polygon representation of this obstacle for intersection checking
+    fn as_polygon(&self, config: &ObstacleMapConfig) -> Polygon;
+}
+
+/// A round obstacle
+#[pyclass(eq, str = "RoundObstacle(center={center:?} radius={radius:?})")]
+#[derive(Debug, Clone, Copy, PartialEq)]
+pub struct RoundObstacle {
+    /// The center of the obstacle
+    center: (f64, f64),
+    /// The radius of the obstacle
+    radius: f64,
+}
+
+#[pymethods]
+impl RoundObstacle {
+    #[new]
+    pub fn new(center: (f64, f64), radius: f64) -> Self {
+        Self { center, radius }
+    }
+}
+
+impl RoundObstacle {
+    /// A helper function to generate a num_vertices-sided Polygon with own radius plus offset
+    fn regular_ngon(&self, num_vertices: usize, offset: f64) -> Vec<Coord> {
+        (0..num_vertices)
+            .map(|side| {
+                let angle = (side as f64) / (num_vertices as f64) * std::f64::consts::TAU;
+                let radius = self.radius + offset;
+                Coord::from(self.center) + Coord::from((radius * angle.cos(), radius * angle.sin()))
+            })
+            .collect::<Vec<Coord>>()
+    }
+}
+
+/// Value subtracted from the radius of obstacles for intersection checking
+pub const EPSILON: f64 = 0.01;
+
+impl Obstacle for RoundObstacle {
+    fn as_vertices(&self, config: &ObstacleMapConfig) -> Vec<Coord> {
+        self.regular_ngon(config.num_vertices, config.dilate)
+    }
+
+    fn as_polygon(&self, config: &ObstacleMapConfig) -> Polygon {
+        let vertices = self.regular_ngon(config.num_vertices, config.dilate - EPSILON);
+        Polygon::new(LineString::new(vertices), vec![])
+    }
+}
diff --git a/src/planner.rs b/src/planner.rs
new file mode 100644
index 000000000..2e516380b
--- /dev/null
+++ b/src/planner.rs
@@ -0,0 +1,119 @@
+use std::{cmp::Reverse, collections::{HashMap, HashSet}};
+
+use geo::{Coord, Distance, Euclidean, Intersects, Line, MultiPolygon};
+use keyed_priority_queue::{Entry, KeyedPriorityQueue};
+use ordered_float::OrderedFloat;
+
+use crate::{map::ObstacleMap, obstacle::EPSILON};
+
+#[derive(Debug, Clone)]
+pub struct PathPlanner {
+    vertices: Vec<Coord>,
+    obstacle: MultiPolygon,
+    start: usize,
+    goal: usize,
+    open: KeyedPriorityQueue<usize, Reverse<OrderedFloat<f64>>>,
+    g_score: HashMap<usize, OrderedFloat<f64>>,
+    successors: HashSet<usize>,
+    from: HashMap<usize, usize>,
+}
+
+impl PathPlanner {
+    pub fn new(map: &ObstacleMap, start: (f64, f64), goal: (f64, f64)) -> Self {
+        let mut vertices = map.as_vertices();
+        vertices.append(&mut vec![start.into(), goal.into()]);
+        let obstacle = map.as_multipolygon();
+        let start = vertices.len() - 2;
+        let goal = vertices.len() - 1;
+        let mut open = KeyedPriorityQueue::<usize, Reverse<OrderedFloat<f64>>>::new();
+        open.push(
+            start,
+            Reverse(OrderedFloat(Euclidean::distance(
+                vertices[start],
+                vertices[goal],
+            ))),
+        );
+        let from = HashMap::<usize, usize>::new();
+        let successors = HashSet::<usize>::from_iter(0..vertices.len());
+        let mut g_score = HashMap::<usize, OrderedFloat<f64>>::new();
+        g_score.insert(start, OrderedFloat(0.0));
+        Self {
+            vertices,
+            obstacle,
+            start,
+            goal,
+            open,
+            g_score,
+            successors,
+            from,
+        }
+    }
+
+    fn heuristic(&self, node: usize) -> OrderedFloat<f64> {
+        self.distance(node, self.goal)
+    }
+
+    fn distance(&self, from: usize, to: usize) -> OrderedFloat<f64> {
+        OrderedFloat(Euclidean::distance(self.vertices[from], self.vertices[to]))
+    }
+
+    fn reconstruct_path(&self, vertex: usize) -> Vec<(f64, f64)> {
+        let mut path = vec![vertex];
+        let mut current = vertex;
+        while let Some(previous) = self.from.get(&current) {
+            current = *previous;
+            path.push(*previous);
+        }
+        path.reverse();
+        return path
+            .into_iter()
+            .map(|idx| self.vertices[idx].x_y())
+            .collect();
+    }
+
+    fn expand_node(&mut self, vertex: usize) {
+        let g_vertex = self
+                .g_score
+                .get(&vertex)
+                .unwrap_or(&OrderedFloat(std::f64::INFINITY))
+                .clone();
+        for successor in self.successors.iter().cloned() {
+            if self.obstacle.intersects(&Line::new(self.vertices[vertex], self.vertices[successor])) {
+                continue;
+            }
+            let g_successor = self.g_score.get(&successor).unwrap_or(&OrderedFloat(std::f64::INFINITY)).clone();
+            let g_tentative = g_vertex + self.distance(vertex, successor);
+            if g_tentative < g_successor {
+                self.from.insert(successor, vertex);
+                self.g_score.insert(successor, g_tentative);
+                let new_f_score = Reverse(g_tentative + self.heuristic(successor));
+                match self.open.entry(successor) {
+                    Entry::Occupied(entry) => {
+                        entry.set_priority(new_f_score);
+                    },
+                    Entry::Vacant(entry) => {
+                        entry.set_priority(new_f_score);
+                    },
+                }
+            }
+        }
+    }
+
+    pub fn shortest_path(mut self) -> Vec<(f64, f64)> {
+        let mut closest_vertex = self.start;
+        let mut closest_distance = OrderedFloat(std::f64::INFINITY);
+        while let Some((vertex, _)) = self.open.pop() {
+            if self.heuristic(vertex) < closest_distance - EPSILON {
+                closest_vertex = vertex;
+                closest_distance = self.heuristic(vertex);
+            }
+            if vertex == self.goal {
+                return self.reconstruct_path(vertex);
+            }
+            self.successors.remove(&vertex);
+            self.expand_node(vertex);
+        }
+        self.from.insert(self.goal, closest_vertex);
+        self.reconstruct_path(self.goal)
+    }
+}

From 5246d3603cd95f7d9b9443a5e6b5a045c5298d92 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Helena=20J=C3=A4ger?= <helena.jaeger@studium.uni-hamburg.de>
Date: Wed, 18 Dec 2024 16:18:03 +0100
Subject: [PATCH 03/90] fixed module initialization

---
 src/lib.rs | 13 +++++--------
 1 file changed, 5 insertions(+), 8 deletions(-)

diff --git a/src/lib.rs b/src/lib.rs
index 665e69766..0cddab3de 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,18 +1,15 @@
+use map::{ObstacleMap, ObstacleMapConfig};
+use obstacle::RoundObstacle;
 use pyo3::prelude::*;
 
 mod map;
 mod obstacle;
 mod planner;
 
-/// Formats the sum of two numbers as string.
-#[pyfunction]
-fn sum_as_string(a: usize, b: usize) -> PyResult<String> {
-    Ok((a + b).to_string())
-}
-
-/// A Python module implemented in Rust.
 #[pymodule]
 fn bitbots_pathplanning_rust(m: &Bound<'_, PyModule>) -> PyResult<()> {
-    m.add_function(wrap_pyfunction!(sum_as_string, m)?)?;
+    m.add_class::<RoundObstacle>()?;
+    m.add_class::<ObstacleMap>()?;
+    m.add_class::<ObstacleMapConfig>()?;
     Ok(())
 }

From 1b04e65862cf0b12cb5d66ec46357cf38d914a7a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Helena=20J=C3=A4ger?= <helena.jaeger@studium.uni-hamburg.de>
Date: Wed, 18 Dec 2024 16:23:13 +0100
Subject: [PATCH 04/90] made fields readable

---
 src/map.rs      | 2 ++
 src/obstacle.rs | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/src/map.rs b/src/map.rs
index f4fe57b53..66306a425 100644
--- a/src/map.rs
+++ b/src/map.rs
@@ -33,7 +33,9 @@ impl ObstacleMapConfig {
 #[pyclass(eq, str = "ObstacleMap(obstacles={obstacles:?})")]
 #[derive(Debug, Clone, PartialEq)]
 pub struct ObstacleMap {
+    #[pyo3(get, set)]
     config: ObstacleMapConfig,
+    #[pyo3(get, set)]
     obstacles: Vec<RoundObstacle>,
 }
 
diff --git a/src/obstacle.rs b/src/obstacle.rs
index 240e5d4e6..1f50408d9 100644
--- a/src/obstacle.rs
+++ b/src/obstacle.rs
@@ -17,8 +17,10 @@ pub trait Obstacle {
 #[derive(Debug, Clone, Copy, PartialEq)]
 pub struct RoundObstacle {
     /// The center of the obstacle
+    #[pyo3(get, set)]
     center: (f64, f64),
     /// The radius of the obstacle
+    #[pyo3(get, set)]
     radius: f64,
 }
 

From 26b99cc8a41cb163f1a8277a9073f80b996a6b23 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Helena=20J=C3=A4ger?= <helena.jaeger@studium.uni-hamburg.de>
Date: Wed, 18 Dec 2024 16:39:41 +0100
Subject: [PATCH 05/90] changed README

---
 README.md | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 168c29bc4..ccbf0abb8 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,17 @@
-# bitbots_pathplanning_rust
\ No newline at end of file
+# bitbots_pathplanning_rust
+
+A best-effort A*-on-visibility-graph implementation for pathplanning in obstacles maps where obstacles and the robot itself are assumed to be round. 
+
+It exports three classes
+
+## `RoundObstacle`
+
+Represents a round obstacle with public fields `center: (float, float)` and `radius: float`. Can be created with the constructor `RoundObstacle(center, radius)`
+
+## `ObstacleMapConfig`
+
+Represents all configuration values for how obstacles should be treated with public fields `dilate: float` - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and `num_vertices` - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor `ObstacleMapConfig(dilate, num_vertices)`
+
+## `ObstacleMap`
+
+Represents a set of obstacles on a plane with a given config. This has two fields: `config: ObstacleMapConfig` and `obstacles: [RoundObstacle]`. Can be created with the constructor `ObstacleMap(config, obstacles)`
\ No newline at end of file

From 3fbc4f77308de941df697661ccfc8df5a82b2c43 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Helena=20J=C3=A4ger?= <helena.jaeger@studium.uni-hamburg.de>
Date: Wed, 15 Jan 2025 16:53:57 +0100
Subject: [PATCH 06/90] changed best-effort strategy

---
 Cargo.lock     |  2 +-
 Cargo.toml     |  2 +-
 src/planner.rs | 26 ++++++++++++++------------
 3 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index dc316f713..c6834e261 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -37,7 +37,7 @@ checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
 [[package]]
 name = "bitbots_pathplanning_rust"
-version = "0.1.0"
+version = "0.1.1"
 dependencies = [
  "geo",
  "keyed_priority_queue",
diff --git a/Cargo.toml b/Cargo.toml
index 39c62ef28..3bbe07168 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "bitbots_pathplanning_rust"
-version = "0.1.0"
+version = "0.1.1"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
diff --git a/src/planner.rs b/src/planner.rs
index 2e516380b..a368b8528 100644
--- a/src/planner.rs
+++ b/src/planner.rs
@@ -18,6 +18,9 @@ pub struct PathPlanner {
     from: HashMap<usize, usize>,
 }
 
+const MULTIPLIER: f64 = 10.0;
+
+
 impl PathPlanner {
     pub fn new(map: &ObstacleMap, start: (f64, f64), goal: (f64, f64)) -> Self {
         let mut vertices = map.as_vertices();
@@ -78,11 +81,17 @@ impl PathPlanner {
                 .unwrap_or(&OrderedFloat(std::f64::INFINITY))
                 .clone();
         for successor in self.successors.iter().cloned() {
-            if self.obstacle.intersects(&Line::new(self.vertices[vertex], self.vertices[successor])) {
-                continue;
-            }
+            let multiplier = if self.obstacle.intersects(&Line::new(self.vertices[vertex], self.vertices[successor])) {
+                if self.goal == successor || self.start == vertex {
+                    OrderedFloat(MULTIPLIER)
+                } else {
+                    continue;
+                }
+            } else {
+                OrderedFloat(1.0)
+            };
             let g_successor = self.g_score.get(&successor).unwrap_or(&OrderedFloat(std::f64::INFINITY)).clone();
-            let g_tentative = g_vertex + self.distance(vertex, successor);
+            let g_tentative = g_vertex + multiplier * self.distance(vertex, successor);
             if g_tentative < g_successor {
                 self.from.insert(successor, vertex);
                 self.g_score.insert(successor, g_tentative);
@@ -100,20 +109,13 @@ impl PathPlanner {
     }
 
     pub fn shortest_path(mut self) -> Vec<(f64, f64)> {
-        let mut closest_vertex = self.start;
-        let mut closest_distance = OrderedFloat(std::f64::INFINITY);
         while let Some((vertex, _)) = self.open.pop() {
-            if self.heuristic(vertex) < closest_distance - EPSILON {
-                closest_vertex = vertex;
-                closest_distance = self.heuristic(vertex);
-            }
             if vertex == self.goal {
                 return self.reconstruct_path(vertex);
             }
             self.successors.remove(&vertex);
             self.expand_node(vertex);
         }
-        self.from.insert(self.goal, closest_vertex);
-        self.reconstruct_path(self.goal)
+        unreachable!()
     }
 }

From 4180784c01add2fb7467d57adf147f308738659d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Helena=20J=C3=A4ger?= <helena.jaeger@studium.uni-hamburg.de>
Date: Wed, 15 Jan 2025 17:31:59 +0100
Subject: [PATCH 07/90] removed unused import

---
 Cargo.lock     | 2 +-
 Cargo.toml     | 2 +-
 src/planner.rs | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index c6834e261..2203a6978 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -37,7 +37,7 @@ checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
 [[package]]
 name = "bitbots_pathplanning_rust"
-version = "0.1.1"
+version = "0.1.2"
 dependencies = [
  "geo",
  "keyed_priority_queue",
diff --git a/Cargo.toml b/Cargo.toml
index 3bbe07168..0fae859f3 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "bitbots_pathplanning_rust"
-version = "0.1.1"
+version = "0.1.2"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
diff --git a/src/planner.rs b/src/planner.rs
index a368b8528..18b5e46d1 100644
--- a/src/planner.rs
+++ b/src/planner.rs
@@ -4,7 +4,7 @@ use geo::{Coord, Distance, Euclidean, Intersects, Line, MultiPolygon};
 use keyed_priority_queue::{Entry, KeyedPriorityQueue};
 use ordered_float::OrderedFloat;
 
-use crate::{map::ObstacleMap, obstacle::EPSILON};
+use crate::map::ObstacleMap;
 
 #[derive(Debug, Clone)]
 pub struct PathPlanner {

From 88bc29019bb721773f9c4aa93dc0c58cd0c45927 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Thu, 27 Feb 2025 19:56:05 +0100
Subject: [PATCH 08/90] Rename package

---
 Cargo.lock     | 2 +-
 Cargo.toml     | 4 ++--
 README.md      | 2 +-
 pyproject.toml | 2 +-
 src/lib.rs     | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 2203a6978..41e295254 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -36,7 +36,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
 [[package]]
-name = "bitbots_pathplanning_rust"
+name = "bitbots_rust_nav"
 version = "0.1.2"
 dependencies = [
  "geo",
diff --git a/Cargo.toml b/Cargo.toml
index 0fae859f3..23b00440f 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,11 +1,11 @@
 [package]
-name = "bitbots_pathplanning_rust"
+name = "bitbots_rust_nav"
 version = "0.1.2"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [lib]
-name = "bitbots_pathplanning_rust"
+name = "bitbots_rust_nav"
 crate-type = ["cdylib"]
 
 [dependencies]
diff --git a/README.md b/README.md
index ccbf0abb8..597c2f2d6 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# bitbots_pathplanning_rust
+# bitbots_rust_nav
 
 A best-effort A*-on-visibility-graph implementation for pathplanning in obstacles maps where obstacles and the robot itself are assumed to be round. 
 
diff --git a/pyproject.toml b/pyproject.toml
index 14318d892..55e17f046 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -3,7 +3,7 @@ requires = ["maturin>=1.7,<2.0"]
 build-backend = "maturin"
 
 [project]
-name = "bitbots_pathplanning_rust"
+name = "bitbots_rust_nav"
 requires-python = ">=3.8"
 classifiers = [
     "Programming Language :: Rust",
diff --git a/src/lib.rs b/src/lib.rs
index 0cddab3de..8cd7a4ff0 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -7,7 +7,7 @@ mod obstacle;
 mod planner;
 
 #[pymodule]
-fn bitbots_pathplanning_rust(m: &Bound<'_, PyModule>) -> PyResult<()> {
+fn bitbots_rust_nav(m: &Bound<'_, PyModule>) -> PyResult<()> {
     m.add_class::<RoundObstacle>()?;
     m.add_class::<ObstacleMap>()?;
     m.add_class::<ObstacleMapConfig>()?;

From 4a72ac744071970142b3e016e4cbde214b5f02f6 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Thu, 27 Feb 2025 19:57:37 +0100
Subject: [PATCH 09/90] Update README.md

---
 README.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 597c2f2d6..566ea9d34 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # bitbots_rust_nav
 
-A best-effort A*-on-visibility-graph implementation for pathplanning in obstacles maps where obstacles and the robot itself are assumed to be round. 
+A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round. 
 
 It exports three classes
 
@@ -14,4 +14,4 @@ Represents all configuration values for how obstacles should be treated with pub
 
 ## `ObstacleMap`
 
-Represents a set of obstacles on a plane with a given config. This has two fields: `config: ObstacleMapConfig` and `obstacles: [RoundObstacle]`. Can be created with the constructor `ObstacleMap(config, obstacles)`
\ No newline at end of file
+Represents a set of obstacles on a plane with a given config. This has two fields: `config: ObstacleMapConfig` and `obstacles: [RoundObstacle]`. Can be created with the constructor `ObstacleMap(config, obstacles)`

From 648432e65f935800dcdec7e96d185bd985857840 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Thu, 27 Feb 2025 20:00:25 +0100
Subject: [PATCH 10/90] Update README.md

---
 README.md | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index 566ea9d34..7af51cb81 100644
--- a/README.md
+++ b/README.md
@@ -2,16 +2,24 @@
 
 A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round. 
 
+## Installation
+
+```bash
+pip install git+https://github.com/bit-bots/bitbots_rust_nav
+```
+
+## API
+
 It exports three classes
 
-## `RoundObstacle`
+### `RoundObstacle`
 
 Represents a round obstacle with public fields `center: (float, float)` and `radius: float`. Can be created with the constructor `RoundObstacle(center, radius)`
 
-## `ObstacleMapConfig`
+### `ObstacleMapConfig`
 
 Represents all configuration values for how obstacles should be treated with public fields `dilate: float` - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and `num_vertices` - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor `ObstacleMapConfig(dilate, num_vertices)`
 
-## `ObstacleMap`
+### `ObstacleMap`
 
 Represents a set of obstacles on a plane with a given config. This has two fields: `config: ObstacleMapConfig` and `obstacles: [RoundObstacle]`. Can be created with the constructor `ObstacleMap(config, obstacles)`

From 58dcc178feb8bdf0c0b608981a1c9425730ff172 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Mon, 3 Mar 2025 11:50:27 +0100
Subject: [PATCH 11/90] Apply formatting

---
 src/map.rs     |  5 ++++-
 src/planner.rs | 29 +++++++++++++++++++----------
 2 files changed, 23 insertions(+), 11 deletions(-)

diff --git a/src/map.rs b/src/map.rs
index 66306a425..051022f22 100644
--- a/src/map.rs
+++ b/src/map.rs
@@ -1,7 +1,10 @@
 use geo::{BooleanOps, Coord, LineString, MultiPolygon, Polygon};
 use pyo3::prelude::*;
 
-use crate::{obstacle::{Obstacle, RoundObstacle}, planner::PathPlanner};
+use crate::{
+    obstacle::{Obstacle, RoundObstacle},
+    planner::PathPlanner,
+};
 
 /// Configuration values for the ObstacleMap, these should be given by ROS parameters
 #[pyclass(
diff --git a/src/planner.rs b/src/planner.rs
index 18b5e46d1..f3cc9bde7 100644
--- a/src/planner.rs
+++ b/src/planner.rs
@@ -1,4 +1,7 @@
-use std::{cmp::Reverse, collections::{HashMap, HashSet}};
+use std::{
+    cmp::Reverse,
+    collections::{HashMap, HashSet},
+};
 
 use geo::{Coord, Distance, Euclidean, Intersects, Line, MultiPolygon};
 use keyed_priority_queue::{Entry, KeyedPriorityQueue};
@@ -20,7 +23,6 @@ pub struct PathPlanner {
 
 const MULTIPLIER: f64 = 10.0;
 
-
 impl PathPlanner {
     pub fn new(map: &ObstacleMap, start: (f64, f64), goal: (f64, f64)) -> Self {
         let mut vertices = map.as_vertices();
@@ -76,12 +78,15 @@ impl PathPlanner {
 
     fn expand_node(&mut self, vertex: usize) {
         let g_vertex = self
-                .g_score
-                .get(&vertex)
-                .unwrap_or(&OrderedFloat(std::f64::INFINITY))
-                .clone();
+            .g_score
+            .get(&vertex)
+            .unwrap_or(&OrderedFloat(std::f64::INFINITY))
+            .clone();
         for successor in self.successors.iter().cloned() {
-            let multiplier = if self.obstacle.intersects(&Line::new(self.vertices[vertex], self.vertices[successor])) {
+            let multiplier = if self
+                .obstacle
+                .intersects(&Line::new(self.vertices[vertex], self.vertices[successor]))
+            {
                 if self.goal == successor || self.start == vertex {
                     OrderedFloat(MULTIPLIER)
                 } else {
@@ -90,7 +95,11 @@ impl PathPlanner {
             } else {
                 OrderedFloat(1.0)
             };
-            let g_successor = self.g_score.get(&successor).unwrap_or(&OrderedFloat(std::f64::INFINITY)).clone();
+            let g_successor = self
+                .g_score
+                .get(&successor)
+                .unwrap_or(&OrderedFloat(std::f64::INFINITY))
+                .clone();
             let g_tentative = g_vertex + multiplier * self.distance(vertex, successor);
             if g_tentative < g_successor {
                 self.from.insert(successor, vertex);
@@ -99,10 +108,10 @@ impl PathPlanner {
                 match self.open.entry(successor) {
                     Entry::Occupied(entry) => {
                         entry.set_priority(new_f_score);
-                    },
+                    }
                     Entry::Vacant(entry) => {
                         entry.set_priority(new_f_score);
-                    },
+                    }
                 }
             }
         }

From 43c9f7d35487d30ccbd373b808ad7a74d0a80f11 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Mon, 3 Mar 2025 11:55:16 +0100
Subject: [PATCH 12/90] Make clippy happy

---
 src/map.rs     |  5 ++---
 src/planner.rs | 15 ++++++---------
 2 files changed, 8 insertions(+), 12 deletions(-)

diff --git a/src/map.rs b/src/map.rs
index 051022f22..5c87d9797 100644
--- a/src/map.rs
+++ b/src/map.rs
@@ -50,7 +50,7 @@ impl ObstacleMap {
     }
 
     pub fn shortest_path(&self, start: (f64, f64), goal: (f64, f64)) -> Vec<(f64, f64)> {
-        PathPlanner::new(&self, start, goal).shortest_path()
+        PathPlanner::new(self, start, goal).shortest_path()
     }
 }
 
@@ -58,8 +58,7 @@ impl ObstacleMap {
     pub fn as_vertices(&self) -> Vec<Coord> {
         self.obstacles
             .iter()
-            .map(|obstacle| obstacle.as_vertices(&self.config))
-            .flatten()
+            .flat_map(|obstacle| obstacle.as_vertices(&self.config))
             .collect()
     }
 
diff --git a/src/planner.rs b/src/planner.rs
index f3cc9bde7..428310a3d 100644
--- a/src/planner.rs
+++ b/src/planner.rs
@@ -70,18 +70,16 @@ impl PathPlanner {
             path.push(*previous);
         }
         path.reverse();
-        return path
-            .into_iter()
+        path.into_iter()
             .map(|idx| self.vertices[idx].x_y())
-            .collect();
+            .collect()
     }
 
     fn expand_node(&mut self, vertex: usize) {
-        let g_vertex = self
+        let g_vertex = *self
             .g_score
             .get(&vertex)
-            .unwrap_or(&OrderedFloat(std::f64::INFINITY))
-            .clone();
+            .unwrap_or(&OrderedFloat(f64::INFINITY));
         for successor in self.successors.iter().cloned() {
             let multiplier = if self
                 .obstacle
@@ -95,11 +93,10 @@ impl PathPlanner {
             } else {
                 OrderedFloat(1.0)
             };
-            let g_successor = self
+            let g_successor = *self
                 .g_score
                 .get(&successor)
-                .unwrap_or(&OrderedFloat(std::f64::INFINITY))
-                .clone();
+                .unwrap_or(&OrderedFloat(f64::INFINITY));
             let g_tentative = g_vertex + multiplier * self.distance(vertex, successor);
             if g_tentative < g_successor {
                 self.from.insert(successor, vertex);

From 0081acf95ad71fa81b2b69bd91cfb6951f3f5e84 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Tue, 4 Mar 2025 15:10:24 +0100
Subject: [PATCH 13/90] Add debug gui and fix weird edge cases

---
 Cargo.lock      | 4256 +++++++++++++++++++++++++++++++++++++++++++----
 Cargo.toml      |   12 +-
 src/bin.rs      |  165 ++
 src/lib.rs      |    6 +-
 src/map.rs      |   23 +-
 src/obstacle.rs |   21 +-
 src/planner.rs  |   62 +-
 7 files changed, 4231 insertions(+), 314 deletions(-)
 create mode 100644 src/bin.rs

diff --git a/Cargo.lock b/Cargo.lock
index 41e295254..2006ac6dd 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1,6 +1,120 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4
+
+[[package]]
+name = "ab_glyph"
+version = "0.2.29"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ec3672c180e71eeaaac3a541fbbc5f5ad4def8b747c595ad30d674e43049f7b0"
+dependencies = [
+ "ab_glyph_rasterizer",
+ "owned_ttf_parser",
+]
+
+[[package]]
+name = "ab_glyph_rasterizer"
+version = "0.1.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c71b1793ee61086797f5c80b6efa2b8ffa6d5dd703f118545808a7f2e27f7046"
+
+[[package]]
+name = "accesskit"
+version = "0.17.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d3d3b8f9bae46a948369bc4a03e815d4ed6d616bd00de4051133a5019dc31c5a"
+
+[[package]]
+name = "accesskit_atspi_common"
+version = "0.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7c5dd55e6e94949498698daf4d48fb5659e824d7abec0d394089656ceaf99d4f"
+dependencies = [
+ "accesskit",
+ "accesskit_consumer",
+ "atspi-common",
+ "serde",
+ "thiserror 1.0.69",
+ "zvariant",
+]
+
+[[package]]
+name = "accesskit_consumer"
+version = "0.26.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f47983a1084940ba9a39c077a8c63e55c619388be5476ac04c804cfbd1e63459"
+dependencies = [
+ "accesskit",
+ "hashbrown 0.15.2",
+ "immutable-chunkmap",
+]
+
+[[package]]
+name = "accesskit_macos"
+version = "0.18.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7329821f3bd1101e03a7d2e03bd339e3ac0dc64c70b4c9f9ae1949e3ba8dece1"
+dependencies = [
+ "accesskit",
+ "accesskit_consumer",
+ "hashbrown 0.15.2",
+ "objc2",
+ "objc2-app-kit",
+ "objc2-foundation",
+]
+
+[[package]]
+name = "accesskit_unix"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fcee751cc20d88678c33edaf9c07e8b693cd02819fe89053776f5313492273f5"
+dependencies = [
+ "accesskit",
+ "accesskit_atspi_common",
+ "async-channel",
+ "async-executor",
+ "async-task",
+ "atspi",
+ "futures-lite",
+ "futures-util",
+ "serde",
+ "zbus",
+]
+
+[[package]]
+name = "accesskit_windows"
+version = "0.24.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "24fcd5d23d70670992b823e735e859374d694a3d12bfd8dd32bd3bd8bedb5d81"
+dependencies = [
+ "accesskit",
+ "accesskit_consumer",
+ "hashbrown 0.15.2",
+ "paste",
+ "static_assertions",
+ "windows",
+ "windows-core",
+]
+
+[[package]]
+name = "accesskit_winit"
+version = "0.23.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a6a48dad5530b6deb9fc7a52cc6c3bf72cdd9eb8157ac9d32d69f2427a5e879"
+dependencies = [
+ "accesskit",
+ "accesskit_macos",
+ "accesskit_unix",
+ "accesskit_windows",
+ "raw-window-handle",
+ "winit",
+]
+
+[[package]]
+name = "adler2"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627"
 
 [[package]]
 name = "ahash"
@@ -9,9 +123,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e89da841a80418a9b391ebaea17f5c112ffaaa96f621d2c285b5174da76b9011"
 dependencies = [
  "cfg-if",
+ "getrandom 0.2.15",
  "once_cell",
  "version_check",
- "zerocopy",
+ "zerocopy 0.7.35",
 ]
 
 [[package]]
@@ -20,6 +135,42 @@ version = "0.2.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
 
+[[package]]
+name = "android-activity"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef6978589202a00cd7e118380c448a08b6ed394c3a8df3a430d0898e3a42d046"
+dependencies = [
+ "android-properties",
+ "bitflags 2.9.0",
+ "cc",
+ "cesu8",
+ "jni",
+ "jni-sys",
+ "libc",
+ "log",
+ "ndk",
+ "ndk-context",
+ "ndk-sys 0.6.0+11769913",
+ "num_enum",
+ "thiserror 1.0.69",
+]
+
+[[package]]
+name = "android-properties"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fc7eb209b1518d6bb87b283c20095f5228ecda460da70b44f0802523dea6da04"
+
+[[package]]
+name = "android_system_properties"
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-name = "spade"
-version = "2.12.1"
+name = "zerofrom"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "93f5ef1f863aca7d1d7dda7ccfc36a0a4279bd6d3c375176e5e0712e25cb4889"
+checksum = "50cc42e0333e05660c3587f3bf9d0478688e15d870fab3346451ce7f8c9fbea5"
 dependencies = [
- "hashbrown 0.14.5",
- "num-traits",
- "robust",
- "smallvec",
+ "zerofrom-derive",
 ]
 
 [[package]]
-name = "stable_deref_trait"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
-
-[[package]]
-name = "syn"
-version = "2.0.90"
+name = "zerofrom-derive"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "919d3b74a5dd0ccd15aeb8f93e7006bd9e14c295087c9896a110f490752bcf31"
+checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502"
 dependencies = [
  "proc-macro2",
  "quote",
- "unicode-ident",
+ "syn",
+ "synstructure",
 ]
 
 [[package]]
-name = "target-lexicon"
-version = "0.12.16"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61c41af27dd6d1e27b1b16b489db798443478cef1f06a660c96db617ba5de3b1"
-
-[[package]]
-name = "unicode-ident"
-version = "1.0.14"
+name = "zerovec"
+version = "0.10.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "adb9e6ca4f869e1180728b7950e35922a7fc6397f7b641499e8f3ef06e50dc83"
+checksum = "aa2b893d79df23bfb12d5461018d408ea19dfafe76c2c7ef6d4eba614f8ff079"
+dependencies = [
+ "yoke",
+ "zerofrom",
+ "zerovec-derive",
+]
 
 [[package]]
-name = "unindent"
-version = "0.2.3"
+name = "zerovec-derive"
+version = "0.10.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c7de7d73e1754487cb58364ee906a499937a0dfabd86bcb980fa99ec8c8fa2ce"
+checksum = "6eafa6dfb17584ea3e2bd6e76e0cc15ad7af12b09abdd1ca55961bed9b1063c6"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
 
 [[package]]
-name = "version_check"
-version = "0.9.5"
+name = "zvariant"
+version = "4.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
+checksum = "2084290ab9a1c471c38fc524945837734fbf124487e105daec2bb57fd48c81fe"
+dependencies = [
+ "endi",
+ "enumflags2",
+ "serde",
+ "static_assertions",
+ "zvariant_derive",
+]
 
 [[package]]
-name = "zerocopy"
-version = "0.7.35"
+name = "zvariant_derive"
+version = "4.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
+checksum = "73e2ba546bda683a90652bac4a279bc146adad1386f25379cf73200d2002c449"
 dependencies = [
- "zerocopy-derive",
+ "proc-macro-crate",
+ "proc-macro2",
+ "quote",
+ "syn",
+ "zvariant_utils",
 ]
 
 [[package]]
-name = "zerocopy-derive"
-version = "0.7.35"
+name = "zvariant_utils"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
+checksum = "c51bcff7cc3dbb5055396bcf774748c3dab426b4b8659046963523cee4808340"
 dependencies = [
  "proc-macro2",
  "quote",
diff --git a/Cargo.toml b/Cargo.toml
index 23b00440f..558306bc4 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -3,13 +3,21 @@ name = "bitbots_rust_nav"
 version = "0.1.2"
 edition = "2021"
 
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [lib]
 name = "bitbots_rust_nav"
-crate-type = ["cdylib"]
+crate-type = ["cdylib", "rlib"]
+
+[[bin]]
+name = "interactive_nav_demo"
+path = "src/bin.rs"
+
+[features]
+gui = ["dep:eframe"]
 
 [dependencies]
+eframe = {version="0.31.0", optional = true}
 geo = "0.29.3"
 keyed_priority_queue = "0.4.2"
 ordered-float = "4.5.0"
 pyo3 = "0.23.1"
+rand = "0.9.0"
\ No newline at end of file
diff --git a/src/bin.rs b/src/bin.rs
new file mode 100644
index 000000000..3f3c7311a
--- /dev/null
+++ b/src/bin.rs
@@ -0,0 +1,165 @@
+#[cfg(feature = "gui")]
+mod gui {
+    use bitbots_rust_nav::map::{ObstacleMap, ObstacleMapConfig};
+    use bitbots_rust_nav::obstacle::RoundObstacle;
+    use eframe::egui;
+
+    pub struct PathfindingApp {
+        config: ObstacleMapConfig,
+        obstacles: Vec<RoundObstacle>,
+        start: Option<(f64, f64)>,
+        goal: Option<(f64, f64)>,
+        path: Vec<(f64, f64)>,
+        dragging: Option<usize>,
+    }
+
+    impl Default for PathfindingApp {
+        fn default() -> Self {
+            let config = ObstacleMapConfig {
+                robot_radius: 0.3,
+                margin: 0.25,
+                num_vertices: 12,
+            };
+            let obstacles = vec![
+                RoundObstacle {
+                    center: (1.0, 4.0),
+                    radius: 0.13 / 2.0,
+                },
+                RoundObstacle {
+                    center: (4.2, 4.2),
+                    radius: 1.3,
+                },
+                RoundObstacle {
+                    center: (5.0, 2.0),
+                    radius: 0.5 / 2.0,
+                },
+                RoundObstacle {
+                    center: (10.0, 10.0),
+                    radius: 0.5 / 2.0,
+                },
+            ];
+            Self {
+                config,
+                obstacles,
+                start: None,
+                goal: None,
+                path: Vec::new(),
+                dragging: None,
+            }
+        }
+    }
+
+    impl eframe::App for PathfindingApp {
+        fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
+            egui::CentralPanel::default().show(ctx, |ui| {
+                let (response, painter) = ui
+                    .allocate_painter(egui::Vec2::new(500.0, 500.0), egui::Sense::click_and_drag());
+                let rect = response.rect;
+                let to_screen =
+                    |(x, y): (f64, f64)| rect.min + egui::vec2(x as f32 * 40.0, y as f32 * 40.0);
+
+                if let Some(pos) = response.interact_pointer_pos() {
+                    let world_pos = (
+                        ((pos.x - rect.min.x) / 40.0) as f64,
+                        ((pos.y - rect.min.y) / 40.0) as f64,
+                    );
+                    if response.clicked_by(egui::PointerButton::Primary) {
+                        self.start = Some(world_pos);
+                    } else if response.clicked_by(egui::PointerButton::Secondary) {
+                        self.goal = Some(world_pos);
+                    }
+                }
+
+                if ctx.input(|i| i.modifiers.shift) {
+                    if response.drag_started() {
+                        if let Some(pos) = response.interact_pointer_pos() {
+                            self.dragging = self.obstacles.iter().position(|o| {
+                                let screen_pos = to_screen(o.center);
+                                screen_pos.distance(pos)
+                                    < (o.radius + self.config.robot_radius + self.config.margin)
+                                        as f32
+                                        * 40.0
+                            });
+                        }
+                    }
+
+                    if let Some(idx) = self.dragging {
+                        if let Some(pos) = response.interact_pointer_pos() {
+                            self.obstacles[idx].center = (
+                                ((pos.x - rect.min.x) / 40.0) as f64,
+                                ((pos.y - rect.min.y) / 40.0) as f64,
+                            );
+                        }
+                    }
+                    if response.drag_stopped() {
+                        self.dragging = None;
+                    }
+                }
+
+                for obstacle in &self.obstacles {
+                    let pos = to_screen(obstacle.center);
+                    let obstacle_layers = vec![
+                        (
+                            obstacle.radius + self.config.robot_radius + self.config.margin,
+                            egui::Color32::YELLOW,
+                        ),
+                        (
+                            obstacle.radius + self.config.robot_radius,
+                            egui::Color32::RED,
+                        ),
+                        (obstacle.radius, egui::Color32::BLACK),
+                    ];
+                    for (radius, color) in obstacle_layers {
+                        painter.circle_filled(pos, (radius as f32) * 40.0, color);
+                    }
+                }
+
+                if let (Some(start), Some(goal)) = (self.start, self.goal) {
+                    let omap = ObstacleMap::new(self.config, self.obstacles.clone());
+                    let time1 = std::time::Instant::now();
+                    self.path = omap.shortest_path(start, goal);
+                    let time2 = std::time::Instant::now();
+                    println!("Pathfinding took: {:?}", time2 - time1);
+                    for window in self.path.windows(2) {
+                        if let [a, b] = window {
+                            painter.line_segment(
+                                [to_screen(*a), to_screen(*b)],
+                                (2.0, egui::Color32::BLUE),
+                            );
+                        }
+                    }
+                }
+            });
+        }
+    }
+
+    pub fn run_gui() -> Result<(), eframe::Error> {
+        println!("Usage instructions:");
+        println!("  - Left click to set the start position");
+        println!("  - Right click to set the goal position");
+        println!("  - Hold Shift to drag obstacles");
+        println!("  - Have fun & Find bugs!");
+
+        let options = eframe::NativeOptions {
+            viewport: egui::ViewportBuilder::default()
+                .with_inner_size([500.0, 500.0])
+                .with_resizable(false),
+            ..Default::default()
+        };
+        eframe::run_native(
+            "Interactive Pathfinding",
+            options,
+            Box::new(|_| Ok(Box::new(PathfindingApp::default()))),
+        )
+    }
+}
+
+#[cfg(feature = "gui")]
+fn main() -> Result<(), eframe::Error> {
+    gui::run_gui()
+}
+
+#[cfg(not(feature = "gui"))]
+fn main() {
+    println!("GUI feature is disabled. Run with --features gui to enable.");
+}
diff --git a/src/lib.rs b/src/lib.rs
index 8cd7a4ff0..62d8b0294 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -2,9 +2,9 @@ use map::{ObstacleMap, ObstacleMapConfig};
 use obstacle::RoundObstacle;
 use pyo3::prelude::*;
 
-mod map;
-mod obstacle;
-mod planner;
+pub mod map;
+pub mod obstacle;
+pub mod planner;
 
 #[pymodule]
 fn bitbots_rust_nav(m: &Bound<'_, PyModule>) -> PyResult<()> {
diff --git a/src/map.rs b/src/map.rs
index 5c87d9797..f384f8e3e 100644
--- a/src/map.rs
+++ b/src/map.rs
@@ -9,13 +9,17 @@ use crate::{
 /// Configuration values for the ObstacleMap, these should be given by ROS parameters
 #[pyclass(
     eq,
-    str = "ObstacleMapConfig(dilate={dilate:?} num_vertices={num_vertices:?})"
+    str = "ObstacleMapConfig(robot_radius={robot_radius:?}, margin={margin:?}, num_vertices={num_vertices:?})"
 )]
 #[derive(Debug, Copy, Clone, PartialEq)]
 pub struct ObstacleMapConfig {
-    /// A distance by which the obstacles should be dilated
+    /// All obstacles are inflated by this amount, so we can assume the robot itself is a point
     #[pyo3(set, get)]
-    pub dilate: f64,
+    pub robot_radius: f64,
+    /// Normal plans should not be directly on the edge of an obstacle,
+    /// this margin is added if possible
+    #[pyo3(set, get)]
+    pub margin: f64,
     /// The number of vertices that the polygon representing an obstacle has
     #[pyo3(set, get)]
     pub num_vertices: usize,
@@ -25,9 +29,10 @@ pub struct ObstacleMapConfig {
 impl ObstacleMapConfig {
     #[new]
     /// Create a new config with the given values
-    pub fn new(dilate: f64, num_vertices: usize) -> Self {
+    pub fn new(robot_radius: f64, margin: f64, num_vertices: usize) -> Self {
         Self {
-            dilate,
+            robot_radius,
+            margin,
             num_vertices,
         }
     }
@@ -62,15 +67,15 @@ impl ObstacleMap {
             .collect()
     }
 
-    fn as_polygons(&self) -> Vec<Polygon> {
+    fn as_polygons(&self, margin: bool) -> Vec<Polygon> {
         self.obstacles
             .iter()
-            .map(|obstacle| obstacle.as_polygon(&self.config))
+            .map(|obstacle| obstacle.as_polygon(&self.config, margin))
             .collect()
     }
 
-    pub fn as_multipolygon(&self) -> MultiPolygon {
-        let polygons = self.as_polygons();
+    pub fn as_multipolygon(&self, margin: bool) -> MultiPolygon {
+        let polygons = self.as_polygons(margin);
         polygons.iter().fold(
             MultiPolygon::new(vec![Polygon::new(LineString::new(vec![]), vec![])]),
             |a, b| a.union(b),
diff --git a/src/obstacle.rs b/src/obstacle.rs
index 1f50408d9..8d8e6cd96 100644
--- a/src/obstacle.rs
+++ b/src/obstacle.rs
@@ -5,11 +5,11 @@ use geo::{Coord, LineString, Polygon};
 use crate::map::ObstacleMapConfig;
 
 pub trait Obstacle {
-    /// Return the vertices of this obstacle for the visibility graph
+    /// Return the vertices of this obstacle inflated by the robot size and margin for the visibility graph generation
     fn as_vertices(&self, config: &ObstacleMapConfig) -> Vec<Coord>;
 
-    /// Return the polygon representation of this obstacle for intersection checking
-    fn as_polygon(&self, config: &ObstacleMapConfig) -> Polygon;
+    /// Return the polygon representation of this obstacle inflated by the robot size and optionally the margin for intersection checking
+    fn as_polygon(&self, config: &ObstacleMapConfig, margin: bool) -> Polygon;
 }
 
 /// A round obstacle
@@ -18,10 +18,10 @@ pub trait Obstacle {
 pub struct RoundObstacle {
     /// The center of the obstacle
     #[pyo3(get, set)]
-    center: (f64, f64),
+    pub center: (f64, f64),
     /// The radius of the obstacle
     #[pyo3(get, set)]
-    radius: f64,
+    pub radius: f64,
 }
 
 #[pymethods]
@@ -50,11 +50,16 @@ pub const EPSILON: f64 = 0.01;
 
 impl Obstacle for RoundObstacle {
     fn as_vertices(&self, config: &ObstacleMapConfig) -> Vec<Coord> {
-        self.regular_ngon(config.num_vertices, config.dilate)
+        self.regular_ngon(config.num_vertices, config.robot_radius + config.margin)
     }
 
-    fn as_polygon(&self, config: &ObstacleMapConfig) -> Polygon {
-        let vertices = self.regular_ngon(config.num_vertices, config.dilate - EPSILON);
+    fn as_polygon(&self, config: &ObstacleMapConfig, margin: bool) -> Polygon {
+        let inflation = if margin {
+            config.robot_radius + config.margin
+        } else {
+            config.robot_radius
+        };
+        let vertices = self.regular_ngon(config.num_vertices, inflation - EPSILON);
         Polygon::new(LineString::new(vertices), vec![])
     }
 }
diff --git a/src/planner.rs b/src/planner.rs
index 428310a3d..fa9027bb5 100644
--- a/src/planner.rs
+++ b/src/planner.rs
@@ -3,7 +3,7 @@ use std::{
     collections::{HashMap, HashSet},
 };
 
-use geo::{Coord, Distance, Euclidean, Intersects, Line, MultiPolygon};
+use geo::{Contains, Coord, Distance, Euclidean, Intersects, Line, MultiPolygon};
 use keyed_priority_queue::{Entry, KeyedPriorityQueue};
 use ordered_float::OrderedFloat;
 
@@ -12,7 +12,8 @@ use crate::map::ObstacleMap;
 #[derive(Debug, Clone)]
 pub struct PathPlanner {
     vertices: Vec<Coord>,
-    obstacle: MultiPolygon,
+    obstacle_critical: MultiPolygon,
+    obstacle_with_margin: MultiPolygon,
     start: usize,
     goal: usize,
     open: KeyedPriorityQueue<usize, Reverse<OrderedFloat<f64>>>,
@@ -24,12 +25,14 @@ pub struct PathPlanner {
 const MULTIPLIER: f64 = 10.0;
 
 impl PathPlanner {
+    /// Create a new path planner planning task with the given map, start and goal
     pub fn new(map: &ObstacleMap, start: (f64, f64), goal: (f64, f64)) -> Self {
         let mut vertices = map.as_vertices();
         vertices.append(&mut vec![start.into(), goal.into()]);
-        let obstacle = map.as_multipolygon();
-        let start = vertices.len() - 2;
+        let start: usize = vertices.len() - 2;
         let goal = vertices.len() - 1;
+        let obstacle_critical = map.as_multipolygon(false);
+        let obstacle_with_margin = map.as_multipolygon(true);
         let mut open = KeyedPriorityQueue::<usize, Reverse<OrderedFloat<f64>>>::new();
         open.push(
             start,
@@ -44,7 +47,8 @@ impl PathPlanner {
         g_score.insert(start, OrderedFloat(0.0));
         Self {
             vertices,
-            obstacle,
+            obstacle_critical,
+            obstacle_with_margin,
             start,
             goal,
             open,
@@ -54,14 +58,19 @@ impl PathPlanner {
         }
     }
 
+    /// Part of A* algorithm, calculates the heuristic for the given node.
+    /// Often the heuristic is the euclidean distance to the goal.
     fn heuristic(&self, node: usize) -> OrderedFloat<f64> {
         self.distance(node, self.goal)
     }
 
+    /// Calculates the euclidean distance between two vertices
     fn distance(&self, from: usize, to: usize) -> OrderedFloat<f64> {
         OrderedFloat(Euclidean::distance(self.vertices[from], self.vertices[to]))
     }
 
+    /// Part of A* algorithm, reconstructs the path from the start to the goal vertex
+    /// based on the predecessors calculated during the search
     fn reconstruct_path(&self, vertex: usize) -> Vec<(f64, f64)> {
         let mut path = vec![vertex];
         let mut current = vertex;
@@ -75,24 +84,54 @@ impl PathPlanner {
             .collect()
     }
 
+    // Calculates and rates the connections of the vertex
     fn expand_node(&mut self, vertex: usize) {
         let g_vertex = *self
             .g_score
             .get(&vertex)
             .unwrap_or(&OrderedFloat(f64::INFINITY));
         for successor in self.successors.iter().cloned() {
-            let multiplier = if self
-                .obstacle
-                .intersects(&Line::new(self.vertices[vertex], self.vertices[successor]))
-            {
-                if self.goal == successor || self.start == vertex {
-                    OrderedFloat(MULTIPLIER)
+            let connection = Line::new(self.vertices[vertex], self.vertices[successor]);
+            // Check if the connection intersects with anything
+            let multiplier = if self.obstacle_with_margin.intersects(&connection) {
+                // Check if we are at the start or goal
+                // We want to always allow connections to the start and goal,
+                // but we want to penalize connections that intersect with an obstacles critical area
+                // So we don't want to connect the visibility graph through an obstacle except for the start and goal
+                if (self.start == vertex && self.goal == successor) // Best effort backup solution, so we allow the direct connection at high cost
+                    // Also consider start and goal as inside the obstacle (at high cost if we are inside the critical area, and at low cost if we are inside the margin)
+                    || (self.goal == successor && self.obstacle_with_margin.contains(&connection.end_point()))
+                    || (self.start == vertex && self.obstacle_with_margin.contains(&connection.start_point())
+                ) {
+                    // Use high cost for connections that intersect with the critical area of an obstacle
+                    if self.obstacle_critical.intersects(&connection) {
+                        OrderedFloat(MULTIPLIER)
+                    } else {
+                        // When we are at the start or goal and the connection is inside the obstacle margin,
+                        // but not critical we want to allow this connection without penalty.
+                        // This way we avoid situations where the robot gets stuck.
+                        // Image a situation where the robot follows the normal path around an obstacle.
+                        // Due to the nature of things it's start point is not exactly on the edge.
+                        // We therefore are inside the obstacle and get a high cost roughly 50 percent of the time.
+                        // This leads to us going back to the vertex we came from
+                        // (it has the shortest path though the high cost region) and trying again.
+                        // Immediately after departing from the vertex we are inside the obstacle again (~50 percent of the time).
+                        // This can lead to the robot getting stuck in a loop.
+                        // We therefore add a margin around the obstacle where we don't penalize start and end connections,
+                        // while prohibiting normal connections of the visibility graph (to avoid getting too close to the obstacle again).
+                        OrderedFloat(1.0)
+                    }
                 } else {
+                    // Ignore connections that intersect with obstacles
+                    // (except for the start and goal as they might be inside the obstacle and we do a best effort solution)
                     continue;
                 }
             } else {
+                // Don't penalize connections that don't intersect with anything
                 OrderedFloat(1.0)
             };
+
+            // Part of A* algorithm
             let g_successor = *self
                 .g_score
                 .get(&successor)
@@ -114,6 +153,7 @@ impl PathPlanner {
         }
     }
 
+    /// Find the shortest path from the start to the goal considering the obstacles
     pub fn shortest_path(mut self) -> Vec<(f64, f64)> {
         while let Some((vertex, _)) = self.open.pop() {
             if vertex == self.goal {

From 8dab02a4254652c674ec429190a80765916f8ab1 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Sat, 8 Mar 2025 17:50:28 +0100
Subject: [PATCH 14/90] Remove cargo.lock as this is a lib

---
 .gitignore     |    4 +
 Cargo.lock     | 4239 ------------------------------------------------
 pyproject.toml |    1 +
 3 files changed, 5 insertions(+), 4239 deletions(-)
 delete mode 100644 Cargo.lock

diff --git a/.gitignore b/.gitignore
index c8f044299..6ac32b13b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -70,3 +70,7 @@ docs/_build/
 
 # Pyenv
 .python-version
+
+
+# Cargo
+Cargo.lock
\ No newline at end of file
diff --git a/Cargo.lock b/Cargo.lock
deleted file mode 100644
index 2006ac6dd..000000000
--- a/Cargo.lock
+++ /dev/null
@@ -1,4239 +0,0 @@
-# This file is automatically @generated by Cargo.
-# It is not intended for manual editing.
-version = 4
-
-[[package]]
-name = "ab_glyph"
-version = "0.2.29"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ec3672c180e71eeaaac3a541fbbc5f5ad4def8b747c595ad30d674e43049f7b0"
-dependencies = [
- "ab_glyph_rasterizer",
- "owned_ttf_parser",
-]
-
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diff --git a/pyproject.toml b/pyproject.toml
index 55e17f046..17dfa721f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -11,5 +11,6 @@ classifiers = [
     "Programming Language :: Python :: Implementation :: PyPy",
 ]
 dynamic = ["version"]
+
 [tool.maturin]
 features = ["pyo3/extension-module"]

From 25479ab58f34414cfe60987f19b460365bc2c1ff Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Wed, 18 Jun 2025 18:30:01 +0200
Subject: [PATCH 15/90] Commit lock file for reproducible python builds

---
 .gitignore |    4 -
 Cargo.lock | 4338 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 4338 insertions(+), 4 deletions(-)
 create mode 100644 Cargo.lock

diff --git a/.gitignore b/.gitignore
index 6ac32b13b..c8f044299 100644
--- a/.gitignore
+++ b/.gitignore
@@ -70,7 +70,3 @@ docs/_build/
 
 # Pyenv
 .python-version
-
-
-# Cargo
-Cargo.lock
\ No newline at end of file
diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 000000000..02c0fa016
--- /dev/null
+++ b/Cargo.lock
@@ -0,0 +1,4338 @@
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+checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+ "synstructure",
+]
+
+[[package]]
+name = "zerotrie"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "36f0bbd478583f79edad978b407914f61b2972f5af6fa089686016be8f9af595"
+dependencies = [
+ "displaydoc",
+ "yoke",
+ "zerofrom",
+]
+
+[[package]]
+name = "zerovec"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4a05eb080e015ba39cc9e23bbe5e7fb04d5fb040350f99f34e338d5fdd294428"
+dependencies = [
+ "yoke",
+ "zerofrom",
+ "zerovec-derive",
+]
+
+[[package]]
+name = "zerovec-derive"
+version = "0.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5b96237efa0c878c64bd89c436f661be4e46b2f3eff1ebb976f7ef2321d2f58f"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
+[[package]]
+name = "zvariant"
+version = "4.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2084290ab9a1c471c38fc524945837734fbf124487e105daec2bb57fd48c81fe"
+dependencies = [
+ "endi",
+ "enumflags2",
+ "serde",
+ "static_assertions",
+ "zvariant_derive",
+]
+
+[[package]]
+name = "zvariant_derive"
+version = "4.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73e2ba546bda683a90652bac4a279bc146adad1386f25379cf73200d2002c449"
+dependencies = [
+ "proc-macro-crate",
+ "proc-macro2",
+ "quote",
+ "syn",
+ "zvariant_utils",
+]
+
+[[package]]
+name = "zvariant_utils"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c51bcff7cc3dbb5055396bcf774748c3dab426b4b8659046963523cee4808340"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]

From 98d029a3f5ef49d5fbd497bc7b8598bd9ee6ea75 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Wed, 18 Jun 2025 18:31:40 +0200
Subject: [PATCH 16/90] Bump pyo3

---
 Cargo.lock | 24 ++++++++++++------------
 Cargo.toml |  2 +-
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 02c0fa016..e66b18b5a 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -2482,9 +2482,9 @@ checksum = "afbdc74edc00b6f6a218ca6a5364d6226a259d4b8ea1af4a0ea063f27e179f4d"
 
 [[package]]
 name = "pyo3"
-version = "0.23.5"
+version = "0.24.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7778bffd85cf38175ac1f545509665d0b9b92a198ca7941f131f85f7a4f9a872"
+checksum = "e5203598f366b11a02b13aa20cab591229ff0a89fd121a308a5df751d5fc9219"
 dependencies = [
  "cfg-if",
  "indoc",
@@ -2500,9 +2500,9 @@ dependencies = [
 
 [[package]]
 name = "pyo3-build-config"
-version = "0.23.5"
+version = "0.24.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94f6cbe86ef3bf18998d9df6e0f3fc1050a8c5efa409bf712e661a4366e010fb"
+checksum = "99636d423fa2ca130fa5acde3059308006d46f98caac629418e53f7ebb1e9999"
 dependencies = [
  "once_cell",
  "target-lexicon",
@@ -2510,9 +2510,9 @@ dependencies = [
 
 [[package]]
 name = "pyo3-ffi"
-version = "0.23.5"
+version = "0.24.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e9f1b4c431c0bb1c8fb0a338709859eed0d030ff6daa34368d3b152a63dfdd8d"
+checksum = "78f9cf92ba9c409279bc3305b5409d90db2d2c22392d443a87df3a1adad59e33"
 dependencies = [
  "libc",
  "pyo3-build-config",
@@ -2520,9 +2520,9 @@ dependencies = [
 
 [[package]]
 name = "pyo3-macros"
-version = "0.23.5"
+version = "0.24.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbc2201328f63c4710f68abdf653c89d8dbc2858b88c5d88b0ff38a75288a9da"
+checksum = "0b999cb1a6ce21f9a6b147dcf1be9ffedf02e0043aec74dc390f3007047cecd9"
 dependencies = [
  "proc-macro2",
  "pyo3-macros-backend",
@@ -2532,9 +2532,9 @@ dependencies = [
 
 [[package]]
 name = "pyo3-macros-backend"
-version = "0.23.5"
+version = "0.24.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fca6726ad0f3da9c9de093d6f116a93c1a38e417ed73bf138472cf4064f72028"
+checksum = "822ece1c7e1012745607d5cf0bcb2874769f0f7cb34c4cde03b9358eb9ef911a"
 dependencies = [
  "heck",
  "proc-macro2",
@@ -2995,9 +2995,9 @@ dependencies = [
 
 [[package]]
 name = "target-lexicon"
-version = "0.12.16"
+version = "0.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61c41af27dd6d1e27b1b16b489db798443478cef1f06a660c96db617ba5de3b1"
+checksum = "e502f78cdbb8ba4718f566c418c52bc729126ffd16baee5baa718cf25dd5a69a"
 
 [[package]]
 name = "tempfile"
diff --git a/Cargo.toml b/Cargo.toml
index 558306bc4..90f02cfaf 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -19,5 +19,5 @@ eframe = {version="0.31.0", optional = true}
 geo = "0.29.3"
 keyed_priority_queue = "0.4.2"
 ordered-float = "4.5.0"
-pyo3 = "0.23.1"
+pyo3 = "0.24.1"
 rand = "0.9.0"
\ No newline at end of file

From 5c6c1edc69b5d4e26bb7bdc3fef3399e2a61567b Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Fri, 29 Aug 2025 18:58:14 +0200
Subject: [PATCH 17/90] Move code to src folder

---
 .../bitbots_behavior}/README.md               |   0
 .../bitbots_blackboard/CMakeLists.txt         |   0
 .../bitbots_blackboard/__init__.py            |   0
 .../bitbots_blackboard/body_blackboard.py     |   0
 .../bitbots_blackboard/capsules/__init__.py   |   0
 .../capsules/animation_capsule.py             |   0
 .../capsules/costmap_capsule.py               |   0
 .../capsules/game_status_capsule.py           |   0
 .../capsules/kick_capsule.py                  |   0
 .../capsules/misc_capsule.py                  |   0
 .../capsules/pathfinding_capsule.py           |   0
 .../capsules/team_data_capsule.py             |   0
 .../capsules/world_model_capsule.py           |   0
 .../bitbots_blackboard/docs/_static/logo.png  | Bin
 .../bitbots_blackboard/docs/conf.py           |   0
 .../bitbots_blackboard/docs/index.rst         |   0
 .../bitbots_blackboard/mypy.ini               |   0
 .../bitbots_blackboard/package.xml            |   0
 .../bitbots_blackboard/setup.py               |   0
 .../bitbots_body_behavior/__init__.py         |   0
 .../behavior_dsd/__init__.py                  |   0
 .../behavior_dsd/actions/__init__.py          |   0
 .../behavior_dsd/actions/avoid_ball.py        |   0
 .../behavior_dsd/actions/change_action.py     |   0
 .../behavior_dsd/actions/change_role.py       |   0
 .../behavior_dsd/actions/deactivate_hcm.py    |   0
 .../behavior_dsd/actions/dribble_forward.py   |   0
 .../behavior_dsd/actions/dynup.py             |   0
 .../behavior_dsd/actions/forget_ball.py       |   0
 .../behavior_dsd/actions/go_to.py             |   0
 .../behavior_dsd/actions/go_to_ball.py        |   0
 .../actions/go_to_block_position.py           |   0
 .../actions/go_to_corner_kick_position.py     |   0
 .../actions/go_to_defense_position.py         |   0
 .../actions/go_to_pass_position.py            |   0
 .../actions/go_to_role_position.py            |   0
 .../behavior_dsd/actions/head_modes.py        |   0
 .../behavior_dsd/actions/kick_ball.py         |   0
 .../behavior_dsd/actions/play_animation.py    |   0
 .../behavior_dsd/actions/speak.py             |   0
 .../behavior_dsd/actions/stand.py             |   0
 .../behavior_dsd/actions/timer.py             |   0
 .../behavior_dsd/actions/turn.py              |   0
 .../behavior_dsd/actions/walk.py              |   0
 .../behavior_dsd/decisions/__init__.py        |   0
 .../behavior_dsd/decisions/aligned_to_goal.py |   0
 .../behavior_dsd/decisions/avoid_ball.py      |   0
 .../behavior_dsd/decisions/ball_close.py      |   0
 .../behavior_dsd/decisions/ball_dangerous.py  |   0
 .../decisions/ball_in_defensive_area.py       |   0
 .../behavior_dsd/decisions/ball_kick_area.py  |   0
 .../behavior_dsd/decisions/ball_seen.py       |   0
 .../behavior_dsd/decisions/closest_to_ball.py |   0
 .../behavior_dsd/decisions/config_role.py     |   0
 .../count_active_players_without_goalie.py    |   0
 .../behavior_dsd/decisions/current_score.py   |   0
 .../behavior_dsd/decisions/do_once.py         |   0
 .../behavior_dsd/decisions/dribble_or_kick.py |   0
 .../behavior_dsd/decisions/foot_selection.py  |   0
 .../decisions/game_state_decider.py           |   0
 .../behavior_dsd/decisions/goal_scored.py     |   0
 .../behavior_dsd/decisions/goalie_active.py   |   0
 .../decisions/goalie_handling_ball.py         |   0
 .../behavior_dsd/decisions/is_penalized.py    |   0
 .../decisions/kick_off_time_up.py             |   0
 .../behavior_dsd/decisions/last_player.py     |   0
 .../behavior_dsd/decisions/pass_started.py    |   0
 .../behavior_dsd/decisions/reached_goal.py    |   0
 .../robot_in_own_percent_of_field.py          |   0
 .../decisions/secondary_state_decider.py      |   0
 .../behavior_dsd/decisions/timer.py           |   0
 .../behavior_dsd/demo.dsd                     |   0
 .../behavior_dsd/main.dsd                     |   0
 .../behavior_dsd/minimal.dsd                  |   0
 .../bitbots_body_behavior/body_behavior.py    |   0
 .../bitbots_body_behavior/config/LICENSE      |   0
 .../bitbots_body_behavior/config/__init__.py  |   0
 .../config/animations.yaml                    |   0
 .../config/body_behavior.yaml                 |   0
 .../bitbots_body_behavior/config/fanfare.wav  | Bin
 .../bitbots_body_behavior/config/ole.wav      | Bin
 .../docs/_static/logo.png                     | Bin
 .../bitbots_body_behavior/docs/conf.py        |   0
 .../bitbots_body_behavior/docs/index.rst      |   0
 .../launch/behavior.launch                    |   0
 .../launch/behavior_standalone.launch         |   0
 .../bitbots_body_behavior/package.xml         |   0
 .../resource/bitbots_body_behavior            |   0
 .../bitbots_body_behavior/setup.cfg           |   0
 .../bitbots_body_behavior/setup.py            |   0
 .../bitbots_body_behavior/test/mypy.ini       |   0
 .../test/test_dsd_file.py                     |   0
 .../bitbots_body_behavior/test/test_mypy.py   |   0
 .../bitbots_buttons/CMakeLists.txt            |   0
 .../bitbots_buttons/config/buttons.yaml       |   0
 .../bitbots_buttons/docs/_static/logo.png     | Bin
 .../bitbots_buttons/docs/conf.py              |   0
 .../bitbots_buttons/docs/index.rst            |   0
 .../bitbots_buttons/launch/buttons.launch     |   0
 .../bitbots_buttons/package.xml               |   0
 .../bitbots_buttons/src/button_node.cpp       |   0
 .../bitbots_ros_control/.gitignore            |   0
 .../bitbots_ros_control/CMakeLists.txt        |   0
 .../bitbots_ros_control/README.md             |   0
 .../config/pressure_amy.yaml                  |   0
 .../config/pressure_converter.yaml            |   0
 .../config/pressure_donna.yaml                |   0
 .../config/pressure_jack.yaml                 |   0
 .../config/pressure_melody.yaml               |   0
 .../config/pressure_nobot.yaml                |   0
 .../config/pressure_rory.yaml                 |   0
 .../bitbots_ros_control/config/rviz_imu.rviz  |   0
 .../config/rviz_interactive_imu.rviz          |   0
 .../config/rviz_pressure.rviz                 |   0
 .../config/rviz_servos.rviz                   |   0
 .../bitbots_ros_control/config/wolfgang.yaml  |   0
 .../bitbots_ros_control/docs/_static/logo.png | Bin
 .../bitbots_ros_control/docs/conf.py          |   0
 .../bitbots_ros_control/docs/index.rst        |   0
 .../bitfoot_hardware_interface.hpp            |   0
 .../button_hardware_interface.hpp             |   0
 .../core_hardware_interface.hpp               |   0
 .../dynamixel_servo_hardware_interface.hpp    |   0
 .../hardware_interface.hpp                    |   0
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 .../leds_hardware_interface.hpp               |   0
 .../pressure_converter.hpp                    |   0
 .../servo_bus_interface.hpp                   |   0
 .../include/bitbots_ros_control/utils.hpp     |   0
 .../wolfgang_hardware_interface.hpp           |   0
 .../launch/pressure_converter.launch          |   0
 .../launch/ros_control.launch                 |   0
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 .../bitbots_ros_control/launch/viz_imu.launch |   0
 .../launch/viz_pressure.launch                |   0
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 .../bitbots_ros_control/package.xml           |   0
 .../scripts/battery_led.py                    |   0
 .../scripts/imu_interactive_marker.py         |   0
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 .../scripts/send_joint_command.py             |   0
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 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/stadium_dry_left.hdr (100%)
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 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/stadium_dry_right.hdr (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/stadium_dry_right.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/stadium_top.hdr (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/stadium_top.png (100%)
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 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_bottom.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_front.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_left.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_right.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/sunset_jhbcentral_top.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_back.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_bottom.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_front.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_left.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_right.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/backgrounds/ulmer_muenster_top.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/ball_textures/LICENSE (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/ball_textures/europass.jpg (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/ball_textures/jabulani.jpg (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/ball_textures/tango.jpg (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/ball_textures/teamgeist.jpg (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/ball_textures/telstar.jpg (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/hl_supervisor/hl_supervisor.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/lighting/RoboCupMainLight.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/lighting/RoboCupOffLight.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/lighting/RoboCupTopLight.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/lighting/icons/RoboCupMainLight.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/lighting/icons/RoboCupOffLight.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/lighting/icons/RoboCupTopLight.png (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangOptimization.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/WolfgangRobocup.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_ankleMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_basler_ace_gige_c-mount_v01Mesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_batteryMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_cageMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_battery_clipMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_lower_basler_wolfgang_imu_v2_2Mesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_leftMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_camera_side_basler_wolfgang_v2_2_rightMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_connector_shoulderMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_coreMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_dummy_speakerMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_flex_stollenMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_coverMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_leftMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_foot_printed_rightMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_cover.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_printed_left.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_printed_right.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/hand.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/hip_u_connector.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/imu_holder.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/knee_connector.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/knee_spacer.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lense.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/load_cell.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_arm.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_leg.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/lower_leg_spacer.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/motor_connector.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/mx-106_body.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/mx-64-body.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/nuc_holder_left_back.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/nuc_holder_left_front.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/nuc_holder_right_back.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/nuc_holder_right_front.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/nuc_main.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/sea_connector.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/sea_ninjaflex.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/shoulder_connector.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/speaker_holder.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/spring_holder_lower.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/spring_holder_upper.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/springholder_bottom.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/springholder_new.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/thrustbearingholder.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/torso_bottom.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/torso_bumper_left.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/torso_bumper_right.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/torso_top.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/upper_arm.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/upper_arm_spacer.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/upper_leg.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/upper_leg_spacer.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/xh-540.stl (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangCarbonFiberAppearance.proto (100%)
 rename {bitbots_simulation => src/bitbots_simulation}/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangMarker.proto (100%)
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diff --git a/bitbots_misc/bitbots_containers/README.md b/src/bitbots_misc/bitbots_containers/README.md
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rename from bitbots_misc/bitbots_containers/README.md
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diff --git a/bitbots_misc/bitbots_containers/hlvs/Dockerfile b/src/bitbots_misc/bitbots_containers/hlvs/Dockerfile
similarity index 93%
rename from bitbots_misc/bitbots_containers/hlvs/Dockerfile
rename to src/bitbots_misc/bitbots_containers/hlvs/Dockerfile
index 891b78832..784687867 100644
--- a/bitbots_misc/bitbots_containers/hlvs/Dockerfile
+++ b/src/bitbots_misc/bitbots_containers/hlvs/Dockerfile
@@ -190,14 +190,14 @@ ENV LANG=en_US.UTF-8
 ENV LANGUAGE=en_US:en
 ENV LC_ALL=en_US.UTF-8
 
-RUN mkdir -p /colcon_ws/src \
-    && useradd -M -d /colcon_ws -s /bin/bash -u $UID robot \
-    && chown -R robot:robot /colcon_ws \
+RUN mkdir -p /ws \
+    && useradd -M -d /ws -s /bin/bash -u $UID robot \
+    && chown -R robot:robot /ws \
     && echo "robot ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers.d/robot
 
-WORKDIR /colcon_ws
+WORKDIR /ws
 USER robot:robot
-ENV PATH=$PATH:/colcon_ws/.local/bin
+ENV PATH=$PATH:/ws/.local/bin
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
     && sudo rosdep init
@@ -205,15 +205,18 @@ RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
 RUN mkdir -p -m 700 $HOME/.ssh \
     && ssh-keyscan github.com >> $HOME/.ssh/known_hosts
 
-RUN --mount=type=ssh,uid=$UID git clone --branch "$BITBOTS_MAIN_BRANCH" git@github.com:bit-bots/bitbots_main.git src/bitbots_main \
-    && cd src/bitbots_main \
-    && make pull-init rosdep pip
+RUN --mount=type=ssh,uid=$UID git clone --branch "$BITBOTS_MAIN_BRANCH" git@github.com:bit-bots/bitbots_main.git  \
+    && cd bitbots_main \
+    && just pull-init rosdep pip
+
+WORKDIR /ws/bitbots_main
 
 # From here on, we don't want to cache anything. That's achieved by adding the current time.
 ADD https://www.timeapi.io/api/Time/current/zone?timeZone=UTC /tmp/build-time
 
-RUN --mount=type=ssh,uid=$UID cd src/bitbots_main \
-    && make pull-all \
+RUN --mount=type=ssh,uid=$UID \
+    && just pull-init \
+    && cd src \
     && rm -rf bitbots_lowlevel \
         bitbots_misc/bitbots_basler_camera \
         bitbots_misc/bitbots_ceiling_cam \
@@ -232,11 +235,11 @@ RUN --mount=type=ssh,uid=$UID cd src/bitbots_main \
 # Install missing ros dependencies with rosdep
 RUN sudo apt update \
   && rosdep update \
-  && rosdep install --rosdistro=${ROS_DISTRO} --from-paths src/bitbots_main --ignore-src -r -y \
+  && rosdep install --rosdistro=${ROS_DISTRO} --from-paths src --ignore-src -r -y \
   && . /opt/ros/${ROS_DISTRO}/setup.sh \
   && colcon build --cmake-args -DBUILD_TESTING=OFF
 
-RUN cp src/bitbots_main/bitbots_simulation/bitbots_robocup_api/scripts/start.sh .local/bin/start
+RUN cp src/bitbots_simulation/bitbots_robocup_api/scripts/start.sh $HOME/.local/bin/start
 
 # Volume for logs
 VOLUME /robocup-logs
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diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
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index 176854de0..765addc65 100644
--- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
@@ -75,7 +75,7 @@ Alternatively you can use a devcontainer :doc:`vscode-dev-container`, with a pre
 
 Webots is a robot simulator, which we use to simulate our robots and test our software.
 It is not strictly necessary to install it, but it is very useful for development and testing.
-If you want to install it, you can do so by running ``make webots`` in the bitbots_main repository.
+If you want to install it, you can do so by running ``just install-webots`` in the bitbots_main repository.
 
 **4. Setup colcon workspace**
 
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diff --git a/bitbots_robot/wolfgang_description/urdf/knee_spacer.scad b/src/bitbots_robot/wolfgang_description/urdf/knee_spacer.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/knee_spacer.scad
rename to src/bitbots_robot/wolfgang_description/urdf/knee_spacer.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/knee_spacer.stl b/src/bitbots_robot/wolfgang_description/urdf/knee_spacer.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/knee_spacer.stl
rename to src/bitbots_robot/wolfgang_description/urdf/knee_spacer.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/lense.scad b/src/bitbots_robot/wolfgang_description/urdf/lense.scad
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rename to src/bitbots_robot/wolfgang_description/urdf/lense.scad
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rename from bitbots_robot/wolfgang_description/urdf/lense.stl
rename to src/bitbots_robot/wolfgang_description/urdf/lense.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/load_cell.scad b/src/bitbots_robot/wolfgang_description/urdf/load_cell.scad
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rename from bitbots_robot/wolfgang_description/urdf/load_cell.scad
rename to src/bitbots_robot/wolfgang_description/urdf/load_cell.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/load_cell.stl b/src/bitbots_robot/wolfgang_description/urdf/load_cell.stl
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rename from bitbots_robot/wolfgang_description/urdf/load_cell.stl
rename to src/bitbots_robot/wolfgang_description/urdf/load_cell.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/lower_arm.scad b/src/bitbots_robot/wolfgang_description/urdf/lower_arm.scad
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rename from bitbots_robot/wolfgang_description/urdf/lower_arm.scad
rename to src/bitbots_robot/wolfgang_description/urdf/lower_arm.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/lower_arm.stl b/src/bitbots_robot/wolfgang_description/urdf/lower_arm.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/lower_arm.stl
rename to src/bitbots_robot/wolfgang_description/urdf/lower_arm.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/lower_leg.scad b/src/bitbots_robot/wolfgang_description/urdf/lower_leg.scad
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rename from bitbots_robot/wolfgang_description/urdf/lower_leg.scad
rename to src/bitbots_robot/wolfgang_description/urdf/lower_leg.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/lower_leg.stl b/src/bitbots_robot/wolfgang_description/urdf/lower_leg.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/lower_leg.stl
rename to src/bitbots_robot/wolfgang_description/urdf/lower_leg.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.scad b/src/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.scad
rename to src/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.stl b/src/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.stl
rename to src/bitbots_robot/wolfgang_description/urdf/lower_leg_spacer.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/motor_connector.scad b/src/bitbots_robot/wolfgang_description/urdf/motor_connector.scad
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rename from bitbots_robot/wolfgang_description/urdf/motor_connector.scad
rename to src/bitbots_robot/wolfgang_description/urdf/motor_connector.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/motor_connector.stl b/src/bitbots_robot/wolfgang_description/urdf/motor_connector.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/motor_connector.stl
rename to src/bitbots_robot/wolfgang_description/urdf/motor_connector.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/mx-106_body.scad b/src/bitbots_robot/wolfgang_description/urdf/mx-106_body.scad
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rename from bitbots_robot/wolfgang_description/urdf/mx-106_body.scad
rename to src/bitbots_robot/wolfgang_description/urdf/mx-106_body.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/mx-106_body.stl b/src/bitbots_robot/wolfgang_description/urdf/mx-106_body.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/mx-106_body.stl
rename to src/bitbots_robot/wolfgang_description/urdf/mx-106_body.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/mx-64-body.scad b/src/bitbots_robot/wolfgang_description/urdf/mx-64-body.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/mx-64-body.scad
rename to src/bitbots_robot/wolfgang_description/urdf/mx-64-body.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/mx-64-body.stl b/src/bitbots_robot/wolfgang_description/urdf/mx-64-body.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/mx-64-body.stl
rename to src/bitbots_robot/wolfgang_description/urdf/mx-64-body.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.scad b/src/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.scad
similarity index 100%
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rename to src/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.scad
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similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.stl
rename to src/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_back.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.scad b/src/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.scad
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rename to src/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.stl b/src/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.stl
rename to src/bitbots_robot/wolfgang_description/urdf/nuc_holder_left_front.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.scad b/src/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.scad
rename to src/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.stl b/src/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.stl
rename to src/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_back.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.scad b/src/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.scad
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rename from bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.scad
rename to src/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.scad
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similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.stl
rename to src/bitbots_robot/wolfgang_description/urdf/nuc_holder_right_front.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/nuc_main.scad b/src/bitbots_robot/wolfgang_description/urdf/nuc_main.scad
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rename from bitbots_robot/wolfgang_description/urdf/nuc_main.scad
rename to src/bitbots_robot/wolfgang_description/urdf/nuc_main.scad
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rename to src/bitbots_robot/wolfgang_description/urdf/nuc_main.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/robot.urdf b/src/bitbots_robot/wolfgang_description/urdf/robot.urdf
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rename from bitbots_robot/wolfgang_description/urdf/robot.urdf
rename to src/bitbots_robot/wolfgang_description/urdf/robot.urdf
diff --git a/bitbots_robot/wolfgang_description/urdf/sea_connector.scad b/src/bitbots_robot/wolfgang_description/urdf/sea_connector.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/sea_connector.scad
rename to src/bitbots_robot/wolfgang_description/urdf/sea_connector.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/sea_connector.stl b/src/bitbots_robot/wolfgang_description/urdf/sea_connector.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/sea_connector.stl
rename to src/bitbots_robot/wolfgang_description/urdf/sea_connector.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.scad b/src/bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.scad
rename to src/bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.stl b/src/bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.stl
rename to src/bitbots_robot/wolfgang_description/urdf/sea_ninjaflex.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/shoulder_connector.scad b/src/bitbots_robot/wolfgang_description/urdf/shoulder_connector.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/shoulder_connector.scad
rename to src/bitbots_robot/wolfgang_description/urdf/shoulder_connector.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/shoulder_connector.stl b/src/bitbots_robot/wolfgang_description/urdf/shoulder_connector.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/shoulder_connector.stl
rename to src/bitbots_robot/wolfgang_description/urdf/shoulder_connector.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/speaker_holder.scad b/src/bitbots_robot/wolfgang_description/urdf/speaker_holder.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/speaker_holder.scad
rename to src/bitbots_robot/wolfgang_description/urdf/speaker_holder.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/speaker_holder.stl b/src/bitbots_robot/wolfgang_description/urdf/speaker_holder.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/speaker_holder.stl
rename to src/bitbots_robot/wolfgang_description/urdf/speaker_holder.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/spring_holder_lower.scad b/src/bitbots_robot/wolfgang_description/urdf/spring_holder_lower.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/spring_holder_lower.scad
rename to src/bitbots_robot/wolfgang_description/urdf/spring_holder_lower.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/spring_holder_lower.stl b/src/bitbots_robot/wolfgang_description/urdf/spring_holder_lower.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/spring_holder_lower.stl
rename to src/bitbots_robot/wolfgang_description/urdf/spring_holder_lower.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/spring_holder_upper.scad b/src/bitbots_robot/wolfgang_description/urdf/spring_holder_upper.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/spring_holder_upper.scad
rename to src/bitbots_robot/wolfgang_description/urdf/spring_holder_upper.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/spring_holder_upper.stl b/src/bitbots_robot/wolfgang_description/urdf/spring_holder_upper.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/spring_holder_upper.stl
rename to src/bitbots_robot/wolfgang_description/urdf/spring_holder_upper.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/springholder_bottom.scad b/src/bitbots_robot/wolfgang_description/urdf/springholder_bottom.scad
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/springholder_bottom.scad
rename to src/bitbots_robot/wolfgang_description/urdf/springholder_bottom.scad
diff --git a/bitbots_robot/wolfgang_description/urdf/springholder_bottom.stl b/src/bitbots_robot/wolfgang_description/urdf/springholder_bottom.stl
similarity index 100%
rename from bitbots_robot/wolfgang_description/urdf/springholder_bottom.stl
rename to src/bitbots_robot/wolfgang_description/urdf/springholder_bottom.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/springholder_new.scad b/src/bitbots_robot/wolfgang_description/urdf/springholder_new.scad
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rename from bitbots_robot/wolfgang_description/urdf/springholder_new.scad
rename to src/bitbots_robot/wolfgang_description/urdf/springholder_new.scad
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rename from bitbots_robot/wolfgang_description/urdf/springholder_new.stl
rename to src/bitbots_robot/wolfgang_description/urdf/springholder_new.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/thrustbearingholder.scad b/src/bitbots_robot/wolfgang_description/urdf/thrustbearingholder.scad
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rename from bitbots_robot/wolfgang_description/urdf/thrustbearingholder.scad
rename to src/bitbots_robot/wolfgang_description/urdf/thrustbearingholder.scad
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rename to src/bitbots_robot/wolfgang_description/urdf/thrustbearingholder.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/torso_bottom.scad b/src/bitbots_robot/wolfgang_description/urdf/torso_bottom.scad
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rename to src/bitbots_robot/wolfgang_description/urdf/torso_bottom.stl
diff --git a/bitbots_robot/wolfgang_description/urdf/torso_bumper_left.scad b/src/bitbots_robot/wolfgang_description/urdf/torso_bumper_left.scad
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diff --git a/bitbots_robot/wolfgang_description/urdf/torso_bumper_right.scad b/src/bitbots_robot/wolfgang_description/urdf/torso_bumper_right.scad
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diff --git a/bitbots_robot/wolfgang_description/urdf/torso_top.scad b/src/bitbots_robot/wolfgang_description/urdf/torso_top.scad
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diff --git a/bitbots_robot/wolfgang_description/urdf/upper_arm.scad b/src/bitbots_robot/wolfgang_description/urdf/upper_arm.scad
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diff --git a/bitbots_robot/wolfgang_description/urdf/upper_leg.scad b/src/bitbots_robot/wolfgang_description/urdf/upper_leg.scad
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diff --git a/bitbots_robot/wolfgang_description/urdf/xh-540.scad b/src/bitbots_robot/wolfgang_description/urdf/xh-540.scad
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rename to src/bitbots_robot/wolfgang_description/urdf/xh-540.stl
diff --git a/bitbots_robot/wolfgang_moveit_config/.setup_assistant b/src/bitbots_robot/wolfgang_moveit_config/.setup_assistant
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rename to src/bitbots_robot/wolfgang_moveit_config/.setup_assistant
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diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto
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rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_handMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_hip_u_connectorMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_imu_holderMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_connectorMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_knee_spacerMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lenseMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_load_cellMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl
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rename from bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/filter.py
rename to src/bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/filter.py
diff --git a/bitbots_world_model/bitbots_robot_filter/config/params.yaml b/src/bitbots_world_model/bitbots_robot_filter/config/params.yaml
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/config/params.yaml
rename to src/bitbots_world_model/bitbots_robot_filter/config/params.yaml
diff --git a/bitbots_world_model/bitbots_robot_filter/launch/robot_filter.launch b/src/bitbots_world_model/bitbots_robot_filter/launch/robot_filter.launch
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/launch/robot_filter.launch
rename to src/bitbots_world_model/bitbots_robot_filter/launch/robot_filter.launch
diff --git a/bitbots_world_model/bitbots_robot_filter/package.xml b/src/bitbots_world_model/bitbots_robot_filter/package.xml
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/package.xml
rename to src/bitbots_world_model/bitbots_robot_filter/package.xml
diff --git a/bitbots_world_model/bitbots_robot_filter/resource/bitbots_robot_filter b/src/bitbots_world_model/bitbots_robot_filter/resource/bitbots_robot_filter
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/resource/bitbots_robot_filter
rename to src/bitbots_world_model/bitbots_robot_filter/resource/bitbots_robot_filter
diff --git a/bitbots_world_model/bitbots_robot_filter/setup.cfg b/src/bitbots_world_model/bitbots_robot_filter/setup.cfg
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/setup.cfg
rename to src/bitbots_world_model/bitbots_robot_filter/setup.cfg
diff --git a/bitbots_world_model/bitbots_robot_filter/setup.py b/src/bitbots_world_model/bitbots_robot_filter/setup.py
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/setup.py
rename to src/bitbots_world_model/bitbots_robot_filter/setup.py
diff --git a/bitbots_world_model/bitbots_robot_filter/test/mypy.ini b/src/bitbots_world_model/bitbots_robot_filter/test/mypy.ini
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/test/mypy.ini
rename to src/bitbots_world_model/bitbots_robot_filter/test/mypy.ini
diff --git a/bitbots_world_model/bitbots_robot_filter/test/test_copyright.py b/src/bitbots_world_model/bitbots_robot_filter/test/test_copyright.py
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/test/test_copyright.py
rename to src/bitbots_world_model/bitbots_robot_filter/test/test_copyright.py
diff --git a/bitbots_world_model/bitbots_robot_filter/test/test_mypy.py b/src/bitbots_world_model/bitbots_robot_filter/test/test_mypy.py
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/test/test_mypy.py
rename to src/bitbots_world_model/bitbots_robot_filter/test/test_mypy.py

From 2fa198ea865856ac3f8a8b290519d1220a30944a Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Fri, 29 Aug 2025 18:59:01 +0200
Subject: [PATCH 18/90] Ignore move in git blame

---
 .git-blame-ignore-revs | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs
index 7baa3225b..40504d382 100644
--- a/.git-blame-ignore-revs
+++ b/.git-blame-ignore-revs
@@ -12,3 +12,4 @@ f29fb619aef9f416cbbdc74ec77c23423dcefe07
 ae9fbef74c50ba1e462d1b76da16779c76aa0d5b
 476e75e3f3d17c35ac89b17f513d93078687d613
 cd3280273363807e1b5df2ade0138d48178cb06b
+5c6c1edc69b5d4e26bb7bdc3fef3399e2a61567b

From c37c68e3b881615cfdb68fed5dcb86cf7e4ecbf3 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Fri, 29 Aug 2025 18:59:13 +0200
Subject: [PATCH 19/90] Adapt gitignore

---
 .gitignore | 22 +++++++++++++++-------
 1 file changed, 15 insertions(+), 7 deletions(-)

diff --git a/.gitignore b/.gitignore
index 8c79b505c..233b119d4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -203,11 +203,10 @@ bitbots_docs_internal
 
 # VS Code ROS extension
 .vscode/browse.vc.*
-log/
 
 # Neural Network Model Path
-/bitbots_vision/models/
-/bitbots_motion/bitbots_rl_motion/rl_walk_models/
+/src/bitbots_vision/models/
+/src/bitbots_motion/bitbots_rl_motion/rl_walk_models/
 
 **/.*.
 .idea/*
@@ -220,15 +219,24 @@ doc_internal/*
 doku/*
 
 # library subdirectories
-/lib/
+/src/lib/
 
 # Path to the protocol buffer definitions, which are a different repository and managed by vcstool
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
+/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
 # Protobuf generated file
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi
+/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
+/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi
 
 # Workspace git status file from the deploy tool
 **/workspace_status.json
 
+# Do not include colcon build files
+/install/
+/build/
+/log/
+
+# Ignore mypy cache
+.mypy_cache/
+
+# Pytest cache
 .pytest_cache/

From 8e50b01ace0513a79793f4c2af173c03d709c693 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Fri, 29 Aug 2025 19:02:04 +0200
Subject: [PATCH 20/90] Fix paths and migrate to just

---
 .devcontainer/Dockerfile         |   6 +-
 .devcontainer/devcontainer.json  |   4 +-
 .devcontainer/zshrc              |  12 +--
 .github/pull_request_template.md |   2 +-
 .github/workflows/ci.yml         |  24 +++---
 .vscode/settings.json            |   5 ++
 Justfile                         | 108 ++++++++++++++++++++++++++
 Makefile                         | 103 ------------------------
 README.md                        |  26 +++++--
 requirements/common.txt          |   4 -
 scripts/README.md                |   2 +-
 scripts/deploy/deploy_robots.py  |   4 +-
 scripts/ros.plugin.sh            |   2 +-
 scripts/setup.sh                 |   4 +-
 sync_includes_wolfgang_nuc.yaml  | 129 ++++++++++++++++---------------
 workspace.repos                  |  38 ++++-----
 16 files changed, 243 insertions(+), 230 deletions(-)
 create mode 100644 Justfile
 delete mode 100644 Makefile

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index a2609b38e..851c412cd 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -20,6 +20,7 @@ RUN apt-get update -y \
     iputils-ping \
     ipython3 \
     jq \
+    just \
     less \
     libncurses5-dev \
     locales \
@@ -91,9 +92,6 @@ RUN python3 -m pip install --user --break-system-packages \
     git+https://github.com/timonegk/colcon-notification.git@colors \
     git+https://github.com/timonegk/colcon-output.git@colors
 
-# Create colcon workspace
-RUN mkdir -p /home/$user/colcon_ws/src
-
 # Install oh-my-zsh for pretty terminal
 RUN sh -c "$(wget -O- https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" && \
   git clone https://github.com/zsh-users/zsh-autosuggestions "${ZSH_CUSTOM:-$HOME/.oh-my-zsh/custom}/plugins/zsh-autosuggestions"
@@ -105,4 +103,4 @@ COPY --chown=$user:$user zshrc /home/$user/.zshrc
 ENV QT_X11_NO_MITSHM=1
 
 # Switch to the workspace directory
-WORKDIR /home/$user/colcon_ws
+WORKDIR /home/$user/bitbots_main
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 2b735fca2..24c64ff40 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -22,8 +22,8 @@
     }
   },
 
-  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/colcon_ws/src/bitbots_main",
-  "workspaceFolder": "/home/bitbots/colcon_ws/src/bitbots_main",
+  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/bitbots_main",
+  "workspaceFolder": "/home/bitbots/bitbots_main",
 
   "mounts": [
     "type=bind,source=${localEnv:HOME},target=/srv/host_home,consistency=cached"
diff --git a/.devcontainer/zshrc b/.devcontainer/zshrc
index 70e5cf296..145740517 100644
--- a/.devcontainer/zshrc
+++ b/.devcontainer/zshrc
@@ -62,7 +62,7 @@ export ROS_DOMAIN_ID=24
 export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
 
 # Set the default colcon workspace
-export COLCON_WS="$HOME/colcon_ws"
+export COLCON_WS="$HOME/bitbots_main"
 
 # Set the default log level for colcon
 export COLCON_LOG_LEVEL=30
@@ -75,8 +75,8 @@ export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 # Load our ros plugin script containing useful functions and aliases for ROS 2 development
-if [[ -f $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then
-  source $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh
+if [[ -f $COLCON_WS/scripts/ros.plugin.sh ]]; then
+  source $COLCON_WS/scripts/ros.plugin.sh
 fi
 
 # <<< bit-bots initialize <<<
@@ -89,7 +89,7 @@ echo "Hello there! Welcome to the Bit-Bots ROS 2 development environment!"
 echo "If you just (re)build this container a few manual steps are nessessary:"
 echo "Create a ssh key with 'ssh-keygen -q -f $HOME/.ssh/id_rsa -N \"\" &&  cat $HOME/.ssh/id_rsa.pub'."
 echo "Copy the commands output and add it to your GitHub account ('https://github.com/settings/keys') (ctrl+click to open in browser)."
-echo "Now you can install the rest of the workspace and compile everything with 'make install && cba'."
-echo "To update an existing workspace you can use 'make update && cba'."
-echo "To compile all packages in the workspace use 'cba'. If you want to compile only a specific package use 'cbs <package_name>'."
+echo "Now you can install the rest of the workspace and compile everything with 'just install && just build'."
+echo "To update an existing workspace you can use 'just update'."
+echo "To compile all packages in the workspace use 'just build'. If you want to compile only a specific package use 'just build <package_name>'."
 echo "Run 'xhost local:root' in a terminal on the host machine to enable GUI applications (e.g. rviz2) in the container. This needs to be done after every restart of the host machine."
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index d377bf3a9..0626af4cf 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -11,7 +11,7 @@
 
 ## Checklist
 
-- [ ] Run `colcon build`
+- [ ] Run `just build`
 - [ ] Write documentation
 - [ ] Test on your machine
 - [ ] Test on the robot
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e73122e8e..bf6a6ea74 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -18,13 +18,13 @@ jobs:
         uses: fkirc/skip-duplicate-actions@v5
         with:
           cancel_others: 'true'
-     
-     # Remove comments to spawn an interactive debigging ssh shell in the ci 
+
+     # Remove comments to spawn an interactive debigging ssh shell in the ci
      #- name: Setup tmate session
      #   uses: mxschmitt/action-tmate@v3
-     #   with:   
+     #   with:
      #     detached: true
-      
+
       - name: Set up ROS ecosystem
         uses: ros-tooling/setup-ros@v0.7
 
@@ -39,21 +39,20 @@ jobs:
           mkdir -p $HOME/.local/bin
           echo "PATH=$PATH:/github/home/.local/bin" >> "$GITHUB_ENV"
 
-      - name: Pull source code for libraries and install dependencies
+      - name: Install just
         run: |
-          sudo apt-get remove -y python3-pytest-repeat  #TODO remove once the upstream apt package reports the correct version on the newest pip version
-          make install HTTPS=true ARGS="--ci"
+          sudo apt-get update
+          sudo apt-get install -y just
 
-      - name: Set up colcon workspace
+      - name: Pull source code for libraries and install dependencies
         run: |
-          mkdir -p /colcon_ws/src
-          ln -s $(realpath .) /colcon_ws/src/bitbots_main
+          sudo apt-get remove -y python3-pytest-repeat  #TODO remove once the upstream apt package reports the correct version on the newest pip version
+          just HTTPS=true CI=true install
 
       - name: Build packages
         run: |
           . /opt/ros/jazzy/setup.sh
-          colcon build --symlink-install
-        working-directory: /colcon_ws
+          just build
 
       - name: Test packages
         run: |
@@ -62,4 +61,3 @@ jobs:
           . install/setup.sh
           # Run tests for all packages
           colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1
-        working-directory: /colcon_ws
diff --git a/.vscode/settings.json b/.vscode/settings.json
index b93da3962..970e8c9c0 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -240,4 +240,9 @@
     "[jsonc]": {
         "editor.defaultFormatter": "vscode.json-language-features"
     },
+    "search.exclude": {
+        "build": true,
+        "install": true,
+        "log": true,
+    },
 }
diff --git a/Justfile b/Justfile
new file mode 100644
index 000000000..bd5e9ad2b
--- /dev/null
+++ b/Justfile
@@ -0,0 +1,108 @@
+# Justfile
+
+# Set shell
+set shell := ["bash", "-uc"]
+
+# Variables
+HTTPS := ""
+REPO := `pwd`
+CI := ""
+
+# Setup / Update related targets
+
+# Install the proprietary Basler Camera SDK
+install-basler:
+    scripts/make_basler.sh {{ if CI != "" {"--ci"} else {""} }}
+
+# Install Webots Simulation environment
+install-webots:
+    scripts/make_webots.sh
+
+# Install all dependencies, pull all repositories, ...
+install: pull-init install-basler install-webots update
+
+# Same as install but without sudo commands (apt/ros dependencies must be already installed on the system)
+install-no-root: pull-init update-no-root
+
+# Install python dependencies
+pip:
+    # Install and upgrade pip dependencies
+    pip install --upgrade pip --user --break-system-packages -v
+    pip install --upgrade -r requirements/dev.txt --user --break-system-packages -v
+
+
+# Sets up pre-commit hooks that check code formatting etc. before each commit
+pre-commit:
+    pre-commit install
+
+# This is needed as the ROS vscode extension adds absolute paths to some files and we do not want to commit those.
+# Install git filters to remove absolute paths from files before committing them.
+install-git-filters:
+    # Install git filters
+    git config filter.removeFullHomePath.clean "sed '/\/\(home\|root\).*\(install\|build\)/d'"
+
+# Formats the code according to our style guidelines
+format:
+    pre-commit run --all-files
+
+# Clones/Overrides all library repositories and pulls all auxiliary files (like neural network weights)
+pull-init: fresh-libs pull-files
+
+# Pull all auxiliary files (like neural network weights) from the http server
+pull-files:
+    wget --no-verbose --show-progress --timeout=15 --tries=2 --recursive --timestamping --no-parent --no-host-directories --directory-prefix={{REPO}}/src/bitbots_vision --reject "index.html*" "https://data.bit-bots.de/models/"
+    wget --no-verbose --show-progress --timeout=15 --tries=2 --recursive --timestamping --no-parent --no-host-directories --directory-prefix={{REPO}}/src/bitbots_motion/bitbots_rl_motion --reject "index.html*" "https://data.bit-bots.de/rl_walk_models/"
+
+# Remove all library repositories and re-clone them
+fresh-libs: remove-libs clone-libs
+
+# Remove all library repositories
+remove-libs:
+    rm -rf src/lib/*
+    rm -rf src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
+    rm src/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py || true
+
+# Clone all library repositories
+clone-libs:
+    if [ "{{HTTPS}}" = "true" ]; then \
+        awk '{sub("git@github.com:", "https://github.com/"); print "  " $$0}' workspace.repos | vcs import .; \
+    else \
+        vcs import . < workspace.repos; \
+    fi
+
+# Install all ROS managed dependencies
+rosdep:
+    [ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init
+    rosdep update
+    rosdep install --from-paths src --ignore-src --rosdistro jazzy -y
+
+# Update everything (download all lib repositories, update dependencies, ...)
+update: pull-init rosdep pip install-git-filters
+
+# Same as update but without sudo commands (all apt/ros dependencies must be already installed on the system)
+update-no-root: pull-init pip install-git-filters
+
+
+# Build related targets
+
+# Build a specific package or all packages
+build *packages:
+    colcon build --symlink-install --continue-on-error {{ if packages != "" {"--packages-select " + packages} else {""} }}
+
+# Clean all build artifacts or only those of specific packages
+clean *packages:
+	if [ "{{packages}}" != "" ]; then \
+		colcon clean packages --packages-select {{packages}}; \
+	else \
+		rm -rf install build log; \
+	fi
+
+# Run tests of all packages or a specific package
+test *packages:
+    colcon test --event-handlers console_direct+ --return-code-on-test-failure {{ if packages != "" {"--packages-select " + packages} else {""} }}
+
+# Development related targets
+
+# Deploy the code to a robot
+deploy *args:
+    scripts/deploy_robots.py {{args}}
diff --git a/Makefile b/Makefile
deleted file mode 100644
index 86500334c..000000000
--- a/Makefile
+++ /dev/null
@@ -1,103 +0,0 @@
-.PHONY : basler webots install install-no-root pip pre-commit install-git-filters format pull-all pull-init pull-repos pull-files fresh-libs remove-libs setup-libs rosdep status update update-no-root
-
-HTTPS := ""
-REPO:=$(dir $(abspath $(firstword $(MAKEFILE_LIST))))
-
-basler:
-	# Install Basler Pylon SDK
-	scripts/make_basler.sh $(ARGS)
-
-webots:
-	# Install Webots Simulation environment
-	scripts/make_webots.sh $(ARGS)
-
-install: pull-init basler update
-
-install-no-root: pull-init update-no-root
-
-pip:
-	# Install and upgrade pip dependencies
-	pip install --upgrade pip --user --break-system-packages -v
-	pip install --upgrade -r requirements/dev.txt --user --break-system-packages -v
-
-pre-commit:
-	# Install pre-commit hooks for all submodules that have a .pre-commit-config.yaml file
-	pre-commit install
-
-install-git-filters:
-	# Install git filters
-	# The vscode settings file gets updated by the ros extension and contains the full path to the current user's home directory.
-	# We don't want to commit this path, so we use a git filter to remove it when git adds the file to the staging area.
-	# This does not affect the file on disk, so vscode will still work as expected.
-	git config filter.removeFullHomePath.clean "sed '/\/\(home\|root\).*\(install\|build\)/d'"
-
-format:
-	# Format all files in the repository
-	pre-commit run --all-files
-
-pull-all: pull-repos pull-files
-
-pull-init: fresh-libs pull-files
-
-pull-repos:
-	# Pull all repositories
-	vcs pull . --nested
-
-pull-files:
-	# Pull all large files (mainly neural network weights) from the http server
-	wget \
-		--no-verbose \
-		--show-progress \
-		--timeout=15 \
-		--tries=2 \
-		--recursive \
-		--timestamping \
-		--no-parent \
-		--no-host-directories \
-		--directory-prefix=$(REPO)/bitbots_vision \
-		--reject "index.html*" \
-		"https://data.bit-bots.de/models/"
-	wget \
-		--no-verbose \
-		--show-progress \
-		--timeout=15 \
-		--tries=2 \
-		--recursive \
-		--timestamping \
-		--no-parent \
-		--no-host-directories \
-		--directory-prefix=$(REPO)/bitbots_motion/bitbots_rl_motion \
-		--reject "index.html*" \
-		"https://data.bit-bots.de/rl_walk_models/"
-
-fresh-libs: remove-libs setup-libs
-
-remove-libs:
-	# Removes the lib directory and all its contents
-	rm -rf lib/*
-	# Also remove the generated protobuf files, as they are not needed anymore
-	rm bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py 2> /dev/null || true
-
-setup-libs:
-	# Clone lib repositories in workspace.repos into the lib directory
-ifeq ($(HTTPS), true)
-	# Replace git@ with https:// to allow cloning without ssh keys
-	awk '{sub("git@github.com:", "https://github.com/"); print "  " $$0}' workspace.repos | vcs import .
-else
-	vcs import . < workspace.repos
-endif
-
-rosdep:
-	# Initialize rosdep if not already done
-	[ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init
-	# Update rosdep and install dependencies from meta directory
-	rosdep update
-	rosdep install --from-paths . --ignore-src --rosdistro jazzy -y
-
-status:
-	# Show status of all repositories
-	vcs status . --nested
-
-update: pull-all rosdep pip install-git-filters pre-commit
-
-update-no-root: pull-all pip install-git-filters pre-commit
diff --git a/README.md b/README.md
index 067943c5b..684b06eb2 100644
--- a/README.md
+++ b/README.md
@@ -8,7 +8,7 @@ This git repository contains all RoboCup-related code and documentation from the
 All code is written as individual ROS 2 packages targeting Ubuntu.
 
 <p align="center">
-  <img width="30%" src="logo.png" alt="marimba playing robot" />
+  <img width="30%" src="logo.png" alt="Bit-Bots Logo" />
 </p>
 
 ## Installation
@@ -16,20 +16,30 @@ All code is written as individual ROS 2 packages targeting Ubuntu.
 Full step-by-step instructions for installing the Bit-Bots software stack and ROS 2 can be found in our documentation [here](https://doku.bit-bots.de/meta/manual/tutorials/install_software_ros2.html).
 
 
-## Update the codebase
+Run the following command to install all dependencies and clone all necessary repositories. Make sure you have [just](https://just.systems/) and correct ROS 2 version installed.
 
-If you want to update this repo, all third party source files as well as the supplementing files, run
+``` shell
+just install
+```
+
+## Building
+
+To build the code, run
 
 ``` shell
-make pull-all
+just build
 ```
 
-If you encounter any problems consider cleaning the third party source files (the `lib` folder) first:
+and source the setup file with
+
+``` shell
+. install/setup.sh
+```
 
-**THIS DELETES ALL CHANGES YOU MADE TO THE THIRD PARTY SOURCE FILES!**
+To see all available recipes, run
 
 ``` shell
-make fresh-libs
+just -l
 ```
 
 ## Run auto formatting
@@ -37,7 +47,7 @@ make fresh-libs
 To format all code in the repository, run
 
 ``` shell
-make format
+just format
 ```
 
 ## More documentation
diff --git a/requirements/common.txt b/requirements/common.txt
index 81ad75960..ad19f9b66 100644
--- a/requirements/common.txt
+++ b/requirements/common.txt
@@ -10,7 +10,3 @@ simpleeval
 beartype
 jaxtyping
 mypy
-
-# The following dependencies are only needed for rl walking and we don't actively use them currently
-#git+https://github.com/bit-bots/deep_quintic.git
-#git+https://github.com/SammyRamone/stable-baselines3.git
diff --git a/scripts/README.md b/scripts/README.md
index 11f3eca30..972036a62 100644
--- a/scripts/README.md
+++ b/scripts/README.md
@@ -48,4 +48,4 @@ Five different tasks can be performed:
 
 ## `make_basler.sh`
 
-Downloads and installs the Basler Pylon SDK for Linux. This is needed to communicate with our camera. Normally called by the `make basler` or other `make` targets.
+Downloads and installs the Basler Pylon SDK for Linux. This is needed to communicate with our camera. Normally called by the `just basler` or other `just` recipes.
diff --git a/scripts/deploy/deploy_robots.py b/scripts/deploy/deploy_robots.py
index 049768e3a..fc656b0ac 100644
--- a/scripts/deploy/deploy_robots.py
+++ b/scripts/deploy/deploy_robots.py
@@ -124,8 +124,8 @@ def _parse_arguments(self) -> argparse.Namespace:
         parser.add_argument(
             "-w",
             "--workspace",
-            default="~/colcon_ws",
-            help="Path to the workspace directory to deploy to. Defaults to '~/colcon_ws'",
+            default=".",
+            help="Path to the workspace directory to deploy to. Defaults to the current directory.",
         )
         parser.add_argument("--skip-local-repo-check", action="store_true", help="Skip the local repository check.")
 
diff --git a/scripts/ros.plugin.sh b/scripts/ros.plugin.sh
index 3fe2f1096..8fc577f51 100644
--- a/scripts/ros.plugin.sh
+++ b/scripts/ros.plugin.sh
@@ -61,7 +61,7 @@ alias sc="source \$COLCON_WS/install/setup.$shell && update_ros2_argcomplete"
 alias sa='sr && sc'
 
 # deploy_robots tool aliases
-DEPLOY_ROBOTS="$COLCON_WS/src/bitbots_main/scripts/deploy_robots.py"
+DEPLOY_ROBOTS="$COLCON_WS/scripts/deploy_robots.py"
 alias dp='$DEPLOY_ROBOTS --sync --build --print-bit-bot'
 alias dpfull='dp --install --configure'
 alias dpclean='dp --clean'
diff --git a/scripts/setup.sh b/scripts/setup.sh
index e3a3ecea3..b8b049f8a 100755
--- a/scripts/setup.sh
+++ b/scripts/setup.sh
@@ -35,8 +35,8 @@ export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 # Load our ros plugin script containing useful functions and aliases for ROS 2 development
-if [[ -f \$COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then
-  source \$COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh
+if [[ -f \$COLCON_WS/scripts/ros.plugin.sh ]]; then
+  source \$COLCON_WS/scripts/ros.plugin.sh
 fi
 
 # <<< bit-bots initialize <<<
diff --git a/sync_includes_wolfgang_nuc.yaml b/sync_includes_wolfgang_nuc.yaml
index d4ec2808f..556556fab 100644
--- a/sync_includes_wolfgang_nuc.yaml
+++ b/sync_includes_wolfgang_nuc.yaml
@@ -1,68 +1,69 @@
 include:
-    - bitbots_behavior:
-        - bitbots_blackboard
-        - bitbots_body_behavior
-    - bitbots_lowlevel:
-        - bitbots_buttons
-        - bitbots_ros_control
-    - bitbots_misc:
-        - bitbots_basler_camera
-        - bitbots_bringup
-        - bitbots_diagnostic
-        - bitbots_docs
-        - bitbots_extrinsic_calibration
-        - bitbots_ipm
-        - bitbots_parameter_blackboard
-        - bitbots_robot_description
-        - bitbots_teleop
-        - bitbots_tts
-        - bitbots_utils
-        - system_monitor
-    - bitbots_motion:
-        - bitbots_animation_rqt
-        - bitbots_animation_server
-        - bitbots_dynamic_kick
-        - bitbots_dynup
-        - bitbots_hcm
-        - bitbots_head_mover
-        - bitbots_moveit_bindings
-        - bitbots_quintic_walk
-        - bitbots_splines
-    - bitbots_msgs
-    - bitbots_navigation:
-        - bitbots_localization
-        - bitbots_localization_handler
-        - bitbots_odometry
-        - bitbots_path_planning
-    - bitbots_team_communication:
-        - bitbots_team_communication
-        - bitbots_team_data_sim_rqt
-    - bitbots_vision
-    - bitbots_robot:
-        - wolfgang_animations
-        - wolfgang_description
-        - wolfgang_moveit_config
-    - bitbots_world_model:
-        - bitbots_ball_filter
-        - bitbots_robot_filter
-    - lib:
-        - audio_common
-        - bio_ik
-        - bio_ik_msgs
-        - biped_interfaces
-        - bitbots_tf_buffer
-        - dynamic_stack_decider
-        - dynamixel-workbench
-        - DynamixelSDK
-        - game_controller_hl
-        - game_controller_hl_interfaces
-        - humanoid_base_footprint
-        - ipm
-        - particle_filter
-        - ros2_numpy
-        - ros2_python_extension
-        - soccer_ipm
-        - udp_bridge
+    - src:
+        - bitbots_behavior:
+            - bitbots_blackboard
+            - bitbots_body_behavior
+        - bitbots_lowlevel:
+            - bitbots_buttons
+            - bitbots_ros_control
+        - bitbots_misc:
+            - bitbots_basler_camera
+            - bitbots_bringup
+            - bitbots_diagnostic
+            - bitbots_docs
+            - bitbots_extrinsic_calibration
+            - bitbots_ipm
+            - bitbots_parameter_blackboard
+            - bitbots_robot_description
+            - bitbots_teleop
+            - bitbots_tts
+            - bitbots_utils
+            - system_monitor
+        - bitbots_motion:
+            - bitbots_animation_rqt
+            - bitbots_animation_server
+            - bitbots_dynamic_kick
+            - bitbots_dynup
+            - bitbots_hcm
+            - bitbots_head_mover
+            - bitbots_moveit_bindings
+            - bitbots_quintic_walk
+            - bitbots_splines
+        - bitbots_msgs
+        - bitbots_navigation:
+            - bitbots_localization
+            - bitbots_localization_handler
+            - bitbots_odometry
+            - bitbots_path_planning
+        - bitbots_team_communication:
+            - bitbots_team_communication
+            - bitbots_team_data_sim_rqt
+        - bitbots_vision
+        - bitbots_robot:
+            - wolfgang_animations
+            - wolfgang_description
+            - wolfgang_moveit_config
+        - bitbots_world_model:
+            - bitbots_ball_filter
+            - bitbots_robot_filter
+        - lib:
+            - audio_common
+            - bio_ik
+            - bio_ik_msgs
+            - biped_interfaces
+            - bitbots_tf_buffer
+            - dynamic_stack_decider
+            - dynamixel-workbench
+            - DynamixelSDK
+            - game_controller_hl
+            - game_controller_hl_interfaces
+            - humanoid_base_footprint
+            - ipm
+            - particle_filter
+            - ros2_numpy
+            - ros2_python_extension
+            - soccer_ipm
+            - udp_bridge
     - requirements
     - scripts
 exclude:
diff --git a/workspace.repos b/workspace.repos
index 672de0f73..a372039c7 100644
--- a/workspace.repos
+++ b/workspace.repos
@@ -1,77 +1,77 @@
 repositories:
-  bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol:
+  src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol:
     type: git
     url: git@github.com:bit-bots/RobocupProtocol.git
     version: master
-  lib/audio_common:
+  src/lib/audio_common:
     type: git
     url: git@github.com:bit-bots/audio_common.git
     version: ros2
-  lib/bio_ik:
+  src/lib/bio_ik:
     type: git
     url: git@github.com:bit-bots/bio_ik.git
     version: ros2
-  lib/bio_ik_msgs:
+  src/lib/bio_ik_msgs:
     type: git
     url: git@github.com:bit-bots/bio_ik_msgs.git
     version: master
-  lib/bitbots_tf_buffer:
+  src/lib/bitbots_tf_buffer:
     type: git
     url: git@github.com:bit-bots/bitbots_tf_buffer.git
     version: main
-  lib/biped_interfaces:
+  src/lib/biped_interfaces:
     type: git
     url: git@github.com:ros-sports/biped_interfaces.git
     version: rolling
-  lib/dynamic_stack_decider:
+  src/lib/dynamic_stack_decider:
     type: git
     url: git@github.com:bit-bots/dynamic_stack_decider.git
     version: master
-  lib/DynamixelSDK:
+  src/lib/DynamixelSDK:
     type: git
     url: git@github.com:bit-bots/DynamixelSDK.git
     version: master
-  lib/dynamixel-workbench:
+  src/lib/dynamixel-workbench:
     type: git
     url: git@github.com:bit-bots/dynamixel-workbench.git
     version: master
-  lib/game_controller_hl:
+  src/lib/game_controller_hl:
     type: git
     url: git@github.com:ros-sports/game_controller_hl.git
     version: rolling
-  lib/hlvs_player:
+  src/lib/hlvs_player:
     type: git
     url: git@github.com:ros-sports/hlvs_player.git
     version: main
-  lib/humanoid_base_footprint:
+  src/lib/humanoid_base_footprint:
     type: git
     url: git@github.com:ros-sports/humanoid_base_footprint.git
     version: master
-  lib/ipm:
+  src/lib/ipm:
     type: git
     url: git@github.com:ros-sports/ipm.git
     version: rolling
-  lib/particle_filter:
+  src/lib/particle_filter:
     type: git
     url: git@github.com:bit-bots/particle_filter.git
     version: master
-  lib/ros2_numpy:
+  src/lib/ros2_numpy:
     type: git
     url: git@github.com:bit-bots/ros2_numpy.git
     version: rolling
-  lib/ros2_python_extension:
+  src/lib/ros2_python_extension:
     type: git
     url: git@github.com:bit-bots/ros2_python_extension.git
     version: main
-  lib/soccer_field_map_generator:
+  src/lib/soccer_field_map_generator:
     type: git
     url: git@github.com:ros-sports/soccer_field_map_generator.git
     version: rolling
-  lib/soccer_ipm:
+  src/lib/soccer_ipm:
     type: git
     url: git@github.com:ros-sports/soccer_ipm.git
     version: rolling
-  lib/udp_bridge:
+  src/lib/udp_bridge:
     type: git
     url: git@github.com:bit-bots/udp_bridge.git
     version: master

From 179da40a30c9e76baee30246154146ad355ba28b Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Fri, 29 Aug 2025 19:08:17 +0200
Subject: [PATCH 21/90] Fix basler target in readme

---
 scripts/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/README.md b/scripts/README.md
index 972036a62..f60b29e61 100644
--- a/scripts/README.md
+++ b/scripts/README.md
@@ -48,4 +48,4 @@ Five different tasks can be performed:
 
 ## `make_basler.sh`
 
-Downloads and installs the Basler Pylon SDK for Linux. This is needed to communicate with our camera. Normally called by the `just basler` or other `just` recipes.
+Downloads and installs the Basler Pylon SDK for Linux. This is needed to communicate with our camera. Normally called by the `just install-basler` or other `just` recipes.

From a11bdeceb7e2b2bffd3c3e6f538574a40e6f11fb Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Fri, 29 Aug 2025 19:12:33 +0200
Subject: [PATCH 22/90] Fix webots install

---
 Justfile | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/Justfile b/Justfile
index bd5e9ad2b..ca9720326 100644
--- a/Justfile
+++ b/Justfile
@@ -16,7 +16,10 @@ install-basler:
 
 # Install Webots Simulation environment
 install-webots:
-    scripts/make_webots.sh
+	# Only install Webots if not running in CI as it is not needed there
+	if [ "{{CI}}" != "true" ]; then \
+		scripts/make_webots.sh; \
+	fi
 
 # Install all dependencies, pull all repositories, ...
 install: pull-init install-basler install-webots update

From 93fe860ef0f8bc370e136d1e2bfbebdbbdf31cc9 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Fri, 29 Aug 2025 19:15:09 +0200
Subject: [PATCH 23/90] Install webots in CI, but do not perform ping like the
 basler one

---
 Justfile               | 5 +----
 scripts/make_webots.sh | 3 ++-
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/Justfile b/Justfile
index ca9720326..1bf1584e7 100644
--- a/Justfile
+++ b/Justfile
@@ -16,10 +16,7 @@ install-basler:
 
 # Install Webots Simulation environment
 install-webots:
-	# Only install Webots if not running in CI as it is not needed there
-	if [ "{{CI}}" != "true" ]; then \
-		scripts/make_webots.sh; \
-	fi
+	scripts/make_webots.sh {{ if CI != "" {"--ci"} else {""} }}
 
 # Install all dependencies, pull all repositories, ...
 install: pull-init install-basler install-webots update
diff --git a/scripts/make_webots.sh b/scripts/make_webots.sh
index a115c8831..fc2be363f 100755
--- a/scripts/make_webots.sh
+++ b/scripts/make_webots.sh
@@ -5,7 +5,8 @@ WEBOTS_VERSION="2022b"
 WEBOTS_DOWNLOAD_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb"
 
 check_internet_connection () {
-    if ! ping -q -c 1 -W 1 google.com > /dev/null; then
+    # Check if we have an internet connection, except in the ci as azure does not support ping by design
+    if [[ $1 != "--ci" ]] && ! ping -q -c 1 -W 1 google.com > /dev/null; then
         echo "No internet connection. Please check your internet connection to install the webots simulator."
         exit 1
     fi

From 0c8410249dae414b2da63809392f9a49088649fd Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Fri, 29 Aug 2025 19:31:32 +0200
Subject: [PATCH 24/90] Switch shebang

---
 scripts/make_webots.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/make_webots.sh b/scripts/make_webots.sh
index fc2be363f..d4a7451e7 100755
--- a/scripts/make_webots.sh
+++ b/scripts/make_webots.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/env bash
+#!/bin/bash
 set -eEo pipefail
 
 WEBOTS_VERSION="2022b"

From ab363bb6b681b63904e856dd1b9d6f1f81fcc0b9 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Fri, 29 Aug 2025 19:36:59 +0200
Subject: [PATCH 25/90] Fix bash function call in webots install

---
 scripts/make_webots.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/make_webots.sh b/scripts/make_webots.sh
index d4a7451e7..635054bd9 100755
--- a/scripts/make_webots.sh
+++ b/scripts/make_webots.sh
@@ -18,7 +18,7 @@ if apt list webots --installed | grep -q "$WEBOTS_VERSION"; then
 else
     echo "Webots simulator release $WEBOTS_VERSION is not installed. Installing..."
     # Check if we have an internet connection
-    check_internet_connection
+    check_internet_connection "$1"
     # Check if the url exist
     if ! curl --output /dev/null --silent --head --fail "$WEBOTS_DOWNLOAD_URL"; then
         echo "Webots download url does not exist. Please check the url and update the 'WEBOTS_DOWNLOAD_URL' variable in the 'make_webots.sh' script."

From 5e78ce80b4d2dd9c73925f82815b92414ebbaf69 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sat, 30 Aug 2025 10:54:24 +0000
Subject: [PATCH 26/90] Fix hlvs entrypoint

---
 src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh b/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh
index 855bbf598..6ad14e46b 100755
--- a/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh
+++ b/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 
 source /opt/ros/jazzy/setup.bash
-source /colcon_ws/install/setup.bash
+source /ws/install/setup.bash
 
 exec "$@"

From 00dd42695251763aa9da352ec1c586e256d66094 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sat, 30 Aug 2025 10:54:39 +0000
Subject: [PATCH 27/90] Rename pre-commit install githook

---
 Justfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Justfile b/Justfile
index 1bf1584e7..3ff8857a2 100644
--- a/Justfile
+++ b/Justfile
@@ -32,7 +32,7 @@ pip:
 
 
 # Sets up pre-commit hooks that check code formatting etc. before each commit
-pre-commit:
+install-pre-commit:
     pre-commit install
 
 # This is needed as the ROS vscode extension adds absolute paths to some files and we do not want to commit those.

From 31e617678ee55504730c74c350db4843f78f600e Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sat, 30 Aug 2025 10:54:54 +0000
Subject: [PATCH 28/90] Add workspace cpp paths

---
 .vscode/c_cpp_properties.json | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 2460329d7..c2e26c80b 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -14,6 +14,9 @@
                 "/root/colcon_ws/install/*/include/**",
                 "/root/colcon_ws/build/**/include/**",
                 "/root/colcon_ws/build/**/rosidl_generator_cpp/**",
+                "${workspaceFolder}/install/*/include/**",
+                "${workspaceFolder}/build/**/include/**",
+                "${workspaceFolder}/build/**/rosidl_generator_cpp/**",
                 "${workspaceFolder}/**/include/**",
                 "/opt/ros/${env:ROS_DISTRO}/include/**",
                 "/usr/include/**",

From cd980131a7bfc1502236fdb130bcb9904b12c291 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sat, 30 Aug 2025 10:56:49 +0000
Subject: [PATCH 29/90] Adapt docs

---
 .../tutorials/cl_simulation_testing_setup.rst |  9 ++--
 .../tutorials/configure_and_flash_robot.rst   | 41 +------------------
 .../tutorials/install_software_ros2.rst       | 32 +++++----------
 .../manual/tutorials/vscode-dev-container.rst |  2 +-
 .../docs/manual/tutorials/vscode-ros2.rst     |  4 +-
 5 files changed, 18 insertions(+), 70 deletions(-)

diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst
index 2942f71a2..f14d00184 100644
--- a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst
@@ -19,19 +19,16 @@ As such you can lookup some of the needed requirements there.
 - setup bitbots_main in your home directory
 
 .. code-block:: bash
-
-  mkdir -p "$HOME/colcon_ws/src"
-  cd "$HOME/colcon_ws/src"
   git clone git@github.com:bit-bots/bitbots_main.git && cd bitbots_main
-  make install-no-root
+  just install-no-root
 
 - set PATH and COLCON_WS (see `section 5 <https://docs.bit-bots.de/meta/manual/tutorials/install_software_ros2.html>`_)
 
 **2. Compile the packages**
 
-If while testing you are changing code or updating ``bitbots_main`` via ``make pull-all``,
+If while testing you are changing code or updating ``bitbots_main`` via ``just update-no-root``,
 this step needs to be done again.
-For compilation of the whole meta repository run ``cba``, which is an alias for:
+For compilation of the whole meta repository run ``just build``, which is an alias for:
 ``cd $COLCON_WS; colcon build --symlink-install --continue-on-error``
 After a successful run, before we are able to use any ros commands we now need to source colcon built sources
 with ``sa``, which is an alias for:
diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
index 17534550d..ec9f13026 100644
--- a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
@@ -50,7 +50,7 @@ At a competition, follow these steps:
 
    .. code-block:: bash
 
-      ./scripts/deploy_robots.py <nuc* | robot_name | ALL>
+      just deploy <nuc* | robot_name | ALL>
 
    This does the 5 following tasks:
    - Synchronize/Copy the current state of your local bitbots_main directory to the robot(s)
@@ -63,7 +63,7 @@ At a competition, follow these steps:
 
    .. code-block:: bash
 
-      ./scripts/deploy_robots.py -h
+      just deploy -h
 
 #. **Optional: Connect to the robot:**
    Simply copy-paste the command provided by the deploy-tool when its finished.
@@ -97,7 +97,6 @@ Our Ansible setup is able to configure the following aspects of the robot:
    - Configuration of competition Wi-Fi networks (see :doc:`competition_wifi`)
    - Configuration of USB-Ethernet adapter as slave of a bridge interface, to allow for removal without losing the interface utilized by ros/dds
    - Configuration of custom MTU of 9000 (jumbo frames) for Ethernet connection to the basler camera
-- Setup of custom apt repositories/packages (e.g. `packages.bit-bots.de <https://packages.bit-bots.de>`_ if applicable)
 - Installation and configuration of ROS and DDS
 - Configuration of Vulkan packages/drivers
 
@@ -114,39 +113,3 @@ Ansible will execute the playbook with the ``bitbots`` user on the robots and wi
 .. note::
    Does DNS not resolve ``nuc*``? See :doc:`configure_hostnames` to fix this.
 
-
-LEGACY: Sync/Build the software using the ``robot_compile`` tool:
------------------------------------------------------------------
-
-We utilize a python script located in ``bitbots_main/scripts/robot_compile.py`` to allow doing the following:
-
-- sync the local code of the whole ``bitbots_main`` or a single package onto a robot
-- build the synced code on the robot afterwards
-- automatically install required dependencies with ``rosdep install`` if the robot has an active internet connection
-- clean the whole ``~/colcon_ws`` on a robot
-- interactively configure the ``game_settings.yaml`` on a robot to prepare it for a game
-- activate the fields Wi-Fi connection and disable all others
-
-A full overview all the options are viewable with the ``-h`` flag.
-
-**Exemplary commands:**
-
-.. code-block:: bash
-
-   # full sync/build of bitbots_main
-   ./scripts/robot_compile.py nuc1
-
-   # rm everything before full sync/compile
-   ./scripts/robot_compile.py --clean-src --clean-build nuc1
-
-   # sync/build and configure robot for game after
-   ./scripts/robot_compile.py -k nuc1
-
-   # only configure robot for game
-   ./scripts/robot_compile.py -K nuc1
-
-   # only sync/build a single package (bitbots_vision)
-   ./scripts/robot_compile.py -p bitbots_vision nuc1
-
-   # sync/clean build a single package (bitbots_vision)
-   ./scripts/robot_compile.py -p bitbots_vision nuc1
diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
index 765addc65..8d29bbaac 100644
--- a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
@@ -3,6 +3,8 @@ Software installation with ROS2
 
 In this tutorial, we will learn how to install ROS2 Jazzy Jalisco on Ubuntu 24.04 and build our software stack.
 
+You might want to look at the :doc:`vscode-dev-container` tutorial, if you want to use a preconfigured development environment with Visual Studio Code and devcontainers.
+
 **TLDR**: single command setup
 ------------------------------
 
@@ -51,8 +53,6 @@ Alternatively you can use a devcontainer :doc:`vscode-dev-container`, with a pre
     ros-jazzy-rqt-robot-monitor \
     ros-jazzy-rqt-runtime-monitor
 
-- Run ``sudo rosdep init`` to initialize ``rosdep``, a tool that helps you install system dependencies for ROS packages.
-
 **2. Download our software (if not already done)**
 
 - Create a GitHub account, if not already done (see `here <http://doku.bit-bots.de/private/manual/dienste_accounts.html>`_ for further information)
@@ -67,29 +67,19 @@ Alternatively you can use a devcontainer :doc:`vscode-dev-container`, with a pre
     - Clone the code repository with: ``git clone git@github.com:bit-bots/bitbots_main.git``
       Confirm the host key by typing ``yes``, if asked.
     - Move into the newly created directory with: ``cd bitbots_main``
-    - Clone all code and other files by running: ``make install``
+    - Clone all code and other files by running: ``just install``
       This will take a while, as it downloads all the code and other files from our repositories and additionally installs all missing dependencies (using rosdep and pip).
-      Finally, it will register pre-commit hooks (automatic code-formatting and warnings), which will be run every time you commit code to our repositories.
-
-**3. Install Webots**
+    - Finally, you can register pre-commit hooks with ``just install-pre-commit`` (automatic code-formatting and warnings), which will be run every time you commit code to our repositories.
 
-Webots is a robot simulator, which we use to simulate our robots and test our software.
-It is not strictly necessary to install it, but it is very useful for development and testing.
-If you want to install it, you can do so by running ``just install-webots`` in the bitbots_main repository.
-
-**4. Setup colcon workspace**
+**3. Setup colcon workspace**
 
 `Colcon <https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html>`_ is the tool provided by ROS 2 to build and install our ROS packages, so that they can be launched later.
-The colcon workspace is where your source code gets build and where we use colcon.
-
-- Create colcon workspace directory (typically ``~/colcon_ws/``)
-    - Create directory with: ``mkdir -p ~/colcon_ws/src``
-    - Link our software contained in the bitbots_main repo to the newly created ``src`` directory with: ``ln -s ~/git/bitbots/bitbots_main/ ~/colcon_ws/src/bitbots_main``
+The colcon workspace is where your source code gets build and where we use colcon. Nowerdays, we just use the ``bitbots_main`` repository as our colcon workspace, so no further setup is needed.
 
-**5. Final touches**
+**4. Final touches**
 
 To let your system know where it should find all the ROS 2 dependencies and packages and to add colored output etc., we add a little bit of config to your ``~/.bashrc`` file, which will be run every time you open a new terminal.
-In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` with your shell's configuration file.
+In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` with your shell's configuration file. Adapt the colcon workspace path, if you have chosen a different location than ``~/git/bitbots/bitbots_main``.
 
 - Run the following command:
 
@@ -110,7 +100,7 @@ In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` wit
   export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
 
   # Set the default colcon workspace
-  export COLCON_WS="\$HOME/colcon_ws"
+  export COLCON_WS="\$HOME/git/bitbots/bitbots_main"
 
   # Set the default log level for colcon
   export COLCON_LOG_LEVEL=30
@@ -123,8 +113,8 @@ In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` wit
   export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # Load our ros plugin script containing useful functions and aliases for ROS 2 development
-  if [[ -f \$COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then
-    source \$COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh
+  if [[ -f \$COLCON_WS/scripts/ros.plugin.sh ]]; then
+    source \$COLCON_WS/scripts/ros.plugin.sh
   fi
 
   # <<< bit-bots initialize <<<
diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst
index ced14e11f..d699d5ed8 100644
--- a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst
@@ -35,7 +35,7 @@ Known issues
 ------------
 
 - Rebuilding the container results in all modifications to the container being lost. This does not include the repository, which itself is persisted in the container.
-- Sometimes `make install` results in an `mktemp: failed to create file via template ‘/tmp/tmp.XXXXXXXXXX’: Permission denied`. I spend some time trying to fix this but couldn't find a solution. The workaround is to run `make install` again. This time it should work.
+- Sometimes `just install` results in an `mktemp: failed to create file via template ‘/tmp/tmp.XXXXXXXXXX’: Permission denied`. I spend some time trying to fix this but couldn't find a solution. The workaround is to run `just install` again. This time it should work.
 - I did everything as stated, but my python IntelliSense does not pick up bit-bots related packages. To solve this open the command palette (Ctrl+Shift+P) and run `ROS: Update Python Path`. This should fix the issue.
 - GUI applications do not start. Run `xhost local:root` on the **host** machine to fix this.
 - I can not find my files in the home directory. The home directory is mounted at `/srv/host_home` in the container. You can find your files there.
diff --git a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst
index 23030b7cf..5eb4261ae 100644
--- a/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst
@@ -5,8 +5,6 @@ Setup VSCode with ROS2
 Open a terminal.
 Navigate to your colcon workspace.
 
-`cd colcon_ws`
-
 Source ros
 
 `source /opt/ros/jazzy/setup.zsh`
@@ -40,7 +38,7 @@ An example vscode launch configuration and the corresponding python launch file
             {
                 "name": "head behavior",
                 "request": "launch",
-                "target": "$HOME/colcon_ws/install/bitbots_head_behavior/share/bitbots_head_behavior/launch/test.py",
+                "target": "$COLCON_WS/src/bitbots_head_behavior/share/bitbots_head_behavior/launch/test.py",
                 "launch": "[rviz, gz, gzclient, gzserver]",
                 "type": "ros"
             }

From f26b975d1a3fbd3355439fb12a584ba6fe731ae0 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sat, 30 Aug 2025 11:05:31 +0000
Subject: [PATCH 30/90] Begin porting of setup script

---
 scripts/setup.sh | 17 ++++++-----------
 1 file changed, 6 insertions(+), 11 deletions(-)

diff --git a/scripts/setup.sh b/scripts/setup.sh
index b8b049f8a..209d8a2b1 100755
--- a/scripts/setup.sh
+++ b/scripts/setup.sh
@@ -5,7 +5,7 @@ set -eEuo pipefail
 DIR="$(dirname "$(readlink -f "$0")")"
 BRANCH="${1:-main}"
 ROS_DISTRO=${ROS_DISTRO:-"jazzy"}
-COLCON_WS="${COLCON_WS:-"$HOME/colcon_ws"}"
+COLCON_WS="${COLCON_WS:-"$HOME/bitbots_main"}"
 REPO_URL="git@github.com:bit-bots/bitbots_main.git"
 SHELL_CONFIG="$(cat <<EOF
 
@@ -22,7 +22,7 @@ export ROS_DOMAIN_ID=24
 export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
 
 # Set the default colcon workspace
-export COLCON_WS="\$HOME/colcon_ws"
+export COLCON_WS="\$HOME/bitbots_main"
 
 # Set the default log level for colcon
 export COLCON_LOG_LEVEL=30
@@ -68,6 +68,7 @@ setup_ros() {
         fi
 
         sudo apt update && sudo apt install -y \
+            just \
             clang-format \
             cppcheck \
             python3-colcon-clean \
@@ -103,10 +104,10 @@ setup_repo() {
 
     echo "Installing dependencies..."
     if (( has_sudo )); then
-        make install
+        just install
     else
         echo "Cannot use rosdep as it requires sudo."
-        make install-no-root
+        just install-no-root
     fi
 }
 
@@ -118,12 +119,6 @@ setup_colcon() {
       git+https://github.com/timonegk/colcon-core.git@colors \
       git+https://github.com/timonegk/colcon-notification.git@colors \
       git+https://github.com/timonegk/colcon-output.git@colors
-
-    if [[ ! -d "$COLCON_WS/src/bitbots_main" ]]; then
-        echo "Setting up colcon workspace in $COLCON_WS..."
-        mkdir -p "$COLCON_WS/src"
-        ln -s "$meta_dir" "$COLCON_WS/src/bitbots_main"
-    fi
 }
 
 build_repository() {
@@ -133,7 +128,7 @@ build_repository() {
     set +u
     source "/opt/ros/${ROS_DISTRO}/setup.bash"
 
-    colcon build --symlink-install --continue-on-error
+    just build
 }
 
 setup_shell_aliases() {

From fd90b0af73188c626779643bdadc2899dd3950de Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sat, 30 Aug 2025 11:19:01 +0000
Subject: [PATCH 31/90] Add recommended extentions

---
 .devcontainer/devcontainer.json | 20 +++++++++++++++++++-
 1 file changed, 19 insertions(+), 1 deletion(-)

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 24c64ff40..6f67f3e8f 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -18,7 +18,25 @@
         "dev.containers.copyGitConfig": false,
         "dev.containers.gitCredentialHelperConfigLocation": "none"
       },
-      "extensions": ["ms-iot.vscode-ros"]
+      "extensions": [
+        "charliermarsh.ruff", // Ruff linting and formatting support
+        "DavidAnson.vscode-markdownlint", // Lints markdown files
+        "DotJoshJohnson.xml", // XML support
+        "lextudio.restructuredtext", // Rendering rst files in preview
+        "Mastermori.dsd", // DSD support
+        "mohsen1.prettify-json", // JSON formatting
+        "MS-CEINTL.vscode-language-pack-de", // German language pack
+        "Ranch-Hand-Robotics.rde-pack", // ROS2 development environment
+        "ms-python.python", // Python support
+        "ms-python.vscode-pylance", // Python support
+        "ms-vscode.cpptools-extension-pack", // C++ support
+        "ms-vscode.cpptools-themes", // C++ support
+        "ms-vscode.cpptools", // C++ support
+        "streetsidesoftware.code-spell-checker-german", // Spell checker
+        "streetsidesoftware.code-spell-checker", // Spell checker
+        "tamasfe.even-better-toml", // TOML support
+        "trond-snekvik.simple-rst" // Syntax highlighting for rst files
+      ]
     }
   },
 

From c44b64c057e818440cf8db0c173aeea051e7ce69 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sat, 30 Aug 2025 11:22:01 +0000
Subject: [PATCH 32/90] FIx file location

---
 scripts/deploy/tasks/check_repos.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/deploy/tasks/check_repos.py b/scripts/deploy/tasks/check_repos.py
index c4a180d93..3b37193e5 100644
--- a/scripts/deploy/tasks/check_repos.py
+++ b/scripts/deploy/tasks/check_repos.py
@@ -169,7 +169,7 @@ def __init__(self, only_workspace_status: bool = False) -> None:
         )  # bitbots_main/scripts/deploy/tasks
 
         self.results_file: str = os.path.join(
-            self.main_repo_path, "bitbots_misc/bitbots_utils/config/", "workspace_status.json"
+            self.main_repo_path, "src/bitbots_misc/bitbots_utils/config/", "workspace_status.json"
         )
 
         self.only_workspace_status: bool = only_workspace_status

From 990ccb5a405dfb772f7bda13039019b59cbcd5cf Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Sun, 23 Nov 2025 15:43:39 +0100
Subject: [PATCH 33/90] Add pixi files

---
 .gitattributes |     2 +
 .gitignore     |     7 +
 pixi.lock      | 18257 +++++++++++++++++++++++++++++++++++++++++++++++
 pixi.toml      |   159 +
 4 files changed, 18425 insertions(+)
 create mode 100644 pixi.lock
 create mode 100644 pixi.toml

diff --git a/.gitattributes b/.gitattributes
index f74aebe48..d59f833dd 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1 +1,3 @@
 .vscode/settings.json filter=removeFullHomePath
+# SCM syntax highlighting & preventing 3-way merges
+pixi.lock merge=binary linguist-language=YAML linguist-generated=true
diff --git a/.gitignore b/.gitignore
index 233b119d4..c3753566f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -240,3 +240,10 @@ doku/*
 
 # Pytest cache
 .pytest_cache/
+
+# pixi environments
+.pixi/*
+!.pixi/config.toml
+
+CMakeFiles/
+CMakeCache.txt
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 000000000..18205b3d9
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,18257 @@
+version: 6
+environments:
+  default:
+    channels:
+    - url: https://conda.anaconda.org/robostack-jazzy/
+    - url: https://conda.anaconda.org/conda-forge/
+    - url: file:///homes/17vahl/robostack_vendor/ros-jazzy/output/
+    indexes:
+    - https://pypi.org/simple
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/adwaita-icon-theme-49.0-unix_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/aiohappyeyeballs-2.6.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.13.2-py312h27b7581_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/aiosignal-1.4.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/alabaster-1.0.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.14-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.6.3-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-atk-2.38.0-h0630a04_3.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.2-h39aace5_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-25.4.0-pyh71513ae_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/babel-2.17.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bcrypt-5.0.0-py312h868fb18_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.6-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.4-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-bootstrap_h8a22499_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-bootstrap_h59bd682_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45-bootstrap_h8a22499_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-h41a2e66_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.2.0-hf2c8021_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.2.0-py312h67db365_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-3.25-h26dfbe5_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcbe3ca9_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_8.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.5-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.11.0-h4d9bdce_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2025.11.12-hbd8a1cb_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.4-h3394656_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/catkin_pkg-1.1.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/certifi-2025.11.12-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.0.0-py312h35888ee_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/cfgv-3.5.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/charset-normalizer-3.4.4-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.6.0-h54a6638_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.2.0-hc85cc9f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-argcomplete-0.3.3-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-bash-0.5.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-cd-0.1.1-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-cmake-0.2.29-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/colcon-common-extensions-0.3.0-py312h7900ff3_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-core-0.19.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-defaults-0.2.9-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-devtools-0.3.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-library-path-0.2.1-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-metadata-0.2.5-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-output-0.2.13-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-information-0.4.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-selection-0.2.10-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-parallel-executor-0.4.0-pyhe01879c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-pkg-config-0.1.0-py_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-powershell-0.4.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-python-setup-py-0.2.9-pyhff2d567_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-recursive-crawl-0.2.3-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-ros-0.5.0-pyhd8ed1ab_0.conda
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diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 000000000..fd2043a9c
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,159 @@
+[workspace]
+authors = ["Florian Vahl <7vahl@informatik.uni-hamburg.de>"]
+channels = ["robostack-jazzy", "conda-forge", "../robostack_vendor/ros-jazzy/output/"]
+name = "bitbots_main"
+platforms = ["linux-64"]
+version = "0.1.0"
+
+[tasks]
+build = "colcon build --symlink-install --cmake-args -G Ninja"
+clean = "rm -rf build install log"
+run = "ros2 run"
+
+[dependencies]
+breathe = ">=4.36.0,<5"
+eigen = ">=3.4.0,<4"
+matplotlib = ">=3.10.8,<4"
+numpy = ">=1.26.4,<2"
+opencv = ">=4.11.0,<5"
+protobuf = ">=5.29.3,<6"
+psutil = ">=7.1.3,<8"
+pybind11 = ">=3.0.1,<4"
+pyqt = ">=5.15.11,<6"
+pytest = ">=9.0.1,<10"
+pyyaml = ">=6.0.3,<7"
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+ros-jazzy-ament-cmake-mypy = ">=0.17.3,<0.18"
+ros-jazzy-ament-copyright = ">=0.17.3,<0.18"
+ros-jazzy-ament-flake8 = ">=0.17.3,<0.18"
+ros-jazzy-ament-mypy = ">=0.17.3,<0.18"
+ros-jazzy-ament-pep257 = ">=0.17.3,<0.18"
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+ros-jazzy-controller-manager = ">=4.37.0,<5"
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+ros-jazzy-demo-nodes-cpp = ">=0.33.7,<0.34"
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+ros-jazzy-hardware-interface = ">=4.37.0,<5"
+ros-jazzy-image-proc = ">=5.0.11,<6"
+ros-jazzy-image-transport = ">=5.1.7,<6"
+ros-jazzy-joint-state-publisher = ">=2.4.0,<3"
+ros-jazzy-joint-state-publisher-gui = ">=2.4.0,<3"
+ros-jazzy-moveit-core = ">=2.12.3,<3"
+ros-jazzy-moveit-kinematics = ">=2.12.3,<3"
+ros-jazzy-moveit-planners-ompl = ">=2.12.3,<3"
+ros-jazzy-moveit-ros = ">=2.12.3,<3"
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+ros-jazzy-moveit-ros-robot-interaction = ">=2.12.3,<3"
+ros-jazzy-moveit-ros-visualization = ">=2.12.3,<3"
+ros-jazzy-moveit-setup-assistant = ">=2.12.3,<3"
+ros-jazzy-moveit-simple-controller-manager = ">=2.12.3,<3"
+ros-jazzy-nav-msgs = ">=5.3.6,<6"
+ros-jazzy-plotjuggler = ">=3.10.11,<4"
+ros-jazzy-pluginlib = ">=5.4.2,<6"
+ros-jazzy-rclpy = ">=7.1.5,<8"
+ros-jazzy-robot-state-publisher = ">=3.3.3,<4"
+ros-jazzy-ros2launch = ">=0.26.9,<0.27"
+ros-jazzy-rosbag2 = ">=0.26.9,<0.27"
+ros-jazzy-rosgraph-msgs = ">=2.0.3,<3"
+ros-jazzy-rosidl-default-generators = ">=1.6.0,<2"
+ros-jazzy-rosidl-default-runtime = ">=1.6.0,<2"
+ros-jazzy-rqt-gui = ">=1.6.0,<2"
+ros-jazzy-rqt-gui-py = ">=1.6.0,<2"
+ros-jazzy-sensor-msgs = ">=5.3.6,<6"
+ros-jazzy-std-msgs = ">=5.3.6,<6"
+ros-jazzy-std-srvs = ">=5.3.6,<6"
+ros-jazzy-test-msgs = ">=2.0.3,<3"
+ros-jazzy-tf-transformations = ">=1.1.0,<2"
+ros-jazzy-tf2 = ">=0.36.14,<0.37"
+ros-jazzy-tf2-eigen = ">=0.36.14,<0.37"
+ros-jazzy-tf2-geometry-msgs = ">=0.36.14,<0.37"
+ros-jazzy-tf2-ros = ">=0.36.14,<0.37"
+ros-jazzy-topic-tools = ">=1.3.3,<2"
+ros-jazzy-trajectory-msgs = ">=5.3.6,<6"
+ros-jazzy-transmission-interface = ">=4.37.0,<5"
+ros-jazzy-turtlesim = ">=1.8.3,<2"
+ros-jazzy-urdf = ">=2.10.0,<3"
+ros-jazzy-vision-opencv = ">=4.1.0,<5"
+ros-jazzy-visualization-msgs = ">=5.3.6,<6"
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+rust = ">=1.91.1,<1.92"
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+mypy = ">=1.18.2,<2"
+colorama = ">=0.4.6,<0.5"
+fabric = ">=3.2.2,<4"
+gitpython = ">=3.1.45,<4"
+invoke = ">=2.2.1,<3"
+paramiko =   ">=4.0.0,<5"
+pre-commit = ">=4.4.0,<5"
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+rich = ">=14.2.0,<15"
+ruff = ">=0.14.6,<0.15"
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+libprotobuf = ">=5.29.3,<6"
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+libboost-devel = ">=1.86.0,<2"
+libopencv = ">=4.11.0,<5"
+colcon-common-extensions = ">=0.3.0,<0.4"
+setuptools = "<80.0.0"
+libnuma = ">=2.0.18,<3"
+compilers = ">=1.11.0,<2"
+sysroot_linux-64 = ">=2.28,<3"
+pthread-stubs = ">=0.4,<0.5"
+pkg-config = ">=0.29.2,<0.30"
+cmake = ">=4.2.0,<5"
+ninja = ">=1.13.2,<2"
+ros-jazzy-imu-complementary-filter = ">=2.1.5,<3"
+ros-jazzy-pybind11-vendor = ">=3.1.3,<4"
+ros-jazzy-soccer-vision-3d-msgs = ">=1.0.0,<2"
+ros-jazzy-soccer-vision-attribute-msgs = ">=1.0.0,<2"
+ros-jazzy-rviz-imu-plugin = ">=2.1.5,<3"
+ros-jazzy-rot-conv = ">=1.1.0,<2"
+ros-jazzy-bio-ik = ">=2.0.0,<3"
+ros-jazzy-bio-ik-msgs = ">=0.0.0,<0.0.1"
+ros-jazzy-biped-interfaces = ">=0.0.0,<0.0.1"
+ros-jazzy-bitbots-tf-buffer = ">=1.0.0,<2"
+ros-jazzy-ros2-python-extension = ">=1.0.0,<2"
+ros-jazzy-dynamic-stack-decider = ">=0.5.3,<0.6"
+ros-jazzy-dynamic-stack-decider-visualization = ">=0.2.1,<0.3"
+ros-jazzy-game-controller-hl = ">=1.1.0,<2"
+ros-jazzy-game-controller-hl-interfaces = ">=0.0.1,<0.0.2"
+ros-jazzy-humanoid-base-footprint = ">=0.1.2,<0.2"
+ros-jazzy-ipm-image-node = ">=0.0.0,<0.0.1"
+ros-jazzy-ipm-interfaces = ">=0.0.0,<0.0.1"
+ros-jazzy-ipm-library = ">=0.0.0,<0.0.1"
+ros-jazzy-soccer-ipm = ">=0.0.0,<0.0.1"
+ros-jazzy-soccer-field-map-generator = ">=0.0.0,<0.0.1"
+ros-jazzy-udp-bridge = ">=0.0.0,<0.0.1"
+ros-jazzy-particle-filter = ">=0.0.1,<0.0.2"
+ros-jazzy-ros2-numpy = ">=2.0.9,<3"
+ros-jazzy-gazebo-msgs = ">=3.8.0,<4"
+
+[pypi-dependencies]
+syrupy = ">=5.0.0, <6"
+exhale = ">=0.3.7, <0.4"
+pyamdgpuinfo = ">=2.1.7, <3"
+mycroft-mimic3-tts = ">=0.2.4, <0.3"
+pyttsx3 = ">=2.99, <3"
+bitbots-rust-nav = { git = "https://github.com/bit-bots/bitbots_rust_nav" }
+
+[activation]
+scripts = ["install/setup.sh"]

From dd57f7efb3996eebdd19d00d972c817fdfb4b912 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Sun, 23 Nov 2025 15:44:11 +0100
Subject: [PATCH 34/90] Small code fixes

---
 src/bitbots_misc/bitbots_tts/package.xml                        | 1 -
 .../include/bitbots_localization/Resampling.hpp                 | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/bitbots_misc/bitbots_tts/package.xml b/src/bitbots_misc/bitbots_tts/package.xml
index f0a86a2cc..0467dce80 100644
--- a/src/bitbots_misc/bitbots_tts/package.xml
+++ b/src/bitbots_misc/bitbots_tts/package.xml
@@ -18,7 +18,6 @@
 
   <depend>bitbots_docs</depend>
   <depend>bitbots_msgs</depend>
-  <depend>espeak</depend>
   <depend>std_msgs</depend>
 
   <test_depend>python3-pytest</test_depend>
diff --git a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
index 2b3d6e554..b145b5725 100644
--- a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
@@ -23,7 +23,7 @@ class ImportanceResamplingWE : public particle_filter::ImportanceResampling<Stat
   /**
    * The constructor of this base class inits some members.
    */
-  ImportanceResamplingWE<StateType>(int explorer_count,
+  ImportanceResamplingWE(int explorer_count,
                                     std::shared_ptr<particle_filter::StateDistribution<StateType>> distribution);
 
   /**

From f1949e74ae14705739aec495cb640a0bc476b5fc Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Sun, 23 Nov 2025 15:44:47 +0100
Subject: [PATCH 35/90] Temporary disable events executors that run is a
 seperate thread

---
 .../bitbots_hcm/bitbots_hcm/humanoid_control_module.py      | 6 +++---
 .../bitbots_webots_sim/scripts/start_simulator.py           | 6 +++---
 .../bitbots_webots_sim/scripts/start_single.py              | 6 +++---
 .../scripts/start_webots_ros_supervisor.py                  | 6 +++---
 4 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py
index 14a4a38d4..0f9e47d66 100755
--- a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py
+++ b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py
@@ -54,9 +54,9 @@ def __init__(self, use_sim_time, simulation_active, visualization_active):
         )
 
         # Create own executor for Python part
-        executor = EventsExecutor()
-        executor.add_node(self.node)
-        self.spin_thread = threading.Thread(target=executor.spin, args=(), daemon=True)
+        #executor = EventsExecutor()
+        #executor.add_node(self.node)
+        self.spin_thread = threading.Thread(target=rclpy.spin, args=(self.node,), daemon=True)
         self.spin_thread.start()
 
         # Otherwise messages will get lost, bc the init is not finished
diff --git a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
index 2dd1d040e..4bd1b5612 100755
--- a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
+++ b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
@@ -73,10 +73,10 @@ def run_simulation(self):
     rclpy.init()
     node = WebotsSim(args.nogui, args.multi_robot, args.headless, args.sim_port, args.robot_type)
 
-    executor = EventsExecutor()
-    executor.add_node(node)
+    #executor = EventsExecutor()
+    #executor.add_node(node)
 
-    thread = threading.Thread(target=executor.spin, daemon=True)
+    thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
     thread.start()
     node.run_simulation()
 
diff --git a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
index df15019c3..b8f094871 100755
--- a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
+++ b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
@@ -61,10 +61,10 @@ def run(self):
         args.sim_port, args.robot_name, args.void_controller, args.disable_camera, args.recognize, args.robot_type
     )
 
-    executor = EventsExecutor()
-    executor.add_node(robot.node)
+    #executor = EventsExecutor()
+    #executor.add_node(robot.node)
 
-    thread = threading.Thread(target=executor.spin, daemon=True)
+    thread = threading.Thread(target=rclpy.spin, args=(robot.node,), daemon=True)
     thread.start()
     robot.run()
 
diff --git a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
index 7e72d1850..5282a5b81 100755
--- a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
+++ b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
@@ -31,10 +31,10 @@ def run(self):
     rclpy.init()
     supervisor = SupervisorNode(args.sim_port)
 
-    executor = EventsExecutor()
-    executor.add_node(supervisor.node)
+    #executor = EventsExecutor()
+    #executor.add_node(supervisor.node)
 
-    thread = threading.Thread(target=executor.spin, daemon=True)
+    thread = threading.Thread(target=rclpy.spin, args=(supervisor.node,), daemon=True)
     thread.start()
     supervisor.run()
 

From 808e7f1050aa462b0d02b378c6d143514b97dab5 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Sun, 23 Nov 2025 15:56:20 +0100
Subject: [PATCH 36/90] Use our own package channel

---
 pixi.lock | 170 ++++++++++++++++++++----------------------------------
 pixi.toml |   3 +-
 2 files changed, 62 insertions(+), 111 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 18205b3d9..936a53317 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -4,7 +4,7 @@ environments:
     channels:
     - url: https://conda.anaconda.org/robostack-jazzy/
     - url: https://conda.anaconda.org/conda-forge/
-    - url: file:///homes/17vahl/robostack_vendor/ros-jazzy/output/
+    - url: https://data.bit-bots.de/conda/
     indexes:
     - https://pypi.org/simple
     packages:
@@ -56,7 +56,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-cd-0.1.1-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-cmake-0.2.29-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/colcon-common-extensions-0.3.0-py312h7900ff3_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-core-0.19.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-core-0.20.1-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-defaults-0.2.9-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-devtools-0.3.0-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-library-path-0.2.1-pyhd8ed1ab_1.conda
@@ -486,6 +486,10 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-apriltag-msgs-2.0.1-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-apriltag-ros-3.3.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-backward-ros-1.0.8-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bio-ik-2.0.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bio-ik-msgs-0.0.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-biped-interfaces-0.0.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bitbots-tf-buffer-1.0.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-builtin-interfaces-2.0.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-camera-calibration-parsers-5.1.7-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-camera-info-manager-5.1.7-np126py312h3bd2861_10.conda
@@ -518,6 +522,8 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-dummy-map-server-0.33.7-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-dummy-robot-bringup-0.33.7-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-dummy-sensors-0.33.7-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-dynamic-stack-decider-0.5.3-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-dynamic-stack-decider-visualization-0.2.1-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-eigen-stl-containers-1.1.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-eigen3-cmake-module-0.3.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-example-interfaces-0.12.0-np126py312h3bd2861_10.conda
@@ -543,6 +549,9 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-filters-2.2.2-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-foonathan-memory-vendor-1.3.1-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-foxglove-bridge-0.8.5-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-game-controller-hl-1.1.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-game-controller-hl-interfaces-0.0.1-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-gazebo-msgs-3.8.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-generate-parameter-library-0.5.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-generate-parameter-library-py-0.5.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-geometric-shapes-2.3.2-np126py312h3bd2861_10.conda
@@ -556,6 +565,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-gz-tools-vendor-0.0.7-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-gz-utils-vendor-0.0.5-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-hardware-interface-4.37.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-humanoid-base-footprint-0.1.2-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-iceoryx-binding-c-2.0.6-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-iceoryx-hoofs-2.0.6-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-iceoryx-posh-2.0.6-np126py312h3bd2861_10.conda
@@ -565,8 +575,12 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-transport-5.1.7-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-transport-plugins-4.0.6-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-view-5.0.11-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-imu-complementary-filter-2.1.5-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-interactive-markers-2.5.4-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-intra-process-demo-0.33.7-np126py312h5cbfcd5_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ipm-image-node-0.0.0-np126py312h5cbfcd5_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ipm-interfaces-0.0.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ipm-library-0.0.0-np126py312h5cbfcd5_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-limits-4.37.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-state-publisher-2.4.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-state-publisher-gui-2.4.0-np126py312h3bd2861_10.conda
@@ -625,6 +639,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pal-statistics-2.7.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pal-statistics-msgs-2.7.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-parameter-traits-0.5.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-particle-filter-0.0.1-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pcl-conversions-2.6.2-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pcl-msgs-1.0.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pendulum-control-0.33.7-np126py312h3bd2861_10.conda
@@ -675,6 +690,8 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-environment-4.2.1-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-workspace-1.0.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2-control-test-assets-4.37.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ros2-numpy-2.0.9-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ros2-python-extension-1.0.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2action-0.32.6-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2bag-0.26.9-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2cli-0.32.6-np126py312h3bd2861_10.conda
@@ -729,6 +746,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-introspection-c-4.6.6-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-introspection-cpp-4.6.6-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosx-introspection-1.0.2-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-rot-conv-1.1.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rpyutils-0.4.2-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-action-2.2.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-bag-1.5.5-np126py312h3bd2861_10.conda
@@ -757,6 +775,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-assimp-vendor-14.1.15-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-common-14.1.15-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-default-plugins-14.1.15-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-rviz-imu-plugin-2.1.5-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-ogre-vendor-14.1.15-np126py312h39124df_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-rendering-14.1.15-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz2-14.1.15-np126py312h3bd2861_10.conda
@@ -767,6 +786,11 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-sensor-msgs-py-5.3.6-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-service-msgs-2.0.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-shape-msgs-5.3.6-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-field-map-generator-0.0.0-np126py312h5cbfcd5_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-ipm-0.0.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-2d-msgs-1.0.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-3d-msgs-1.0.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-attribute-msgs-1.0.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-spdlog-vendor-1.6.1-np126py312he340118_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-sqlite3-vendor-0.26.9-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-srdfdom-2.0.7-np126py312h3bd2861_10.conda
@@ -808,6 +832,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-transmission-interface-4.37.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-turtlesim-1.8.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-type-description-interfaces-2.0.3-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-udp-bridge-0.0.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-uncrustify-vendor-3.0.1-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-unique-identifier-msgs-2.5.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-urdf-2.10.0-np126py312h3bd2861_10.conda
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   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - python_abi 3.12.* *_cp312
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 230997
   timestamp: 1763901836865
@@ -13191,8 +13163,7 @@ packages:
   license: BSD-3-Clause
   size: 31131
   timestamp: 1759134500444
-- conda: /homes/17vahl/robostack_vendor/ros-jazzy/output/linux-64/ros-jazzy-ros2-numpy-2.0.9-np126py312h3bd2861_10.conda
-  subdir: linux-64
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ros2-numpy-2.0.9-np126py312h3bd2861_10.conda
   sha256: e676fb970f2b62b729de26778983897676e954ad68000db6984f811df3c398c1
   md5: a41f524aa7b8239f2400fd76b5df457b
   depends:
@@ -13211,12 +13182,10 @@ packages:
   - numpy >=1.26.4,<2.0a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - python_abi 3.12.* *_cp312
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 56088
   timestamp: 1763901495263
-- conda: /homes/17vahl/robostack_vendor/ros-jazzy/output/linux-64/ros-jazzy-ros2-python-extension-1.0.0-np126py312h3bd2861_10.conda
-  subdir: linux-64
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ros2-python-extension-1.0.0-np126py312h3bd2861_10.conda
   sha256: 0950846a55234e6adcbff25656e0b9c94ca576aab8669d44debc679031f3dcb2
   md5: 478718051dd938014098b3f7a29a8b92
   depends:
@@ -13232,7 +13201,6 @@ packages:
   - python_abi 3.12.* *_cp312
   - numpy >=1.26.4,<2.0a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 37284
   timestamp: 1763895791240
@@ -14464,8 +14432,7 @@ packages:
   license: BSD-3-Clause
   size: 221716
   timestamp: 1759139882376
-- conda: /homes/17vahl/robostack_vendor/ros-jazzy/output/linux-64/ros-jazzy-rot-conv-1.1.0-np126py312h3bd2861_10.conda
-  subdir: linux-64
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-rot-conv-1.1.0-np126py312h3bd2861_10.conda
   sha256: aa64edd1087e13e39aaacf2407d8f049a009fdbafb9cc1bb0d1b2314c044ebdf
   md5: 95c90e14bc638b7d7216a3d27fdd7f60
   depends:
@@ -14481,7 +14448,6 @@ packages:
   - python_abi 3.12.* *_cp312
   - numpy >=1.26.4,<2.0a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 62030
   timestamp: 1763893047114
@@ -15166,8 +15132,7 @@ packages:
   license: BSD-3-Clause
   size: 2285873
   timestamp: 1759140028444
-- conda: /homes/17vahl/robostack_vendor/ros-jazzy/output/linux-64/ros-jazzy-rviz-imu-plugin-2.1.5-np126py312h3bd2861_10.conda
-  subdir: linux-64
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-rviz-imu-plugin-2.1.5-np126py312h3bd2861_10.conda
   sha256: 73e70d96c5f60f3f278860ce1374056ef9ecde074988a37a04bc5e6b624bc98c
   md5: 602211c06e1f3cb3f4e52033a97fb17e
   depends:
@@ -15198,7 +15163,6 @@ packages:
   - libopengl >=1.7.0,<2.0a0
   - qt-main >=5.15.15,<5.16.0a0
   - libgl >=1.7.0,<2.0a0
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 268903
   timestamp: 1763893047088
@@ -15449,8 +15413,7 @@ packages:
   license: BSD-3-Clause
   size: 128005
   timestamp: 1759137079790
-- conda: /homes/17vahl/robostack_vendor/ros-jazzy/output/linux-64/ros-jazzy-soccer-field-map-generator-0.0.0-np126py312h5cbfcd5_10.conda
-  subdir: linux-64
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-field-map-generator-0.0.0-np126py312h5cbfcd5_10.conda
   sha256: 2db48671143f34887b068d6ef98d1f8365feb4042ea00f2755fd82b8dbcf70e8
   md5: 407760b67de2d16a40bb87f5ea1051dc
   depends:
@@ -15474,12 +15437,10 @@ packages:
   - python_abi 3.12.* *_cp312
   - py-opencv >=4.11.0,<5.0a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 60806
   timestamp: 1763898713582
-- conda: /homes/17vahl/robostack_vendor/ros-jazzy/output/linux-64/ros-jazzy-soccer-ipm-0.0.0-np126py312h3bd2861_10.conda
-  subdir: linux-64
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-ipm-0.0.0-np126py312h3bd2861_10.conda
   sha256: 8f878dc12457847db3fe84d004d23bb784163f323d3db5bf50a67fe15dcb48f3
   md5: cb61cd2565d3e57eb3fcca7f94832ef1
   depends:
@@ -15503,12 +15464,10 @@ packages:
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - numpy >=1.26.4,<2.0a0
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 35909
   timestamp: 1763895791231
-- conda: /homes/17vahl/robostack_vendor/ros-jazzy/output/linux-64/ros-jazzy-soccer-vision-2d-msgs-1.0.0-np126py312h3bd2861_10.conda
-  subdir: linux-64
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-2d-msgs-1.0.0-np126py312h3bd2861_10.conda
   sha256: d80a9920bfd5196b9129762f6de12642a8a46c6a4cf2b8a1e66b15cefe122364
   md5: 5e8b18102a31684f844ecbf81eca5082
   depends:
@@ -15524,12 +15483,10 @@ packages:
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - numpy >=1.26.4,<2.0a0
   - python_abi 3.12.* *_cp312
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 234015
   timestamp: 1763895791530
-- conda: /homes/17vahl/robostack_vendor/ros-jazzy/output/linux-64/ros-jazzy-soccer-vision-3d-msgs-1.0.0-np126py312h3bd2861_10.conda
-  subdir: linux-64
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-3d-msgs-1.0.0-np126py312h3bd2861_10.conda
   sha256: 856de31d8fd156f136e5bba0e9fb89739b4a87cb4ae115a734998eff4e9a7de3
   md5: ff1ce764e847535772f57ef0ebd0738a
   depends:
@@ -15546,12 +15503,10 @@ packages:
   - numpy >=1.26.4,<2.0a0
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 233642
   timestamp: 1763892800762
-- conda: /homes/17vahl/robostack_vendor/ros-jazzy/output/linux-64/ros-jazzy-soccer-vision-attribute-msgs-1.0.0-np126py312h3bd2861_10.conda
-  subdir: linux-64
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-attribute-msgs-1.0.0-np126py312h3bd2861_10.conda
   sha256: 3666bc340ccac49e320957c2f5dc4942c94fe93422728f93f89a32eae570833b
   md5: ea5c222d984676f3065e031451ae22c4
   depends:
@@ -15566,7 +15521,6 @@ packages:
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - python_abi 3.12.* *_cp312
   - numpy >=1.26.4,<2.0a0
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 96789
   timestamp: 1763892800737
@@ -16431,8 +16385,7 @@ packages:
   license: BSD-3-Clause
   size: 232014
   timestamp: 1759136425687
-- conda: /homes/17vahl/robostack_vendor/ros-jazzy/output/linux-64/ros-jazzy-udp-bridge-0.0.0-np126py312h3bd2861_10.conda
-  subdir: linux-64
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-udp-bridge-0.0.0-np126py312h3bd2861_10.conda
   sha256: 73e9839b498d074abfc658261929af82cf9c9fe1400bebdbcaf8438525a1e5bf
   md5: 0d7bda31f50c28b1fc7b425a6e57d1f6
   depends:
@@ -16448,7 +16401,6 @@ packages:
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - numpy >=1.26.4,<2.0a0
   - python_abi 3.12.* *_cp312
-  channel: file:///homes/17vahl/robostack_vendor/ros-jazzy/output
   license: BSD-3-Clause
   size: 46002
   timestamp: 1763898713395
diff --git a/pixi.toml b/pixi.toml
index fd2043a9c..cd67be212 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -1,6 +1,6 @@
 [workspace]
 authors = ["Florian Vahl <7vahl@informatik.uni-hamburg.de>"]
-channels = ["robostack-jazzy", "conda-forge", "../robostack_vendor/ros-jazzy/output/"]
+channels = ["robostack-jazzy", "conda-forge", "https://data.bit-bots.de/conda/"]
 name = "bitbots_main"
 platforms = ["linux-64"]
 version = "0.1.0"
@@ -8,7 +8,6 @@ version = "0.1.0"
 [tasks]
 build = "colcon build --symlink-install --cmake-args -G Ninja"
 clean = "rm -rf build install log"
-run = "ros2 run"
 
 [dependencies]
 breathe = ">=4.36.0,<5"

From a6938d988dbe445017b73eca0e7edae6eb2166c5 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Sun, 23 Nov 2025 19:36:03 +0100
Subject: [PATCH 37/90] Add teamcomm messages

---
 .gitignore                                    |   5 -
 .../RobocupProtocol/.clang-format             |  86 ++++++++++
 .../RobocupProtocol/.gitignore                |   2 +
 .../RobocupProtocol/CMakeLists.txt            |  68 ++++++++
 .../RobocupProtocol/LICENSE.md                |  21 +++
 .../RobocupProtocol/README.md                 |  40 +++++
 .../RobocupProtocol/decode_base.cpp           |  31 ++++
 .../RobocupProtocol/decode_extended.cpp       |  31 ++++
 .../RobocupProtocol/encode_base.cpp           | 135 +++++++++++++++
 .../RobocupProtocol/encode_extended.cpp       | 138 +++++++++++++++
 .../RobocupProtocol/robocup.proto             | 109 ++++++++++++
 .../RobocupProtocol/robocup_extension.proto   | 162 ++++++++++++++++++
 .../RobocupProtocol/run_all.sh                |  26 +++
 .../RobocupProtocol/utils.hpp                 |  58 +++++++
 14 files changed, 907 insertions(+), 5 deletions(-)
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.clang-format
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.gitignore
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/LICENSE.md
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/README.md
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup.proto
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup_extension.proto
 create mode 100755 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/run_all.sh
 create mode 100644 src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp

diff --git a/.gitignore b/.gitignore
index c3753566f..263ab83a8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -218,11 +218,6 @@ ansible_robots/*
 doc_internal/*
 doku/*
 
-# library subdirectories
-/src/lib/
-
-# Path to the protocol buffer definitions, which are a different repository and managed by vcstool
-/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
 # Protobuf generated file
 /src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
 /src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.clang-format b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.clang-format
new file mode 100644
index 000000000..e377d3096
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.clang-format
@@ -0,0 +1,86 @@
+---
+# C++ files
+Language: Cpp
+BasedOnStyle: Google
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlinesLeft: false
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: true
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  BeforeCatch:     true
+  BeforeElse:      true
+  IndentBraces:    false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: true
+BreakStringLiterals: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+IndentWidth: 4
+KeepEmptyLinesAtTheStartOfBlocks: true
+MaxEmptyLinesToKeep: 2
+NamespaceIndentation: Inner
+PointerAlignment: Left
+ReflowComments: true
+SortIncludes: true
+SpaceAfterCStyleCast: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInContainerLiterals: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Cpp11
+TabWidth: 4
+UseTab: Never
+
+---
+# Protocol buffers
+Language: Proto
+BasedOnStyle: Google
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
+AlignEscapedNewlinesLeft: false
+AlignOperands: true
+AlignTrailingComments: true
+AllowShortBlocksOnASingleLine: false
+ColumnLimit: 120
+IndentWidth: 4
+KeepEmptyLinesAtTheStartOfBlocks: true
+MaxEmptyLinesToKeep: 2
+ReflowComments: true
+SortIncludes: true
+SpaceBeforeAssignmentOperators: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+TabWidth: 4
+UseTab: Never
+...
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.gitignore b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.gitignore
new file mode 100644
index 000000000..dc84959d1
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.gitignore
@@ -0,0 +1,2 @@
+build/
+
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt
new file mode 100644
index 000000000..5c6b32eba
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt
@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 3.0)
+project(RobocupProtocol)
+
+# We need protobuf to generate the messages
+find_package(Protobuf REQUIRED)
+
+function(COMPILE_PROTO
+         proto_file
+         output_dir
+         return_var)
+  # Get the file without the extension
+  get_filename_component(file_we ${proto_file} NAME_WE)
+
+  # Run the protocol buffer compiler on the builtin protocol buffers
+  add_custom_command(OUTPUT "${output_dir}/${file_we}.pb.cc"
+                            "${output_dir}/${file_we}.pb.h"
+                     COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
+                             ARGS
+                             --cpp_out=${output_dir}
+                             -I${CMAKE_CURRENT_SOURCE_DIR}
+                             ${proto_file}
+                     DEPENDS ${proto_file}
+                     COMMENT "Compiling protocol buffer ${proto_file}")
+
+  set_source_files_properties(
+    "${output_dir}/${file_we}.pb"
+    "${output_dir}/${file_we}.proto"
+    "${output_dir}/${file_we}.pb.cc"
+    "${output_dir}/${file_we}.pb.h"
+    "${output_dir}/${file_we}.cpp"
+    "${output_dir}/${file_we}.py.cpp"
+    "${output_dir}/${file_we}.h"
+    PROPERTIES
+    GENERATED
+    TRUE
+    # Prevent Effective C++ and unused parameter error checks being performed on
+    # generated files.
+    COMPILE_FLAGS "-Wno-unused-parameter -Wno-error=unused-parameter -Wno-error"
+    )
+
+  set(${return_var} "${output_dir}/${file_we}.pb.cc"
+                    "${output_dir}/${file_we}.pb.h" PARENT_SCOPE)
+endfunction(COMPILE_PROTO)
+
+# Build our protobuf classes
+compile_proto("${CMAKE_CURRENT_SOURCE_DIR}/robocup.proto"
+              "${CMAKE_CURRENT_BINARY_DIR}" base_message)
+compile_proto("${CMAKE_CURRENT_SOURCE_DIR}/robocup_extension.proto"
+              "${CMAKE_CURRENT_BINARY_DIR}" extended_message)
+
+message(STATUS ${base_message})
+message(STATUS ${extended_message})
+
+add_executable(encode_base encode_base.cpp ${base_message})
+target_include_directories(encode_base PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_link_libraries(encode_base protobuf::libprotobuf)
+
+add_executable(decode_base decode_base.cpp ${base_message})
+target_include_directories(decode_base PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_link_libraries(decode_base protobuf::libprotobuf)
+
+add_executable(encode_extended encode_extended.cpp ${extended_message})
+target_include_directories(encode_extended PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_link_libraries(encode_extended protobuf::libprotobuf)
+
+add_executable(decode_extended decode_extended.cpp ${extended_message})
+target_include_directories(decode_extended PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_link_libraries(decode_extended protobuf::libprotobuf)
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/LICENSE.md b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/LICENSE.md
new file mode 100644
index 000000000..ecf4eaab9
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/LICENSE.md
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2019 NUbots
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/README.md b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/README.md
new file mode 100644
index 000000000..1def2ca69
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/README.md
@@ -0,0 +1,40 @@
+# RobocupProtocol
+Protobuf message protocol for the Robocup Humanoid league.
+
+This repository contains example protobuf messages and some code examples for encoding/decoding the different messages.
+
+## Files
+```bash
+RobocupProtocol/
+├── CMakeLists.txt                   # CMake project file
+├── decode_base.cpp                  # Decode using the official message
+├── decode_extended.cpp              # Decode using the extended message
+├── encode_base.cpp                  # Encode using the official message
+├── encode_extended.cpp              # Encode using the extended message
+├── run_all.sh                       # Script to build code and then run all permutations
+├── robocup.proto                    # The official message
+├── robocup_extension.proto          # The extended message
+└── utils.hpp                        # Utility functions for interpreting message contents
+```
+
+## Compiling
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+## Running
+There are four binaries that are built `encode_base`, `encode_extended`, `decode_base`, and `decode_extended`. 
+
+`encode_base` will create a message using the official message protocol and save it to a file named `base_message.pb`. 
+
+`encode_extended` will create a message using the extended message protocol and save it to a file named `extended_message.pb`. 
+
+`decode_base` will take a file as an argument and will decode that file using the official message protocol and print it to the screen in a json format.
+
+`decode_extended` will take a file as an argument and will decode that file using the extended message protocol and print it to the screen in a json format.
+
+Alternatively, if you execute the `run_all.sh` script, it will compile the code and run all permutations of encoding and decoding.
+
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp
new file mode 100644
index 000000000..e6e32fc11
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp
@@ -0,0 +1,31 @@
+#include <google/protobuf/timestamp.pb.h>
+#include <chrono>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+
+#include "robocup.pb.h"
+#include "utils.hpp"
+
+int main(int argc, char** argv) {
+    if (argc != 2) {
+        std::cout << "Usage: " << argv[0] << " <msg.pb>" << std::endl;
+        return 0;
+    }
+
+    std::string msg_file(argv[1]);
+
+    // Open the extended message and parse it
+    std::ifstream ifs(msg_file, std::ifstream::binary);
+
+    if (ifs.is_open()) {
+        // "Send" the message over the network and decode it
+        std::stringstream stream;
+        stream << ifs.rdbuf();
+        parse_message<robocup::humanoid::Message>(stream.str());
+    }
+
+    return 0;
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp
new file mode 100644
index 000000000..722a2d093
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp
@@ -0,0 +1,31 @@
+#include <google/protobuf/timestamp.pb.h>
+#include <chrono>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+
+#include "robocup_extension.pb.h"
+#include "utils.hpp"
+
+int main(int argc, char** argv) {
+    if (argc != 2) {
+        std::cout << "Usage: " << argv[0] << " <msg.pb>" << std::endl;
+        return 0;
+    }
+
+    std::string msg_file(argv[1]);
+
+    // Open the extended message and parse it
+    std::ifstream ifs(msg_file, std::ifstream::binary);
+
+    if (ifs.is_open()) {
+        // Decode a message and print it
+        std::stringstream stream;
+        stream << ifs.rdbuf();
+        parse_message<robocup::humanoid::Message>(stream.str());
+    }
+
+    return 0;
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp
new file mode 100644
index 000000000..7de6ee7e1
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp
@@ -0,0 +1,135 @@
+#include <google/protobuf/timestamp.pb.h>
+#include <chrono>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <string>
+
+#include "robocup.pb.h"
+#include "utils.hpp"
+
+int main(void) {
+    // Create a new message which contains extensions
+    robocup::humanoid::Message msg;
+
+    // Set the transmission timestamp
+    auto d       = std::chrono::system_clock::now().time_since_epoch();
+    auto seconds = std::chrono::duration_cast<std::chrono::seconds>(d);
+    auto nanos   = std::chrono::duration_cast<std::chrono::nanoseconds>(d - seconds);
+    msg.mutable_timestamp()->set_seconds(seconds.count());
+    msg.mutable_timestamp()->set_nanos(nanos.count());
+
+    // Set player details
+    msg.mutable_current_pose()->set_player_id(3);
+    msg.mutable_current_pose()->set_team(robocup::humanoid::Team::BLUE);
+    msg.mutable_current_pose()->mutable_position()->set_x(1.0f);
+    msg.mutable_current_pose()->mutable_position()->set_y(3.0f);
+    msg.mutable_current_pose()->mutable_position()->set_z(M_PI / 3);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_x(1.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_y(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_z(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_x(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_y(1.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_z(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_x(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_y(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // Set ball details
+    msg.mutable_ball()->mutable_position()->set_x(2.0f);
+    msg.mutable_ball()->mutable_position()->set_y(3.0f);
+    msg.mutable_ball()->mutable_position()->set_z(1.0f);
+    msg.mutable_ball()->mutable_velocity()->set_x(0.5f);
+    msg.mutable_ball()->mutable_velocity()->set_y(0.5f);
+    msg.mutable_ball()->mutable_velocity()->set_z(-0.5f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_x(1.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_y(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_z(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_x(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_y(1.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_z(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_x(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_y(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // Set walk command
+    msg.mutable_walk_command()->set_x(0.15f);
+    msg.mutable_walk_command()->set_y(0.15f);
+    msg.mutable_walk_command()->set_z(-0.05f);
+
+    // Set target pose
+    msg.mutable_target_pose()->set_player_id(3);
+    msg.mutable_target_pose()->set_team(robocup::humanoid::Team::BLUE);
+    msg.mutable_target_pose()->mutable_position()->set_x(2.0f);
+    msg.mutable_target_pose()->mutable_position()->set_y(3.0f);
+    msg.mutable_target_pose()->mutable_position()->set_z(-M_PI / 3);
+
+    // Set kick target
+    msg.mutable_kick_target()->set_x(4.5f);
+    msg.mutable_kick_target()->set_y(0.0f);
+
+    // Set state
+    msg.set_state(robocup::humanoid::State::UNPENALISED);
+
+    // Set some others details
+    robocup::humanoid::Robot* other = msg.add_others();
+    other->set_player_id(2);
+    other->set_team(robocup::humanoid::Team::BLUE);
+    other->mutable_position()->set_x(1.0f);
+    other->mutable_position()->set_y(-3.0f);
+    other->mutable_position()->set_z(M_PI / 6);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    other = msg.add_others();
+    other->set_player_id(1);
+    other->set_team(robocup::humanoid::Team::RED);
+    other->mutable_position()->set_x(4.5f);
+    other->mutable_position()->set_y(0.0f);
+    other->mutable_position()->set_z(M_PI);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    other = msg.add_others();
+    other->set_player_id(0);
+    other->set_team(robocup::humanoid::Team::UNKNOWN_TEAM);
+    other->mutable_position()->set_x(4.0f);
+    other->mutable_position()->set_y(0.0f);
+    other->mutable_position()->set_z(M_PI);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // ******************************
+    // * Official message ends here *
+    // ******************************
+
+    // Dump serialised message to file
+    std::ofstream ofs("base_message.pb", std::ofstream::binary);
+    std::string string_msg;
+    msg.SerializeToString(&string_msg);
+    ofs.write(string_msg.data(), string_msg.size());
+    ofs.close();
+
+    return 0;
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp
new file mode 100644
index 000000000..33ad72cf2
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp
@@ -0,0 +1,138 @@
+#include <google/protobuf/timestamp.pb.h>
+#include <chrono>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <string>
+
+#include "robocup_extension.pb.h"
+#include "utils.hpp"
+
+int main(void) {
+    // Create a new message which contains extensions
+    robocup::humanoid::Message msg;
+
+    // Set the transmission timestamp
+    auto d       = std::chrono::system_clock::now().time_since_epoch();
+    auto seconds = std::chrono::duration_cast<std::chrono::seconds>(d);
+    auto nanos   = std::chrono::duration_cast<std::chrono::nanoseconds>(d - seconds);
+    msg.mutable_timestamp()->set_seconds(seconds.count());
+    msg.mutable_timestamp()->set_nanos(nanos.count());
+
+    // Set player details
+    msg.mutable_current_pose()->set_player_id(3);
+    msg.mutable_current_pose()->set_team(robocup::humanoid::Team::BLUE);
+    msg.mutable_current_pose()->mutable_position()->set_x(1.0f);
+    msg.mutable_current_pose()->mutable_position()->set_y(3.0f);
+    msg.mutable_current_pose()->mutable_position()->set_z(M_PI / 3);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_x(1.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_y(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_z(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_x(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_y(1.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_z(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_x(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_y(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // Set ball details
+    msg.mutable_ball()->mutable_position()->set_x(2.0f);
+    msg.mutable_ball()->mutable_position()->set_y(3.0f);
+    msg.mutable_ball()->mutable_position()->set_z(1.0f);
+    msg.mutable_ball()->mutable_velocity()->set_x(0.5f);
+    msg.mutable_ball()->mutable_velocity()->set_y(0.5f);
+    msg.mutable_ball()->mutable_velocity()->set_z(-0.5f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_x(1.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_y(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_z(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_x(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_y(1.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_z(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_x(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_y(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // Set walk command
+    msg.mutable_walk_command()->set_x(0.15f);
+    msg.mutable_walk_command()->set_y(0.15f);
+    msg.mutable_walk_command()->set_z(-0.05f);
+
+    // Set target pose
+    msg.mutable_target_pose()->set_player_id(3);
+    msg.mutable_target_pose()->set_team(robocup::humanoid::Team::BLUE);
+    msg.mutable_target_pose()->mutable_position()->set_x(2.0f);
+    msg.mutable_target_pose()->mutable_position()->set_y(3.0f);
+    msg.mutable_target_pose()->mutable_position()->set_z(-M_PI / 3);
+
+    // Set kick target
+    msg.mutable_kick_target()->set_x(4.5f);
+    msg.mutable_kick_target()->set_y(0.0f);
+
+    // Set state
+    msg.set_state(robocup::humanoid::State::UNPENALISED);
+
+    // Set some others details
+    robocup::humanoid::Robot* other = msg.add_others();
+    other->set_player_id(2);
+    other->set_team(robocup::humanoid::Team::BLUE);
+    other->mutable_position()->set_x(1.0f);
+    other->mutable_position()->set_y(-3.0f);
+    other->mutable_position()->set_z(M_PI / 6);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    other = msg.add_others();
+    other->set_player_id(1);
+    other->set_team(robocup::humanoid::Team::RED);
+    other->mutable_position()->set_x(4.5f);
+    other->mutable_position()->set_y(0.0f);
+    other->mutable_position()->set_z(M_PI);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    other = msg.add_others();
+    other->set_player_id(0);
+    other->set_team(robocup::humanoid::Team::UNKNOWN_TEAM);
+    other->mutable_position()->set_x(4.0f);
+    other->mutable_position()->set_y(0.0f);
+    other->mutable_position()->set_z(M_PI);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // ******************************
+    // * Official message ends here *
+    // ******************************
+
+    // Set max walking speed (an extension value)
+    msg.set_max_walking_speed(0.25f);
+
+    // Dump serialised message to file
+    std::ofstream ofs("extended_message.pb", std::ofstream::binary);
+    std::string string_msg;
+    msg.SerializeToString(&string_msg);
+    ofs.write(string_msg.data(), string_msg.size());
+    ofs.close();
+
+    return 0;
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup.proto b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup.proto
new file mode 100644
index 000000000..5824ed626
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup.proto
@@ -0,0 +1,109 @@
+syntax = "proto3";
+
+package robocup.humanoid;
+
+import "google/protobuf/timestamp.proto";
+
+/// A column vector of two floats
+message fvec2 {
+    float x = 1;
+    float y = 2;
+}
+
+/// A column vector of three floats
+message fvec3 {
+    float x = 1;
+    float y = 2;
+    float z = 3;
+}
+
+/// A matrix of three vectors
+/// Specified as column vectors
+message fmat3 {
+    fvec3 x = 1;
+    fvec3 y = 2;
+    fvec3 z = 3;
+}
+
+/// The detected team of the robot
+enum Team {
+    UNKNOWN_TEAM = 0;
+    BLUE         = 1;
+    RED          = 2;
+}
+
+message Robot {
+    /// ID of the robot, 0 if not known
+    uint32 player_id = 1;
+
+    /// The position of the robot on the field according to the following convention
+    /// x meters along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y meters across the field with 0 at the centre of the field and positive to the left
+    /// θ orientation of the robot (anti-clockwise from the x axis from above the field)
+    fvec3 position = 2;
+
+    /// The covariance measure of the robots [x, y, θ] values
+    /// If this is unavailable leave this unset
+    fmat3 covariance = 3;
+
+    /// Robot team, if known
+    Team team = 4;
+}
+
+message Ball {
+    /// The position of the ball on the field according to the following convention
+    /// x meters along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y meters across the field with 0 at the centre of the field and positive to the left
+    /// z meters above the field with 0 at the surface of the field and positive up
+    fvec3 position = 1;
+
+    /// The velocity of the ball
+    /// x m/s along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y m/s across the field with 0 at the centre of the field and positive to the left
+    /// z m/s above the field with 0 at the surface of the field and positive up
+    /// Set to 0 if not available
+    fvec3 velocity = 2;
+
+    /// The covariance measure of the balls [x, y, z] values
+    /// If this is unavailable leave this unset
+    fmat3 covariance = 3;
+}
+
+/// The current playing state of the robot
+enum State {
+    UNKNOWN_STATE = 0;
+    UNPENALISED   = 1;
+    PENALISED     = 2;
+}
+
+message Message {
+    /// Timestamp of message creation
+    google.protobuf.Timestamp timestamp = 1;
+
+    /// The robots current state
+    State state = 2;
+
+    /// Position, orientation, and covariance of the player on the field
+    Robot current_pose = 3;
+
+    /// The current walk speed of the robot in it's local [x, y, θ] coordinates
+    /// x and y in m/s and θ in rad/s
+    /// positive x being forwards, positive y being strafing to the left, and positive θ being anti-clockwise
+    fvec3 walk_command = 4;
+
+    /// Position and orientation of the players target on the field specified
+    Robot target_pose = 5;
+
+    /// Position that the robot is aiming to kick the ball to
+    /// If no kick is planned set to [0, 0]
+    /// Vector has origin on the ground between the robots feet
+    fvec2 kick_target = 6;
+
+    /// Position, velocity, and covariance of the ball on the field
+    Ball ball = 7;
+
+    /// Position, orientation, and covariance of detected robots on the field
+    repeated Robot others = 8;
+
+    /// IDs 1-100 are reserved for official use
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup_extension.proto b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup_extension.proto
new file mode 100644
index 000000000..57023ec2d
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup_extension.proto
@@ -0,0 +1,162 @@
+syntax = "proto3";
+
+package robocup.humanoid;
+
+import "google/protobuf/timestamp.proto";
+
+/// A column vector of two floats
+message fvec2 {
+    float x = 1;
+    float y = 2;
+}
+
+/// A column vector of three floats
+message fvec3 {
+    float x = 1;
+    float y = 2;
+    float z = 3;
+}
+
+/// A matrix of three vectors
+/// Specified as column vectors
+message fmat3 {
+    fvec3 x = 1;
+    fvec3 y = 2;
+    fvec3 z = 3;
+}
+
+/// The detected team of the robot
+enum Team {
+    UNKNOWN_TEAM = 0;
+    BLUE         = 1;
+    RED          = 2;
+}
+
+message Robot {
+    /// ID of the robot, 0 if not known
+    uint32 player_id = 1;
+
+    /// The position of the robot on the field according to the following convention
+    /// x meters along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y meters across the field with 0 at the centre of the field and positive to the left
+    /// θ orientation of the robot (anti-clockwise from the x axis from above the field)
+    fvec3 position = 2;
+
+    /// The covariance measure of the robots [x, y, θ] values
+    /// If this is unavailable leave this unset
+    fmat3 covariance = 3;
+
+    /// Robot team, if known
+    Team team = 4;
+}
+
+message Ball {
+    /// The position of the ball on the field according to the following convention
+    /// x meters along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y meters across the field with 0 at the centre of the field and positive to the left
+    /// z meters above the field with 0 at the surface of the field and positive up
+    fvec3 position = 1;
+
+    /// The velocity of the ball
+    /// x m/s along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y m/s across the field with 0 at the centre of the field and positive to the left
+    /// z m/s above the field with 0 at the surface of the field and positive up
+    /// Set to 0 if not available
+    fvec3 velocity = 2;
+
+    /// The covariance measure of the balls [x, y, z] values
+    /// If this is unavailable leave this unset
+    fmat3 covariance = 3;
+}
+
+/// The current playing state of the robot
+enum State {
+    UNKNOWN_STATE = 0;
+    UNPENALISED   = 1;
+    PENALISED     = 2;
+}
+
+/// The role of the robot
+enum Role {
+    ROLE_UNDEFINED = 0;
+    ROLE_IDLING=1;
+    ROLE_OTHER=2;
+    ROLE_STRIKER=3;
+    ROLE_SUPPORTER=4;
+    ROLE_DEFENDER=5;
+    ROLE_GOALIE=6;
+}
+
+/// The current action of the robot
+enum Action {
+    ACTION_UNDEFINED=0;
+    ACTION_POSITIONING=1;
+    ACTION_GOING_TO_BALL=2;
+    ACTION_TRYING_TO_SCORE=3;
+    ACTION_WAITING=4;
+    ACTION_KICKING=5;
+    ACTION_SEARCHING=6;
+    ACTION_LOCALIZING=7;
+}
+
+/// The offensive strategy of the robot
+enum OffensiveSide {
+    SIDE_UNDEFINED = 0;
+    SIDE_LEFT = 1;
+    SIDE_MIDDLE = 2;
+    SIDE_RIGHT = 3;
+}
+
+message Message {
+    /// Timestamp of message creation
+    google.protobuf.Timestamp timestamp = 1;
+
+    /// The robots current state
+    State state = 2;
+
+    /// Position, orientation, and covariance of the player on the field
+    Robot current_pose = 3;
+
+    /// The current walk speed of the robot in it's local [x, y, θ] coordinates
+    /// x and y in m/s and θ in rad/s
+    /// positive x being forwards, positive y being strafing to the left, and positive θ being anti-clockwise
+    fvec3 walk_command = 4;
+
+    /// Position and orientation of the players target on the field specified
+    Robot target_pose = 5;
+
+    /// Position that the robot is aiming to kick the ball to
+    /// If no kick is planned set to [0, 0]
+    /// Vector has origin on the ground between the robots feet
+    fvec2 kick_target = 6;
+
+    /// Position, velocity, and covariance of the ball on the field
+    Ball ball = 7;
+
+    /// Position, orientation, and covariance of detected robots on the field
+    repeated Robot others = 8;
+
+    /// IDs 1-100 are reserved for official use
+
+    /****************************
+     * EXTENSIONS GO BELOW HERE *
+     ****************************/
+
+    /// Maximum walking speed of the robot
+    float max_walking_speed = 101;
+
+    /// Time the robot needs to reach the ball;
+    float time_to_ball = 104;
+
+    /// The role of the robot
+    Role role = 105;
+
+    /// The current action of the robot
+    Action action = 106;
+
+    /// The offensive strategy of the robot
+    OffensiveSide offensive_side = 107;
+
+    /// Confidence values of the obstacles
+    repeated float other_robot_confidence = 108;
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/run_all.sh b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/run_all.sh
new file mode 100755
index 000000000..a10d2c1fa
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/run_all.sh
@@ -0,0 +1,26 @@
+#! /bin/bash
+
+mkdir -p build
+cd build
+
+cmake ..
+make
+
+# Encode base message and decode with the base message
+echo "Encode base message and decode with the base message"
+./encode_base && ./decode_base base_message.pb
+
+# Encode base message and decode with the extended message
+echo "Encode base message and decode with the extended message"
+./encode_base && ./decode_extended base_message.pb
+
+# Encode extended message and decode with the base message
+echo "Encode extended message and decode with the base message"
+./encode_extended && ./decode_base extended_message.pb
+
+# Encode extended message and decode with the base message
+echo "Encode extended message and decode with the base message"
+./encode_extended && ./decode_extended extended_message.pb
+
+cd ..
+
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp
new file mode 100644
index 000000000..49219264d
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp
@@ -0,0 +1,58 @@
+#ifndef PROTOCOL_UTILS_HPP
+#define PROTOCOL_UTILS_HPP
+
+#include <google/protobuf/timestamp.pb.h>
+#include <google/protobuf/util/json_util.h>
+#include <chrono>
+#include <iostream>
+#include <string>
+
+inline std::chrono::time_point<std::chrono::system_clock> convert_timestamp(
+    const ::google::protobuf::Timestamp& timestamp) {
+    return std::chrono::time_point<std::chrono::system_clock>(std::chrono::seconds(timestamp.seconds())
+                                                              + std::chrono::nanoseconds(timestamp.nanos()));
+}
+
+template <typename T>
+std::string team_colour(const T& team) {
+    switch (team) {
+        case T::BLUE: return "BLUE";
+        case T::RED: return "RED";
+        default: return "UNKNOWN";
+    }
+}
+
+template <typename T>
+std::string state(const T& state) {
+    switch (state) {
+        case T::PENALISED: return "PENALISED";
+        case T::UNPENALISED: return "UNPENALISED";
+        default: return "UNKNOWN";
+    }
+}
+
+template <typename T>
+inline void print_message(const T& msg) {
+    ::google::protobuf::util::JsonPrintOptions options;
+    options.add_whitespace                = true;
+    options.always_print_primitive_fields = true;
+
+    std::string json_output;
+    ::google::protobuf::util::MessageToJsonString(msg, &json_output, options);
+
+    std::cout << "Parsed Message:" << std::endl;
+    std::cout << json_output << std::endl;
+}
+
+template <typename T>
+inline void parse_message(const std::string& string_msg) {
+    // Parse the message using the official protobuf message format
+    T msg;
+
+    // Parse the received message, this will ignore any IDs that aren't defined in the official message
+    msg.ParseFromString(string_msg);
+
+    print_message<T>(msg);
+}
+
+#endif  // PROTOCOL_UTILS_HPP
\ No newline at end of file

From d90ea5a3cb2e23a1f42059534d363f4088b07e57 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Sun, 23 Nov 2025 19:36:13 +0100
Subject: [PATCH 38/90] Remove vcs tool

---
 workspace.repos | 77 -------------------------------------------------
 1 file changed, 77 deletions(-)
 delete mode 100644 workspace.repos

diff --git a/workspace.repos b/workspace.repos
deleted file mode 100644
index a372039c7..000000000
--- a/workspace.repos
+++ /dev/null
@@ -1,77 +0,0 @@
-repositories:
-  src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol:
-    type: git
-    url: git@github.com:bit-bots/RobocupProtocol.git
-    version: master
-  src/lib/audio_common:
-    type: git
-    url: git@github.com:bit-bots/audio_common.git
-    version: ros2
-  src/lib/bio_ik:
-    type: git
-    url: git@github.com:bit-bots/bio_ik.git
-    version: ros2
-  src/lib/bio_ik_msgs:
-    type: git
-    url: git@github.com:bit-bots/bio_ik_msgs.git
-    version: master
-  src/lib/bitbots_tf_buffer:
-    type: git
-    url: git@github.com:bit-bots/bitbots_tf_buffer.git
-    version: main
-  src/lib/biped_interfaces:
-    type: git
-    url: git@github.com:ros-sports/biped_interfaces.git
-    version: rolling
-  src/lib/dynamic_stack_decider:
-    type: git
-    url: git@github.com:bit-bots/dynamic_stack_decider.git
-    version: master
-  src/lib/DynamixelSDK:
-    type: git
-    url: git@github.com:bit-bots/DynamixelSDK.git
-    version: master
-  src/lib/dynamixel-workbench:
-    type: git
-    url: git@github.com:bit-bots/dynamixel-workbench.git
-    version: master
-  src/lib/game_controller_hl:
-    type: git
-    url: git@github.com:ros-sports/game_controller_hl.git
-    version: rolling
-  src/lib/hlvs_player:
-    type: git
-    url: git@github.com:ros-sports/hlvs_player.git
-    version: main
-  src/lib/humanoid_base_footprint:
-    type: git
-    url: git@github.com:ros-sports/humanoid_base_footprint.git
-    version: master
-  src/lib/ipm:
-    type: git
-    url: git@github.com:ros-sports/ipm.git
-    version: rolling
-  src/lib/particle_filter:
-    type: git
-    url: git@github.com:bit-bots/particle_filter.git
-    version: master
-  src/lib/ros2_numpy:
-    type: git
-    url: git@github.com:bit-bots/ros2_numpy.git
-    version: rolling
-  src/lib/ros2_python_extension:
-    type: git
-    url: git@github.com:bit-bots/ros2_python_extension.git
-    version: main
-  src/lib/soccer_field_map_generator:
-    type: git
-    url: git@github.com:ros-sports/soccer_field_map_generator.git
-    version: rolling
-  src/lib/soccer_ipm:
-    type: git
-    url: git@github.com:ros-sports/soccer_ipm.git
-    version: rolling
-  src/lib/udp_bridge:
-    type: git
-    url: git@github.com:bit-bots/udp_bridge.git
-    version: master

From 0ff7d0fa230a1f824c5169a4c126b86dbae8d1de Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Sun, 23 Nov 2025 20:22:00 +0100
Subject: [PATCH 39/90] Add dynamixel deps

---
 pixi.lock | 57 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
 pixi.toml |  2 ++
 2 files changed, 59 insertions(+)

diff --git a/pixi.lock b/pixi.lock
index 936a53317..5b3f3a006 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -489,6 +489,7 @@ environments:
       - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bio-ik-2.0.0-np126py312h3bd2861_10.conda
       - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bio-ik-msgs-0.0.0-np126py312h3bd2861_10.conda
       - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-biped-interfaces-0.0.0-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bitbots-dynamixel-sdk-3.7.21-np126py312h3bd2861_10.conda
       - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bitbots-tf-buffer-1.0.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-builtin-interfaces-2.0.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-camera-calibration-parsers-5.1.7-np126py312h3bd2861_10.conda
@@ -524,6 +525,8 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-dummy-sensors-0.33.7-np126py312h3bd2861_10.conda
       - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-dynamic-stack-decider-0.5.3-np126py312h3bd2861_10.conda
       - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-dynamic-stack-decider-visualization-0.2.1-np126py312h3bd2861_10.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-dynamixel-sdk-3.8.4-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-dynamixel-workbench-toolbox-0.1.8-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-eigen-stl-containers-1.1.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-eigen3-cmake-module-0.3.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-example-interfaces-0.12.0-np126py312h3bd2861_10.conda
@@ -8478,6 +8481,25 @@ packages:
   license: BSD-3-Clause
   size: 88965
   timestamp: 1763897835674
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bitbots-dynamixel-sdk-3.7.21-np126py312h3bd2861_10.conda
+  sha256: e7bf99df736a30c8bd1425579a84e31feb25dff5cb979554891631900e83421c
+  md5: e2cf1bdb30b84d265b597ef57ef8ce11
+  depends:
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 117514
+  timestamp: 1763924887131
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bitbots-tf-buffer-1.0.0-np126py312h3bd2861_10.conda
   sha256: aa054d9ee7acdecdf696d3fe9709bf6dedd86f362d0edcc26c0906c103b7bd9e
   md5: 8c01f716fe10049d5ed447300522ae42
@@ -9312,6 +9334,41 @@ packages:
   license: BSD-3-Clause
   size: 51848
   timestamp: 1763900423945
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-dynamixel-sdk-3.8.4-np126py312h3bd2861_10.conda
+  sha256: 88a292b769876402260f98e399116b4e8de78d924709d5fa42eb456ee5f2fd28
+  md5: 9864819a0ad81dd5ccf687f9ff6a6e96
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 123474
+  timestamp: 1759134549056
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-dynamixel-workbench-toolbox-0.1.8-np126py312h3bd2861_10.conda
+  sha256: c866d66beb88130a6557d0c20c25befa66773490a0dd7ff61456eb3d251e8dff
+  md5: 49e293224ce1c08e9a0723131460b025
+  depends:
+  - python
+  - ros-jazzy-dynamixel-sdk
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 66959
+  timestamp: 1763925070334
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-eigen-stl-containers-1.1.0-np126py312h3bd2861_10.conda
   sha256: 2b9faed224455e47e7dcaf9ffae4b9a8aeec53c56349f6c20bd1fc0831bc90ad
   md5: bf3f26d4dbda7f81561789a7545f93bf
diff --git a/pixi.toml b/pixi.toml
index cd67be212..f8ef0b2de 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -145,6 +145,8 @@ ros-jazzy-udp-bridge = ">=0.0.0,<0.0.1"
 ros-jazzy-particle-filter = ">=0.0.1,<0.0.2"
 ros-jazzy-ros2-numpy = ">=2.0.9,<3"
 ros-jazzy-gazebo-msgs = ">=3.8.0,<4"
+ros-jazzy-bitbots-dynamixel-sdk = ">=3.7.21,<4"
+ros-jazzy-dynamixel-workbench-toolbox = ">=0.1.8,<0.2"
 
 [pypi-dependencies]
 syrupy = ">=5.0.0, <6"

From 8f21ab021b11e2a3b4df89ebf0954cd550e471c5 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Sun, 23 Nov 2025 21:58:12 +0100
Subject: [PATCH 40/90] Add better launch

---
 pixi.lock | 237 ++++++++++++++++++++++++++++++++++++++++++++++++++++--
 pixi.toml |   2 +
 2 files changed, 231 insertions(+), 8 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 5b3f3a006..780c54a20 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -20,6 +20,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.6.3-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-3.0.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-atk-2.38.0-h0630a04_3.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
@@ -50,6 +51,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/cfgv-3.5.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/charset-normalizer-3.4.4-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.6.0-h54a6638_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.3.1-pyh707e725_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.2.0-hc85cc9f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-argcomplete-0.3.3-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-bash-0.5.0-pyhd8ed1ab_1.conda
@@ -98,6 +100,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/empy-3.3.4-pyh9f0ad1d_1.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/epoxy-1.5.10-hb03c661_2.conda
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+  license_family: BSD
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   timestamp: 1726802366959
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@@ -8414,6 +8574,31 @@ packages:
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+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-better-launch-1.0.2-np126py312h3bd2861_10.conda
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+  - ros-jazzy-composition-interfaces
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
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+- conda: https://conda.anaconda.org/conda-forge/noarch/stack_data-0.6.3-pyhd8ed1ab_1.conda
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+  depends:
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+  - executing
+  - pure_eval
+  - python >=3.9
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@@ -17361,6 +17560,17 @@ packages:
   - requests ; extra == 'telegram'
   - ipywidgets>=6 ; extra == 'notebook'
   requires_python: '>=3.7'
+- conda: https://conda.anaconda.org/conda-forge/noarch/traitlets-5.14.3-pyhd8ed1ab_1.conda
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+  md5: 019a7385be9af33791c989871317e1ed
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+  license_family: BSD
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+  license_family: MIT
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diff --git a/pixi.toml b/pixi.toml
index f8ef0b2de..c48ef88ec 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -147,6 +147,8 @@ ros-jazzy-ros2-numpy = ">=2.0.9,<3"
 ros-jazzy-gazebo-msgs = ">=3.8.0,<4"
 ros-jazzy-bitbots-dynamixel-sdk = ">=3.7.21,<4"
 ros-jazzy-dynamixel-workbench-toolbox = ">=0.1.8,<0.2"
+ipython = ">=9.7.0,<10"
+ros-jazzy-better-launch = ">=1.0.2,<2"
 
 [pypi-dependencies]
 syrupy = ">=5.0.0, <6"

From f22970b7671b8eb06df7f0e757192ad01b23c341 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Mon, 24 Nov 2025 17:50:18 +0100
Subject: [PATCH 41/90] mostly working versioms

---
 pixi.lock | 90 ++++++++++++++++++++++++++++++++++++++++++-------------
 1 file changed, 69 insertions(+), 21 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 780c54a20..956dbf36e 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -93,13 +93,14 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/noarch/distro-1.9.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/docstring_parser-0.17.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/docutils-0.21.2-pyhd8ed1ab_1.conda
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.3.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.3.1-pyhd8ed1ab_0.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/orocos-kdl-1.5.3-hecca717_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/osrf_pycommon-0.2.1-pyhd8ed1ab_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/p11-kit-0.24.1-hc5aa10d_0.tar.bz2
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       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-backward-ros-1.0.8-np126py312h3bd2861_10.conda
-      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-better-launch-1.0.2-np126py312h3bd2861_10.conda
+      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-better-launch-1.0.3-np126py312h3bd2861_10.conda
       - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bio-ik-2.0.0-np126py312h3bd2861_10.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdl3-3.2.24-h68140b3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/setproctitle-1.3.6-py312h4c3975b_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-79.0.1-pyhff2d567_0.conda
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   version: 0.6.2
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+- conda: https://conda.anaconda.org/conda-forge/noarch/docstring_parser-0.17.0-pyhd8ed1ab_0.conda
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+  md5: ce49d3e5a7d20be2ba57a2c670bdd82e
+  depends:
+  - python >=3.9
+  license: MIT
+  license_family: MIT
+  purls:
+  - pkg:pypi/docstring-parser?source=hash-mapping
+  size: 31742
+  timestamp: 1753195731224
 - conda: https://conda.anaconda.org/conda-forge/noarch/docutils-0.21.2-pyhd8ed1ab_1.conda
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@@ -2301,17 +2315,17 @@ packages:
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+  - python >=3.10
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-  size: 21284
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   name: networkx
-  version: '3.5'
-  sha256: 0030d386a9a06dee3565298b4a734b68589749a544acbb6c412dc9e2489ec6ec
+  version: '3.6'
+  sha256: cdb395b105806062473d3be36458d8f1459a4e4b98e236a66c3a48996e07684f
   requires_dist:
+  - asv ; extra == 'benchmarking'
+  - virtualenv ; extra == 'benchmarking'
   - numpy>=1.25 ; extra == 'default'
   - scipy>=1.11.2 ; extra == 'default'
   - matplotlib>=3.8 ; extra == 'default'
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   - igraph>=0.11 ; extra == 'example'
   - scikit-learn>=1.5 ; extra == 'example'
+  - iplotx>=0.9.0 ; extra == 'example'
   - lxml>=4.6 ; extra == 'extra'
   - pygraphviz>=1.14 ; extra == 'extra'
   - pydot>=3.0.1 ; extra == 'extra'
   - sympy>=1.10 ; extra == 'extra'
+  - build>=0.10 ; extra == 'release'
+  - twine>=4.0 ; extra == 'release'
+  - wheel>=0.40 ; extra == 'release'
+  - changelist==0.5 ; extra == 'release'
   - pytest>=7.2 ; extra == 'test'
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   - pytest-xdist>=3.0 ; extra == 'test'
@@ -6269,6 +6290,17 @@ packages:
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+- conda: https://conda.anaconda.org/conda-forge/noarch/osrf_pycommon-0.2.1-pyhd8ed1ab_0.tar.bz2
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+  - osrf_pycommon
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-  - libgcc >=14
+  - setproctitle
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From a7e03417fc0aaf751964ce399cd99036b0273f26 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Mon, 24 Nov 2025 18:12:39 +0100
Subject: [PATCH 42/90] add yoeo to pixi deps

---
 pixi.lock | 593 +++++++++++++++++++++++++++++++++++++++++++++++++++---
 pixi.toml |   2 +
 2 files changed, 563 insertions(+), 32 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 956dbf36e..a8dd9acc7 100644
--- a/pixi.lock
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+  - spin==0.13 ; extra == 'build'
+  - build>=1.2.1 ; extra == 'build'
+  - pooch>=1.6.0 ; extra == 'data'
+  - pre-commit ; extra == 'developer'
+  - ipython ; extra == 'developer'
+  - tomli ; python_full_version < '3.11' and extra == 'developer'
+  - sphinx>=8.0 ; extra == 'docs'
+  - sphinx-gallery[parallel]>=0.18 ; extra == 'docs'
+  - numpydoc>=1.7 ; extra == 'docs'
+  - sphinx-copybutton ; extra == 'docs'
+  - matplotlib>=3.7 ; extra == 'docs'
+  - dask[array]>=2023.2.0 ; extra == 'docs'
+  - pandas>=2.0 ; extra == 'docs'
+  - seaborn>=0.11 ; extra == 'docs'
+  - pooch>=1.6 ; extra == 'docs'
+  - tifffile>=2022.8.12 ; extra == 'docs'
+  - myst-parser ; extra == 'docs'
+  - intersphinx-registry>=0.2411.14 ; extra == 'docs'
+  - ipywidgets ; extra == 'docs'
+  - ipykernel ; extra == 'docs'
+  - plotly>=5.20 ; extra == 'docs'
+  - kaleido==0.2.1 ; extra == 'docs'
+  - scikit-learn>=1.2 ; extra == 'docs'
+  - sphinx-design>=0.5 ; extra == 'docs'
+  - pydata-sphinx-theme>=0.16 ; extra == 'docs'
+  - pywavelets>=1.6 ; extra == 'docs'
+  - pytest-doctestplus ; extra == 'docs'
+  - simpleitk ; extra == 'optional'
+  - astropy>=5.0 ; extra == 'optional'
+  - cloudpickle>=1.1.1 ; extra == 'optional'
+  - dask[array]>=2023.2.0 ; extra == 'optional'
+  - matplotlib>=3.7 ; extra == 'optional'
+  - pooch>=1.6.0 ; extra == 'optional'
+  - pyamg>=5.2 ; extra == 'optional'
+  - pywavelets>=1.6 ; extra == 'optional'
+  - scikit-learn>=1.2 ; extra == 'optional'
+  - asv ; extra == 'test'
+  - numpydoc>=1.7 ; extra == 'test'
+  - pooch>=1.6.0 ; extra == 'test'
+  - pytest>=8 ; extra == 'test'
+  - pytest-cov>=2.11.0 ; extra == 'test'
+  - pytest-localserver ; extra == 'test'
+  - pytest-faulthandler ; extra == 'test'
+  - pytest-doctestplus ; extra == 'test'
+  requires_python: '>=3.10'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/scipy-1.16.3-py312h7a1785b_1.conda
   sha256: dcb7080ccb113d760c94a2f5dd32239452793fe9c9cff743ffec27fa128e4801
   md5: c6e0e1f1d9ac014a980574cfe8caa25f
@@ -17199,6 +17582,21 @@ packages:
   - pkg:pypi/setuptools?source=hash-mapping
   size: 787541
   timestamp: 1745484086827
+- pypi: https://files.pythonhosted.org/packages/b9/37/e781683abac55dde9771e086b790e554811a71ed0b2b8a1e789b7430dd44/shapely-2.1.2-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
+  name: shapely
+  version: 2.1.2
+  sha256: 1e7d4d7ad262a48bb44277ca12c7c78cb1b0f56b32c10734ec9a1d30c0b0c54b
+  requires_dist:
+  - numpy>=1.21
+  - pytest ; extra == 'test'
+  - pytest-cov ; extra == 'test'
+  - scipy-doctest ; extra == 'test'
+  - numpydoc==1.1.* ; extra == 'docs'
+  - matplotlib ; extra == 'docs'
+  - sphinx ; extra == 'docs'
+  - sphinx-book-theme ; extra == 'docs'
+  - sphinx-remove-toctrees ; extra == 'docs'
+  requires_python: '>=3.10'
 - conda: https://conda.anaconda.org/conda-forge/noarch/simpleeval-1.0.3-pyhd8ed1ab_0.conda
   sha256: 19d1dab079746de0c38581d926e02306368b74d0683cd3e6b18ccabea54c7e07
   md5: 00cdd2e3ec6d3be6bc2b7d46470a10a1
@@ -17477,15 +17875,15 @@ packages:
   requires_dist:
   - jinja2>=2.0
   - pyyaml>=5.0
-- pypi: https://files.pythonhosted.org/packages/a2/09/77d55d46fd61b4a135c444fc97158ef34a095e5681d0a6c10b75bf356191/sympy-1.14.0-py3-none-any.whl
+- pypi: https://files.pythonhosted.org/packages/b2/fe/81695a1aa331a842b582453b605175f419fe8540355886031328089d840a/sympy-1.13.1-py3-none-any.whl
   name: sympy
-  version: 1.14.0
-  sha256: e091cc3e99d2141a0ba2847328f5479b05d94a6635cb96148ccb3f34671bd8f5
+  version: 1.13.1
+  sha256: db36cdc64bf61b9b24578b6f7bab1ecdd2452cf008f34faa33776680c26d66f8
   requires_dist:
   - mpmath>=1.1.0,<1.4
   - pytest>=7.1.0 ; extra == 'dev'
   - hypothesis>=6.70.0 ; extra == 'dev'
-  requires_python: '>=3.9'
+  requires_python: '>=3.8'
 - pypi: https://files.pythonhosted.org/packages/9d/9a/6c68aad2ccfce6e2eeebbf5bb709d0240592eb51ff142ec4c8fbf3c2460a/syrupy-5.0.0-py3-none-any.whl
   name: syrupy
   version: 5.0.0
@@ -17529,6 +17927,70 @@ packages:
   purls: []
   size: 1115083
   timestamp: 1762509972811
+- pypi: https://files.pythonhosted.org/packages/9c/d9/a5db55f88f258ac669a92858b70a714bbbd5acd993820b41ec4a96a4d77f/tensorboard-2.20.0-py3-none-any.whl
+  name: tensorboard
+  version: 2.20.0
+  sha256: 9dc9f978cb84c0723acf9a345d96c184f0293d18f166bb8d59ee098e6cfaaba6
+  requires_dist:
+  - absl-py>=0.4
+  - grpcio>=1.48.2
+  - markdown>=2.6.8
+  - numpy>=1.12.0
+  - packaging
+  - pillow
+  - protobuf>=3.19.6,!=4.24.0
+  - setuptools>=41.0.0
+  - tensorboard-data-server>=0.7.0,<0.8.0
+  - werkzeug>=1.0.1
+  requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/7a/13/e503968fefabd4c6b2650af21e110aa8466fe21432cd7c43a84577a89438/tensorboard_data_server-0.7.2-py3-none-any.whl
+  name: tensorboard-data-server
+  version: 0.7.2
+  sha256: 7e0610d205889588983836ec05dc098e80f97b7e7bbff7e994ebb78f578d0ddb
+  requires_python: '>=3.7'
+- pypi: https://files.pythonhosted.org/packages/c4/fb/ea621e0a19733e01fe4005d46087d383693c0f4a8f824b47d8d4122c87e0/terminaltables-3.1.10-py2.py3-none-any.whl
+  name: terminaltables
+  version: 3.1.10
+  sha256: e4fdc4179c9e4aab5f674d80f09d76fa436b96fdc698a8505e0a36bf0804a874
+  requires_python: '>=2.6'
+- pypi: https://files.pythonhosted.org/packages/e6/5e/56c751afab61336cf0e7aa671b134255a30f15f59cd9e04f59c598a37ff5/tifffile-2025.10.16-py3-none-any.whl
+  name: tifffile
+  version: 2025.10.16
+  sha256: 41463d979c1c262b0a5cdef2a7f95f0388a072ad82d899458b154a48609d759c
+  requires_dist:
+  - numpy
+  - imagecodecs>=2024.12.30 ; extra == 'codecs'
+  - defusedxml ; extra == 'xml'
+  - lxml ; extra == 'xml'
+  - zarr>=3.1.3 ; extra == 'zarr'
+  - fsspec ; extra == 'zarr'
+  - kerchunk ; extra == 'zarr'
+  - matplotlib ; extra == 'plot'
+  - imagecodecs>=2024.12.30 ; extra == 'all'
+  - matplotlib ; extra == 'all'
+  - defusedxml ; extra == 'all'
+  - lxml ; extra == 'all'
+  - zarr>=3.1.3 ; extra == 'all'
+  - fsspec ; extra == 'all'
+  - kerchunk ; extra == 'all'
+  - cmapfile ; extra == 'test'
+  - czifile ; extra == 'test'
+  - dask ; extra == 'test'
+  - defusedxml ; extra == 'test'
+  - fsspec ; extra == 'test'
+  - imagecodecs ; extra == 'test'
+  - kerchunk ; extra == 'test'
+  - lfdfiles ; extra == 'test'
+  - lxml ; extra == 'test'
+  - ndtiff ; extra == 'test'
+  - oiffile ; extra == 'test'
+  - psdtags ; extra == 'test'
+  - pytest ; extra == 'test'
+  - requests ; extra == 'test'
+  - roifile ; extra == 'test'
+  - xarray ; extra == 'test'
+  - zarr>=3.1.3 ; extra == 'test'
+  requires_python: '>=3.11'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml2-11.0.0-h3f2d84a_0.conda
   sha256: 3ae98c2ca54928b2c72dbb4bd8ea229d3c865ad39367d377908294d9fb1e6f2c
   md5: aeb0b91014ac8c5d468e32b7a5ce8ac2
@@ -17578,6 +18040,50 @@ packages:
   - pkg:pypi/tomli?source=compressed-mapping
   size: 20973
   timestamp: 1760014679845
+- pypi: https://files.pythonhosted.org/packages/8b/5c/36c114d120bfe10f9323ed35061bc5878cc74f3f594003854b0ea298942f/torch-2.5.1-cp312-cp312-manylinux1_x86_64.whl
+  name: torch
+  version: 2.5.1
+  sha256: ed231a4b3a5952177fafb661213d690a72caaad97d5824dd4fc17ab9e15cec03
+  requires_dist:
+  - filelock
+  - typing-extensions>=4.8.0
+  - networkx
+  - jinja2
+  - fsspec
+  - nvidia-cuda-nvrtc-cu12==12.4.127 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-cuda-runtime-cu12==12.4.127 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-cuda-cupti-cu12==12.4.127 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-cudnn-cu12==9.1.0.70 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-cublas-cu12==12.4.5.8 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-cufft-cu12==11.2.1.3 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-curand-cu12==10.3.5.147 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-cusolver-cu12==11.6.1.9 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-cusparse-cu12==12.3.1.170 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-nccl-cu12==2.21.5 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-nvtx-cu12==12.4.127 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - nvidia-nvjitlink-cu12==12.4.127 ; platform_machine == 'x86_64' and sys_platform == 'linux'
+  - triton==3.1.0 ; python_full_version < '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'
+  - sympy==1.12.1 ; python_full_version == '3.8.*'
+  - setuptools ; python_full_version >= '3.12'
+  - sympy==1.13.1 ; python_full_version >= '3.9'
+  - opt-einsum>=3.3 ; extra == 'opt-einsum'
+  - optree>=0.12.0 ; extra == 'optree'
+  requires_python: '>=3.8.0'
+- pypi: https://files.pythonhosted.org/packages/7d/18/1474d06f721b86e6a9b9d7392ad68bed711a02f3b61ac43f13c719db50a6/torchsummary-1.5.1-py3-none-any.whl
+  name: torchsummary
+  version: 1.5.1
+  sha256: 10f41d1743fb918f83293f13183f532ab1bb8f6639a1b89e5f8592ec1919a976
+- pypi: https://files.pythonhosted.org/packages/d4/75/00a852275ade58d3dc474530f7a7b6bc999a817148f0eb59d4fde12eb955/torchvision-0.20.1-cp312-cp312-manylinux1_x86_64.whl
+  name: torchvision
+  version: 0.20.1
+  sha256: 17cd78adddf81dac57d7dccc9277a4d686425b1c55715f308769770cb26cad5c
+  requires_dist:
+  - numpy
+  - torch==2.5.1
+  - pillow>=5.3.0,!=8.3.*
+  - gdown>=4.7.3 ; extra == 'gdown'
+  - scipy ; extra == 'scipy'
+  requires_python: '>=3.8'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/tornado-6.5.2-py312h4c3975b_2.conda
   sha256: aecc1ec07a13693922b0b7db52486298ab1cbfdbf1e20043941d660f868d7881
   md5: 2f03dbd34c9706d67b7c9ee815cc89ef
@@ -17631,6 +18137,24 @@ packages:
   - pkg:pypi/transforms3d?source=hash-mapping
   size: 2690384
   timestamp: 1734511238605
+- pypi: https://files.pythonhosted.org/packages/78/eb/65f5ba83c2a123f6498a3097746607e5b2f16add29e36765305e4ac7fdd8/triton-3.1.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
+  name: triton
+  version: 3.1.0
+  sha256: c8182f42fd8080a7d39d666814fa36c5e30cc00ea7eeeb1a2983dbb4c99a0fdc
+  requires_dist:
+  - filelock
+  - cmake>=3.20 ; extra == 'build'
+  - lit ; extra == 'build'
+  - autopep8 ; extra == 'tests'
+  - flake8 ; extra == 'tests'
+  - isort ; extra == 'tests'
+  - numpy ; extra == 'tests'
+  - pytest ; extra == 'tests'
+  - scipy>=1.7.1 ; extra == 'tests'
+  - llnl-hatchet ; extra == 'tests'
+  - matplotlib ; extra == 'tutorials'
+  - pandas ; extra == 'tutorials'
+  - tabulate ; extra == 'tutorials'
 - conda: https://conda.anaconda.org/conda-forge/noarch/typeguard-4.4.4-pyhd8ed1ab_0.conda
   sha256: 591e03a61b4966a61b15a99f91d462840b6e77bf707ecb48690b24649fee921a
   md5: 8b2613dbfd4e2bc9080b2779b53fc210
@@ -18443,6 +18967,23 @@ packages:
   - pkg:pypi/yarl?source=hash-mapping
   size: 151549
   timestamp: 1761337128623
+- pypi: git+https://github.com/bit-bots/YOEO#6a3ce221e0106aecb1b190146fb453daefdfb758
+  name: yoeo
+  version: 1.6.1
+  requires_dist:
+  - imgaug>=0.4.0,<0.5.0
+  - matplotlib>=3.3.3,<4.0.0
+  - numpy>=1.26,<2.0
+  - opencv-python>=4.10.0.84,<5.0.0.0
+  - pillow>=11.0.0,<12.0.0
+  - pyyaml>=6.0.2,<7.0.0
+  - tensorboard>=2.18.0,<3.0.0
+  - terminaltables>=3.1.10,<4.0.0
+  - torch>=2.5.1,<3.0.0
+  - torchsummary>=1.5.1,<2.0.0
+  - torchvision>=0.20.1,<0.21.0
+  - tqdm>=4.67.0,<5.0.0
+  requires_python: '>=3.10,<4.0'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zeromq-4.3.5-h387f397_9.conda
   sha256: 47cfe31255b91b4a6fa0e9dbaf26baa60ac97e033402dbc8b90ba5fee5ffe184
   md5: 8035e5b54c08429354d5d64027041cad
@@ -18481,18 +19022,6 @@ packages:
   purls: []
   size: 92286
   timestamp: 1727963153079
-- conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-ng-2.2.5-hde8ca8f_0.conda
-  sha256: 3a8e7798deafd0722b6b5da50c36b7f361a80b30165d600f7760d569a162ff95
-  md5: 1920c3502e7f6688d650ab81cd3775fd
-  depends:
-  - __glibc >=2.17,<3.0.a0
-  - libgcc >=14
-  - libstdcxx >=14
-  license: Zlib
-  license_family: Other
-  purls: []
-  size: 110843
-  timestamp: 1754587144298
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zstandard-0.25.0-py312h5253ce2_1.conda
   sha256: c2bcb8aa930d6ea3c9c7a64fc4fab58ad7bcac483a9a45de294f67d2f447f413
   md5: 02738ff9855946075cbd1b5274399a41
diff --git a/pixi.toml b/pixi.toml
index c48ef88ec..a24dd56b9 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -149,6 +149,7 @@ ros-jazzy-bitbots-dynamixel-sdk = ">=3.7.21,<4"
 ros-jazzy-dynamixel-workbench-toolbox = ">=0.1.8,<0.2"
 ipython = ">=9.7.0,<10"
 ros-jazzy-better-launch = ">=1.0.2,<2"
+pillow = "<12" # this constraint is needed as yoeo specifies the 11 major version and otherwise uv fails to solve given the constrains from the conda ecosystem.
 
 [pypi-dependencies]
 syrupy = ">=5.0.0, <6"
@@ -157,6 +158,7 @@ pyamdgpuinfo = ">=2.1.7, <3"
 mycroft-mimic3-tts = ">=0.2.4, <0.3"
 pyttsx3 = ">=2.99, <3"
 bitbots-rust-nav = { git = "https://github.com/bit-bots/bitbots_rust_nav" }
+yoeo = { git = "https://github.com/bit-bots/YOEO" }
 
 [activation]
 scripts = ["install/setup.sh"]

From 735a25cb9fb130a8e738aeed1a79e0bf1efb10dd Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Tue, 25 Nov 2025 01:06:42 +0100
Subject: [PATCH 43/90] Pin versions to fix warnings

---
 pixi.lock | 86 +++++++++++++++++++++++++++++++++++++++++--------------
 pixi.toml |  4 +--
 2 files changed, 66 insertions(+), 24 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index a8dd9acc7..f0e902905 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -52,7 +52,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/charset-normalizer-3.4.4-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.6.0-h54a6638_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.3.1-pyh707e725_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.2.0-hc85cc9f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.29.6-hcafd917_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-argcomplete-0.3.3-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-bash-0.5.0-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-cd-0.1.1-pyhd8ed1ab_1.conda
@@ -879,7 +879,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdl2-2.32.56-h54a6638_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdl3-3.2.24-h68140b3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/setproctitle-1.3.6-py312h4c3975b_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-79.0.1-pyhff2d567_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-68.1.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/simpleeval-1.0.3-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sip-6.10.0-py312h1289d80_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
@@ -964,6 +964,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxtst-1.2.5-hb9d3cd8_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxxf86vm-1.1.6-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-xorgproto-2024.1-hb9d3cd8_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.8.1-hbcc6ac9_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-gpl-tools-5.8.1-hbcc6ac9_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.1-hb9d3cd8_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h280c20c_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-cpp-0.8.0-h3f2d84a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/yarl-1.22.0-py312h8a5da7c_0.conda
@@ -1641,27 +1644,26 @@ packages:
   - pkg:pypi/click?source=compressed-mapping
   size: 92604
   timestamp: 1763248639281
-- conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.2.0-hc85cc9f_0.conda
-  sha256: 3e9f674f99f06ae0f5a7bdbbc57ee696d95981dbe70734aec9954339f7aba30f
-  md5: 10a7bb07fe7ac977d78a54ba99401f0d
+- conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.29.6-hcafd917_0.conda
+  sha256: a788df92bf0e6e02d13ebc4e14e8bc56c80186f976200537799426aafc0e51ab
+  md5: b1084336535950b28485bb93653ca152
   depends:
-  - __glibc >=2.17,<3.0.a0
   - bzip2 >=1.0.8,<2.0a0
-  - libcurl >=8.17.0,<9.0a0
-  - libexpat >=2.7.3,<3.0a0
-  - libgcc >=14
-  - liblzma >=5.8.1,<6.0a0
-  - libstdcxx >=14
-  - libuv >=1.51.0,<2.0a0
+  - libcurl >=8.8.0,<9.0a0
+  - libexpat >=2.6.2,<3.0a0
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  - libuv >=1.48.0,<2.0a0
   - libzlib >=1.3.1,<2.0a0
   - ncurses >=6.5,<7.0a0
-  - rhash >=1.4.6,<2.0a0
-  - zstd >=1.5.7,<1.6.0a0
+  - rhash >=1.4.4,<2.0a0
+  - xz >=5.2.6,<6.0a0
+  - zstd >=1.5.6,<1.6.0a0
   license: BSD-3-Clause
   license_family: BSD
   purls: []
-  size: 22345904
-  timestamp: 1763585347008
+  size: 19042008
+  timestamp: 1718668981413
 - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-argcomplete-0.3.3-pyhd8ed1ab_1.conda
   sha256: 05ccb85cad9ca58be9dcb74225f6180a68907a6ab0c990e3940f4decc5bb2280
   md5: bde6042a1b40a2d4021e1becbe8dd84f
@@ -17571,17 +17573,17 @@ packages:
   - pkg:pypi/setproctitle?source=hash-mapping
   size: 21115
   timestamp: 1762506264445
-- conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-79.0.1-pyhff2d567_0.conda
-  sha256: 5ebc4bb71fbdc8048b08848519150c8d44b8eb18445711d3258c9d402ba87a2c
-  md5: fa6669cc21abd4b7b6c5393b7bc71914
+- conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-68.1.2-pyhd8ed1ab_0.conda
+  sha256: dc5a777597e05ceddefc87d2f96389b7ae0afb097e558307af83a453db3e3887
+  md5: 4fe12573bf499ff85a0a364e00cc5c53
   depends:
-  - python >=3.9
+  - python >=3.7
   license: MIT
   license_family: MIT
   purls:
   - pkg:pypi/setuptools?source=hash-mapping
-  size: 787541
-  timestamp: 1745484086827
+  size: 462324
+  timestamp: 1692383535614
 - pypi: https://files.pythonhosted.org/packages/b9/37/e781683abac55dde9771e086b790e554811a71ed0b2b8a1e789b7430dd44/shapely-2.1.2-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
   name: shapely
   version: 2.1.2
@@ -18926,6 +18928,46 @@ packages:
   purls: []
   size: 565425
   timestamp: 1726846388217
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.8.1-hbcc6ac9_2.conda
+  sha256: 802725371682ea06053971db5b4fb7fbbcaee9cb1804ec688f55e51d74660617
+  md5: 68eae977d7d1196d32b636a026dc015d
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - liblzma 5.8.1 hb9d3cd8_2
+  - liblzma-devel 5.8.1 hb9d3cd8_2
+  - xz-gpl-tools 5.8.1 hbcc6ac9_2
+  - xz-tools 5.8.1 hb9d3cd8_2
+  license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
+  purls: []
+  size: 23987
+  timestamp: 1749230104359
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-gpl-tools-5.8.1-hbcc6ac9_2.conda
+  sha256: 840838dca829ec53f1160f3fca6dbfc43f2388b85f15d3e867e69109b168b87b
+  md5: bf627c16aa26231720af037a2709ab09
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - liblzma 5.8.1 hb9d3cd8_2
+  constrains:
+  - xz 5.8.1.*
+  license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
+  purls: []
+  size: 33911
+  timestamp: 1749230090353
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.1-hb9d3cd8_2.conda
+  sha256: 58034f3fca491075c14e61568ad8b25de00cb3ae479de3e69be6d7ee5d3ace28
+  md5: 1bad2995c8f1c8075c6c331bf96e46fb
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - liblzma 5.8.1 hb9d3cd8_2
+  constrains:
+  - xz 5.8.1.*
+  license: 0BSD AND LGPL-2.1-or-later
+  purls: []
+  size: 96433
+  timestamp: 1749230076687
 - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h280c20c_3.conda
   sha256: 6d9ea2f731e284e9316d95fa61869fe7bbba33df7929f82693c121022810f4ad
   md5: a77f85f77be52ff59391544bfe73390a
diff --git a/pixi.toml b/pixi.toml
index a24dd56b9..17d43421d 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -112,13 +112,13 @@ ros-jazzy-urdfdom-py = ">=1.2.1,<2"
 libboost-devel = ">=1.86.0,<2"
 libopencv = ">=4.11.0,<5"
 colcon-common-extensions = ">=0.3.0,<0.4"
-setuptools = "<80.0.0"
+setuptools = "==68.1.2"
 libnuma = ">=2.0.18,<3"
 compilers = ">=1.11.0,<2"
 sysroot_linux-64 = ">=2.28,<3"
 pthread-stubs = ">=0.4,<0.5"
 pkg-config = ">=0.29.2,<0.30"
-cmake = ">=4.2.0,<5"
+cmake = "<3.30"
 ninja = ">=1.13.2,<2"
 ros-jazzy-imu-complementary-filter = ">=2.1.5,<3"
 ros-jazzy-pybind11-vendor = ">=3.1.3,<4"

From f7935ae46426f0a794abca4e0b77e47878645567 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Tue, 25 Nov 2025 23:55:34 +0100
Subject: [PATCH 44/90] bump better launvh

---
 pixi.lock | 419 ++++++++++++++++++++++++++++--------------------------
 pixi.toml |   2 +-
 2 files changed, 219 insertions(+), 202 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index f0e902905..8ebe90287 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -30,14 +30,14 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bcrypt-5.0.0-py312h868fb18_1.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.4-h5888daf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-bootstrap_h8a22499_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-bootstrap_h59bd682_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45-bootstrap_h8a22499_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-default_h4852527_104.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-default_hfdba357_104.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45-default_h4852527_104.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-h41a2e66_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.2.0-hf2c8021_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.2.0-py312h67db365_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-hed03a55_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.2.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.2.0-py312hdb49522_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-3.25-h26dfbe5_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcbe3ca9_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_8.conda
@@ -77,7 +77,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/coloredlogs-15.0.1-pyhd8ed1ab_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.11.0-ha770c72_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-hb991d5c_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-he8ccf15_12.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.3-py312hd9148b4_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/coverage-7.12.0-py312h8a5da7c_0.conda
@@ -130,15 +130,15 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/frozenlist-1.7.0-py312h447239a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-14.3.0-h76bdaa0_7.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-14.3.0-hd9e9e21_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-14.3.0-h0dff253_12.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-14.3.0-h0c81b82_12.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-14.3.0-h298d278_14.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/gdk-pixbuf-2.44.4-h2b0a6b4_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gettext-0.25.1-h3f43e3d_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gettext-tools-0.25.1-h3f43e3d_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gfortran-14.3.0-he448592_7.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gfortran_impl_linux-64-14.3.0-h7db7018_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gfortran_impl_linux-64-14.3.0-h1a219da_12.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gfortran_linux-64-14.3.0-h1e4d427_14.conda
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@@ -157,7 +157,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-14.3.0-he448592_7.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-14.3.0-he663afc_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-14.3.0-h2185e75_12.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-14.3.0-hc876b51_14.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gz-cmake3-3.5.5-h05f81b2_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gz-math7-7.5.2-h5bbc156_2.conda
@@ -197,7 +197,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/noarch/lark-parser-0.12.0-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lcms2-2.17-h717163a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.45-bootstrap_ha15bf96_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.45-default_hbd61a6d_104.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lerc-4.0.0-h0aef613_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/level-zero-1.26.0-hb700be7_0.conda
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@@ -214,9 +214,9 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.2.0-h09219d5_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.2.0-hd53d788_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.2.0-h02bd7ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.2.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.2.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.2.0-hb03c661_1.conda
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@@ -238,14 +238,14 @@ environments:
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+      - conda: https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-14.3.0-hf649bbc_112.conda
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   - libstdcxx >=14
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  - numpy >=1.26.4,<2.0a0
   - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   license: BSD-3-Clause
-  size: 266795
-  timestamp: 1763976004255
+  size: 266556
+  timestamp: 1764110785188
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bio-ik-2.0.0-np126py312h3bd2861_10.conda
   sha256: 613657695674e551f7c7aa91d0351887b8d8e3d4f026999f90cb12dd3650ae12
   md5: 58a6f78e76f806c04551d52768eccb32
@@ -17368,6 +17384,7 @@ packages:
   constrains:
   - __glibc >=2.17
   license: MIT
+  license_family: MIT
   purls:
   - pkg:pypi/ruff?source=compressed-mapping
   size: 11216432
@@ -18458,14 +18475,14 @@ packages:
   purls: []
   size: 330474
   timestamp: 1751817998141
-- conda: https://conda.anaconda.org/conda-forge/noarch/wayland-protocols-1.45-hd8ed1ab_0.conda
-  sha256: 37b0e03a943c048e143f624c51b329778f36923052092fd938827f8c19a4941d
-  md5: 6db9be3b67190229479780eeeee1b35b
+- conda: https://conda.anaconda.org/conda-forge/noarch/wayland-protocols-1.46-hd8ed1ab_0.conda
+  sha256: 8094050a5146dadc4e94d71351b70ec0f54803ef3999afa6640e599a0b3b43a8
+  md5: 967e4d37eaad18d4add66aaa394d8de8
   license: MIT
   license_family: MIT
   purls: []
-  size: 138011
-  timestamp: 1749836220507
+  size: 139554
+  timestamp: 1764021418156
 - conda: https://conda.anaconda.org/conda-forge/noarch/wcwidth-0.2.14-pyhd8ed1ab_0.conda
   sha256: e311b64e46c6739e2a35ab8582c20fa30eb608da130625ed379f4467219d4813
   md5: 7e1e5ff31239f9cd5855714df8a3783d
diff --git a/pixi.toml b/pixi.toml
index 17d43421d..b7ca19f4a 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -148,8 +148,8 @@ ros-jazzy-gazebo-msgs = ">=3.8.0,<4"
 ros-jazzy-bitbots-dynamixel-sdk = ">=3.7.21,<4"
 ros-jazzy-dynamixel-workbench-toolbox = ">=0.1.8,<0.2"
 ipython = ">=9.7.0,<10"
-ros-jazzy-better-launch = ">=1.0.2,<2"
 pillow = "<12" # this constraint is needed as yoeo specifies the 11 major version and otherwise uv fails to solve given the constrains from the conda ecosystem.
+ros-jazzy-better-launch = ">=1.0.3,<2"
 
 [pypi-dependencies]
 syrupy = ">=5.0.0, <6"

From baf368ccabb9bf184265b5fd5b77a842e3e349fc Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Wed, 26 Nov 2025 20:50:29 +0100
Subject: [PATCH 45/90] Begin to migrate justfile

---
 Justfile       | 49 -----------------------------------------
 pixi.lock      | 31 ++++++++++++++++++++++++++
 pixi.toml      | 59 +++++++++++++++++++++++++++-----------------------
 pyproject.toml |  6 ++---
 4 files changed, 65 insertions(+), 80 deletions(-)

diff --git a/Justfile b/Justfile
index 3ff8857a2..a3b2577a2 100644
--- a/Justfile
+++ b/Justfile
@@ -18,18 +18,6 @@ install-basler:
 install-webots:
 	scripts/make_webots.sh {{ if CI != "" {"--ci"} else {""} }}
 
-# Install all dependencies, pull all repositories, ...
-install: pull-init install-basler install-webots update
-
-# Same as install but without sudo commands (apt/ros dependencies must be already installed on the system)
-install-no-root: pull-init update-no-root
-
-# Install python dependencies
-pip:
-    # Install and upgrade pip dependencies
-    pip install --upgrade pip --user --break-system-packages -v
-    pip install --upgrade -r requirements/dev.txt --user --break-system-packages -v
-
 
 # Sets up pre-commit hooks that check code formatting etc. before each commit
 install-pre-commit:
@@ -41,48 +29,11 @@ install-git-filters:
     # Install git filters
     git config filter.removeFullHomePath.clean "sed '/\/\(home\|root\).*\(install\|build\)/d'"
 
-# Formats the code according to our style guidelines
-format:
-    pre-commit run --all-files
-
-# Clones/Overrides all library repositories and pulls all auxiliary files (like neural network weights)
-pull-init: fresh-libs pull-files
-
 # Pull all auxiliary files (like neural network weights) from the http server
 pull-files:
     wget --no-verbose --show-progress --timeout=15 --tries=2 --recursive --timestamping --no-parent --no-host-directories --directory-prefix={{REPO}}/src/bitbots_vision --reject "index.html*" "https://data.bit-bots.de/models/"
     wget --no-verbose --show-progress --timeout=15 --tries=2 --recursive --timestamping --no-parent --no-host-directories --directory-prefix={{REPO}}/src/bitbots_motion/bitbots_rl_motion --reject "index.html*" "https://data.bit-bots.de/rl_walk_models/"
 
-# Remove all library repositories and re-clone them
-fresh-libs: remove-libs clone-libs
-
-# Remove all library repositories
-remove-libs:
-    rm -rf src/lib/*
-    rm -rf src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
-    rm src/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py || true
-
-# Clone all library repositories
-clone-libs:
-    if [ "{{HTTPS}}" = "true" ]; then \
-        awk '{sub("git@github.com:", "https://github.com/"); print "  " $$0}' workspace.repos | vcs import .; \
-    else \
-        vcs import . < workspace.repos; \
-    fi
-
-# Install all ROS managed dependencies
-rosdep:
-    [ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init
-    rosdep update
-    rosdep install --from-paths src --ignore-src --rosdistro jazzy -y
-
-# Update everything (download all lib repositories, update dependencies, ...)
-update: pull-init rosdep pip install-git-filters
-
-# Same as update but without sudo commands (all apt/ros dependencies must be already installed on the system)
-update-no-root: pull-init pip install-git-filters
-
-
 # Build related targets
 
 # Build a specific package or all packages
diff --git a/pixi.lock b/pixi.lock
index f0e902905..ae99ab239 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -50,6 +50,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.0.0-py312h35888ee_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/cfgv-3.5.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/charset-normalizer-3.4.4-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21-21.1.0-default_h99862b1_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21.1.0-default_h99862b1_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.6.0-h54a6638_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.3.1-pyh707e725_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.29.6-hcafd917_0.conda
@@ -1619,6 +1621,35 @@ packages:
   - pkg:pypi/charset-normalizer?source=hash-mapping
   size: 50965
   timestamp: 1760437331772
+- conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21.1.0-default_h99862b1_1.conda
+  sha256: b8f9111761e49d09f6138351b9ddcf22c9722cd415b632d5f818ee37d4cff5f7
+  md5: e338135a864fd05ffe419e6200e68f2b
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - clang-format-21 21.1.0 default_h99862b1_1
+  - libclang-cpp21.1 >=21.1.0,<21.2.0a0
+  - libgcc >=14
+  - libllvm21 >=21.1.0,<21.2.0a0
+  - libstdcxx >=14
+  license: Apache-2.0 WITH LLVM-exception
+  license_family: Apache
+  purls: []
+  size: 24665
+  timestamp: 1757383552190
+- conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21-21.1.0-default_h99862b1_1.conda
+  sha256: 511b2aa5b0b1aa774036b1990e9e86f200ae5b96c159737ca08d8b3882f6b210
+  md5: 41987b5824e20b1f6a532cdc2b88d56d
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libclang-cpp21.1 >=21.1.0,<21.2.0a0
+  - libgcc >=14
+  - libllvm21 >=21.1.0,<21.2.0a0
+  - libstdcxx >=14
+  license: Apache-2.0 WITH LLVM-exception
+  license_family: Apache
+  purls: []
+  size: 67486
+  timestamp: 1757383493919
 - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.6.0-h54a6638_0.conda
   sha256: 324097cd9dde3a4623b0275655ea34641481daa5c1274f9ab994e8a2e6aa26e6
   md5: ddf9fed4661bace13f33f08fe38a5f45
diff --git a/pixi.toml b/pixi.toml
index 17d43421d..f227c78c4 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -8,19 +8,46 @@ version = "0.1.0"
 [tasks]
 build = "colcon build --symlink-install --cmake-args -G Ninja"
 clean = "rm -rf build install log"
+test = "colcon test --event-handlers console_direct+ --return-code-on-test-failure"
+format = "pre-commit run --all-files"
+deploy = "scripts/deploy_robots.py"
 
 [dependencies]
+beartype = ">=0.22.6,<0.23"
 breathe = ">=4.36.0,<5"
+clang-format = ">=21.1.0,<22"
+cmake = "<3.30"  # Constraint to avoid issues with deprecated features in newer cmake versions
+colcon-common-extensions = ">=0.3.0,<0.4"
+colorama = ">=0.4.6,<0.5"
+compilers = ">=1.11.0,<2"
+cppcheck = ">=2.18.3,<3"
 eigen = ">=3.4.0,<4"
+fabric = ">=3.2.2,<4"
+gitpython = ">=3.1.45,<4"
+invoke = ">=2.2.1,<3"
+jaxtyping = ">=0.3.2,<0.4"
+libboost-devel = ">=1.86.0,<2"
+libnuma = ">=2.0.18,<3"
+libopencv = ">=4.11.0,<5"
+libprotobuf = ">=5.29.3,<6"
 matplotlib = ">=3.10.8,<4"
+mypy = ">=1.18.2,<2"
+ninja = ">=1.13.2,<2"
 numpy = ">=1.26.4,<2"
 opencv = ">=4.11.0,<5"
+paramiko =   ">=4.0.0,<5"
+pkg-config = ">=0.29.2,<0.30"
+playsound = ">=1.3.0,<2"
+pre-commit = ">=4.4.0,<5"
 protobuf = ">=5.29.3,<6"
 psutil = ">=7.1.3,<8"
+pthread-stubs = ">=0.4,<0.5"
 pybind11 = ">=3.0.1,<4"
 pyqt = ">=5.15.11,<6"
 pytest = ">=9.0.1,<10"
+pytest-mock = ">=3.15.1,<4"
 pyyaml = ">=6.0.3,<7"
+rich = ">=14.2.0,<15"
 ros-jazzy-action-msgs = ">=2.0.3,<3"
 ros-jazzy-ament-cmake = ">=2.5.4,<3"
 ros-jazzy-ament-cmake-mypy = ">=0.17.3,<0.18"
@@ -85,41 +112,19 @@ ros-jazzy-trajectory-msgs = ">=5.3.6,<6"
 ros-jazzy-transmission-interface = ">=4.37.0,<5"
 ros-jazzy-turtlesim = ">=1.8.3,<2"
 ros-jazzy-urdf = ">=2.10.0,<3"
+ros-jazzy-urdfdom-py = ">=1.2.1,<2"
 ros-jazzy-vision-opencv = ">=4.1.0,<5"
 ros-jazzy-visualization-msgs = ">=5.3.6,<6"
 ros-jazzy-xacro = ">=2.1.1,<3"
 rospkg = ">=1.6.0,<2"
+ruff = ">=0.14.6,<0.15"
 rust = ">=1.91.1,<1.92"
+setuptools = "==68.1.2"
+simpleeval = ">=1.0.3,<2"
 sphinx-rtd-theme = ">=3.0.2,<4"
+sysroot_linux-64 = ">=2.28,<3"
 transforms3d = ">=0.4.2,<0.5"
 yaml-cpp = ">=0.8.0,<0.9"
-simpleeval = ">=1.0.3,<2"
-beartype = ">=0.22.6,<0.23"
-jaxtyping = ">=0.3.2,<0.4"
-mypy = ">=1.18.2,<2"
-colorama = ">=0.4.6,<0.5"
-fabric = ">=3.2.2,<4"
-gitpython = ">=3.1.45,<4"
-invoke = ">=2.2.1,<3"
-paramiko =   ">=4.0.0,<5"
-pre-commit = ">=4.4.0,<5"
-pytest-mock = ">=3.15.1,<4"
-rich = ">=14.2.0,<15"
-ruff = ">=0.14.6,<0.15"
-playsound = ">=1.3.0,<2"
-libprotobuf = ">=5.29.3,<6"
-ros-jazzy-urdfdom-py = ">=1.2.1,<2"
-libboost-devel = ">=1.86.0,<2"
-libopencv = ">=4.11.0,<5"
-colcon-common-extensions = ">=0.3.0,<0.4"
-setuptools = "==68.1.2"
-libnuma = ">=2.0.18,<3"
-compilers = ">=1.11.0,<2"
-sysroot_linux-64 = ">=2.28,<3"
-pthread-stubs = ">=0.4,<0.5"
-pkg-config = ">=0.29.2,<0.30"
-cmake = "<3.30"
-ninja = ">=1.13.2,<2"
 ros-jazzy-imu-complementary-filter = ">=2.1.5,<3"
 ros-jazzy-pybind11-vendor = ">=3.1.3,<4"
 ros-jazzy-soccer-vision-3d-msgs = ">=1.0.0,<2"
diff --git a/pyproject.toml b/pyproject.toml
index 9864c6719..b027becc1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -2,7 +2,7 @@
 line-length = 120
 
 [tool.ruff.lint]
-# Never enforce 
+# Never enforce
 # - `E501` (line length violations)
 # - `UP007` (usage of | instead of Union and Optional)
 # - `F722` (no forward type references by quoting)
@@ -14,8 +14,6 @@ ignore = ["E501", "UP007", "F722", "UP037"]
 # - pycodestyle warnings (`W`)
 # - flake8-bugbear warnings (`B`)
 # - isort import sorting (`I001`)
-# - pep8-naming convenrtions (`N`)
+# - pep8-naming conventions (`N`)
 # - pyupgrade prefer newer language constructs (`UP`)
 select = ["F", "E", "B", "W", "I001", "N", "UP"]
-# Do not lint the following directories
-exclude = ["lib"]

From e06c9ab430bf85523a82f5b201c20ae2e294ec34 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Thu, 27 Nov 2025 00:22:00 +0100
Subject: [PATCH 46/90] Ignore pixi in vscode search

---
 .vscode/settings.json | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 970e8c9c0..799c7e470 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -244,5 +244,6 @@
         "build": true,
         "install": true,
         "log": true,
+        ".pixi": true,
     },
 }

From 7213434f55c6386efa4f6977cc04beabb0a52ea7 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Thu, 27 Nov 2025 00:22:13 +0100
Subject: [PATCH 47/90] Fix rl walk build

---
 src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt b/src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
index 7f83a4899..14873a3f9 100644
--- a/src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
+++ b/src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
@@ -8,8 +8,9 @@ enable_bitbots_docs()
 
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY rl_walk_models DESTINATION share/${PROJECT_NAME})
-
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/rl_walk_models")
+    install(DIRECTORY rl_walk_models DESTINATION share/${PROJECT_NAME})
+endif()
 install(PROGRAMS scripts/rl_walk.py DESTINATION lib/${PROJECT_NAME})
 
 ament_package()

From e24b1bcb5721fe6b10518699dafd7b5a46018845 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Thu, 27 Nov 2025 00:22:50 +0100
Subject: [PATCH 48/90] Load models from package

---
 pixi.lock                                     | 457 +++++++++---------
 pixi.toml                                     |   6 +-
 .../vision_modules/yoeo/object_manager.py     |  30 +-
 3 files changed, 257 insertions(+), 236 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index ae99ab239..3c040bc15 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -5,6 +5,7 @@ environments:
     - url: https://conda.anaconda.org/robostack-jazzy/
     - url: https://conda.anaconda.org/conda-forge/
     - url: https://data.bit-bots.de/conda/
+    - url: https://data.bit-bots.de/model_packaging/output/
     indexes:
     - https://pypi.org/simple
     packages:
@@ -30,14 +31,17 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bcrypt-5.0.0-py312h868fb18_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.6-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.4-h5888daf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-bootstrap_h8a22499_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-bootstrap_h59bd682_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45-bootstrap_h8a22499_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-default_h4852527_104.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-default_hfdba357_104.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45-default_h4852527_104.conda
+      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.0-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.0-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.0-h4616a5c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-h41a2e66_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.2.0-hf2c8021_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.2.0-py312h67db365_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-hed03a55_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.2.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.2.0-py312hdb49522_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-3.25-h26dfbe5_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcbe3ca9_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_8.conda
@@ -79,7 +83,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/coloredlogs-15.0.1-pyhd8ed1ab_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.11.0-ha770c72_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-hb991d5c_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-he8ccf15_13.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.3-py312hd9148b4_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/coverage-7.12.0-py312h8a5da7c_0.conda
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-  - libgfortran5 15.2.0 hcd61629_7
+  - libgfortran5 15.2.0 h68bc16d_13
   constrains:
-  - libgfortran-ng ==15.2.0=*_7
+  - libgfortran-ng ==15.2.0=*_13
   license: GPL-3.0-only WITH GCC-exception-3.1
-  license_family: GPL
   purls: []
-  size: 29275
-  timestamp: 1759968110483
-- conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-15.2.0-hcd61629_7.conda
-  sha256: e93ceda56498d98c9f94fedec3e2d00f717cbedfc97c49be0e5a5828802f2d34
-  md5: f116940d825ffc9104400f0d7f1a4551
+  size: 26951
+  timestamp: 1764187818201
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-15.2.0-h68bc16d_13.conda
+  sha256: 0f0b0f2b7a345eee5cdc7864a7794e196006b2b45d377a1ad2039afed054eb11
+  md5: f5cd1c419503abab5196946dd9e7d99c
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=15.2.0
   constrains:
   - libgfortran 15.2.0
   license: GPL-3.0-only WITH GCC-exception-3.1
-  license_family: GPL
   purls: []
-  size: 1572758
-  timestamp: 1759968082504
+  size: 2482657
+  timestamp: 1764187793388
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libgl-1.7.0-ha4b6fd6_2.conda
   sha256: dc2752241fa3d9e40ce552c1942d0a4b5eeb93740c9723873f6fcf8d39ef8d2d
   md5: 928b8be80851f5d8ffb016f9c81dae7a
@@ -4783,16 +4808,15 @@ packages:
   purls: []
   size: 26388
   timestamp: 1731331003255
-- conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-h767d61c_7.conda
-  sha256: e9fb1c258c8e66ee278397b5822692527c5f5786d372fe7a869b900853f3f5ca
-  md5: f7b4d76975aac7e5d9e6ad13845f92fe
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_13.conda
+  sha256: cdb316241515da4e6dc1f452ba912ac479ee23cb823ef2b319b1de3e10b73e86
+  md5: 5bbcaf03898d70f9592a7cd3d2ff7e28
   depends:
   - __glibc >=2.17,<3.0.a0
   license: GPL-3.0-only WITH GCC-exception-3.1
-  license_family: GPL
   purls: []
-  size: 447919
-  timestamp: 1759967942498
+  size: 604351
+  timestamp: 1764187685026
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libgz-cmake3-3.5.5-h54a6638_0.conda
   sha256: 6092ccfec5a52200a2dd5cfa33f67e7c75d473dbb1673baf145a56456589196f
   md5: 046a934130154ef383da67712d179235
@@ -4929,6 +4953,7 @@ packages:
   - liblapacke 3.11.0   2*_openblas
   - libcblas   3.11.0   2*_openblas
   license: BSD-3-Clause
+  license_family: BSD
   purls: []
   size: 18489
   timestamp: 1763828460613
@@ -4943,6 +4968,7 @@ packages:
   constrains:
   - blas 2.302   openblas
   license: BSD-3-Clause
+  license_family: BSD
   purls: []
   size: 18491
   timestamp: 1763828468312
@@ -5476,18 +5502,17 @@ packages:
   purls: []
   size: 6342757
   timestamp: 1734902068235
-- conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-14.3.0-hd08acf3_7.conda
-  sha256: 73eb65f58ed086cf73fb9af3be4a9b288f630e9c2e1caacc75aff5f265d2dda2
-  md5: 716f4c96e07207d74e635c915b8b3f8b
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-14.3.0-h8f1669f_13.conda
+  sha256: 704370c74e57bb7517c96b45d49215debb54118c43d639d934566fa4971bf154
+  md5: d0f2b62428261e1a6ec1b965d57e6be0
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=14.3.0
   - libstdcxx >=14.3.0
   license: GPL-3.0-only WITH GCC-exception-3.1
-  license_family: GPL
   purls: []
-  size: 5110341
-  timestamp: 1759965766003
+  size: 7614414
+  timestamp: 1764187605173
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libsdformat14-14.8.0-py312h1f51ce1_2.conda
   sha256: 41a56a57a0bb78429a5ad571226dbe4cffed586446d11ad30cc4173f89c1cee8
   md5: 6dc0e6dc04a710e77bfe2865dad3f3b8
@@ -5558,39 +5583,36 @@ packages:
   purls: []
   size: 304790
   timestamp: 1745608545575
-- conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h8f9b012_7.conda
-  sha256: 1b981647d9775e1cdeb2fab0a4dd9cd75a6b0de2963f6c3953dbd712f78334b3
-  md5: 5b767048b1b3ee9a954b06f4084f93dc
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_13.conda
+  sha256: f7c363c5ec37213d2eb490dd76d2acdfb765e41e9f4d9f0d785f3aaada28e039
+  md5: b98186396f799a0c15d5171f39f8b151
   depends:
   - __glibc >=2.17,<3.0.a0
-  - libgcc 15.2.0 h767d61c_7
+  - libgcc 15.2.0 he0feb66_13
   constrains:
-  - libstdcxx-ng ==15.2.0=*_7
+  - libstdcxx-ng ==15.2.0=*_13
   license: GPL-3.0-only WITH GCC-exception-3.1
-  license_family: GPL
   purls: []
-  size: 3898269
-  timestamp: 1759968103436
-- conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-14.3.0-h85bb3a7_107.conda
-  sha256: 54ba5632d93faebbec3899d9df84c6e71c4574d70a2f3babfc5aac4247874038
-  md5: eaf0f047b048c4d86a4b8c60c0e95f38
+  size: 5857033
+  timestamp: 1764187811790
+- conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-14.3.0-h9f08a49_113.conda
+  sha256: dce90871cfb7d773e4a776558860e33819382931b2cb5309a3b1116f89a232ee
+  md5: 055826ad63c7036e6068234895883c0e
   depends:
   - __unix
   license: GPL-3.0-only WITH GCC-exception-3.1
-  license_family: GPL
   purls: []
-  size: 13244605
-  timestamp: 1759965656146
-- conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-15.2.0-h4852527_7.conda
-  sha256: 024fd46ac3ea8032a5ec3ea7b91c4c235701a8bf0e6520fe5e6539992a6bd05f
-  md5: f627678cf829bd70bccf141a19c3ad3e
+  size: 19570579
+  timestamp: 1764187467294
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-15.2.0-hdf11a46_13.conda
+  sha256: 60e0b56a9e8e43efa40763765463d0ef7f634b1971be620a5dbce308a2de35a2
+  md5: 64638ce314654548491c21abde2ff8ad
   depends:
-  - libstdcxx 15.2.0 h8f9b012_7
+  - libstdcxx 15.2.0 h934c35e_13
   license: GPL-3.0-only WITH GCC-exception-3.1
-  license_family: GPL
   purls: []
-  size: 29343
-  timestamp: 1759968157195
+  size: 27032
+  timestamp: 1764187856835
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libsystemd0-257.10-h085a93f_1.conda
   sha256: a57cdd2eec34c49fe748412c1f3cf26f54dc9f346cd1f6f691b90d592ae25660
   md5: fbe2f90c5e1a2c3affbda77807883dca
@@ -6337,6 +6359,7 @@ packages:
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
   license: Apache-2.0
+  license_family: APACHE
   purls: []
   size: 186323
   timestamp: 1763688260928
@@ -7008,9 +7031,9 @@ packages:
   - pkg:pypi/ply?source=hash-mapping
   size: 49052
   timestamp: 1733239818090
-- conda: https://conda.anaconda.org/conda-forge/noarch/pre-commit-4.4.0-pyha770c72_0.conda
-  sha256: 5eee94ab06bb74ad164862d15c18e932493c5b959928e7889b91dee73f550152
-  md5: c130573bb7a166e93d5bd01c94ae38e1
+- conda: https://conda.anaconda.org/conda-forge/noarch/pre-commit-4.5.0-pyha770c72_0.conda
+  sha256: 8481f4939b1f81cf0db12456819368b41e3f998e4463e41611de4b13752b2c08
+  md5: af8d4882203bccefec6f1aeed70030c6
   depends:
   - cfgv >=2.0.0
   - identify >=1.0.0
@@ -7022,8 +7045,8 @@ packages:
   license_family: MIT
   purls:
   - pkg:pypi/pre-commit?source=hash-mapping
-  size: 200293
-  timestamp: 1762692428418
+  size: 201265
+  timestamp: 1764067809524
 - pypi: https://files.pythonhosted.org/packages/5e/5f/82c8074f7e84978129347c2c6ec8b6c59f3584ff1a20bc3c940a3e061790/priority-2.0.0-py3-none-any.whl
   name: priority
   version: 2.0.0
@@ -7334,9 +7357,9 @@ packages:
   - pkg:pypi/pygments?source=hash-mapping
   size: 889287
   timestamp: 1750615908735
-- conda: https://conda.anaconda.org/conda-forge/linux-64/pynacl-1.6.0-py312h4c3975b_0.conda
-  sha256: 05f0afa61bdaa204d96d164547f3a44302b9071d9aaf0bc67749b512fb33ccb4
-  md5: 627bca1d0cea8fe3f7713f6504b238c2
+- conda: https://conda.anaconda.org/conda-forge/linux-64/pynacl-1.6.1-py312h4c3975b_0.conda
+  sha256: c39e6c422d29d1c4bd2b05737b7da598e41cb85ed2e60a67fc5ce8313baada9b
+  md5: 12aa2c28535cc8be906890f8a55d7e9f
   depends:
   - __glibc >=2.17,<3.0.a0
   - cffi >=1.4.1
@@ -7349,8 +7372,8 @@ packages:
   license_family: Apache
   purls:
   - pkg:pypi/pynacl?source=hash-mapping
-  size: 1188849
-  timestamp: 1757614481685
+  size: 1157715
+  timestamp: 1764063700229
 - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.2.5-pyhcf101f3_0.conda
   sha256: 6814b61b94e95ffc45ec539a6424d8447895fef75b0fec7e1be31f5beee883fb
   md5: 6c8979be6d7a17692793114fa26916e8
@@ -8959,9 +8982,9 @@ packages:
   license: BSD-3-Clause
   size: 333536
   timestamp: 1759134113567
-- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-better-launch-1.0.3-np126py312h3bd2861_10.conda
-  sha256: cefde192f18c125d90db352d5369a153e20e73723f4d16d39b7dabf3eae22156
-  md5: 7ae19e0ca2012326e57fda0392340b3e
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-better-launch-1.0.4-np126py312h3bd2861_10.conda
+  sha256: 495f808659fd735c8a2b6bb167cecdc9b494433e59a55dcf46d2b538aa85da27
+  md5: f6996e61dca38eeb23091b68ee7f004e
   depends:
   - click
   - docstring_parser
@@ -8977,15 +9000,16 @@ packages:
   - ros-jazzy-ros-workspace
   - ros2-distro-mutex 0.11.* jazzy_*
   - setproctitle
+  - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  - numpy >=1.26.4,<2.0a0
   - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   license: BSD-3-Clause
-  size: 266795
-  timestamp: 1763976004255
+  size: 266556
+  timestamp: 1764110785188
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bio-ik-2.0.0-np126py312h3bd2861_10.conda
   sha256: 613657695674e551f7c7aa91d0351887b8d8e3d4f026999f90cb12dd3650ae12
   md5: 58a6f78e76f806c04551d52768eccb32
@@ -17399,6 +17423,7 @@ packages:
   constrains:
   - __glibc >=2.17
   license: MIT
+  license_family: MIT
   purls:
   - pkg:pypi/ruff?source=compressed-mapping
   size: 11216432
@@ -18489,14 +18514,14 @@ packages:
   purls: []
   size: 330474
   timestamp: 1751817998141
-- conda: https://conda.anaconda.org/conda-forge/noarch/wayland-protocols-1.45-hd8ed1ab_0.conda
-  sha256: 37b0e03a943c048e143f624c51b329778f36923052092fd938827f8c19a4941d
-  md5: 6db9be3b67190229479780eeeee1b35b
+- conda: https://conda.anaconda.org/conda-forge/noarch/wayland-protocols-1.46-hd8ed1ab_0.conda
+  sha256: 8094050a5146dadc4e94d71351b70ec0f54803ef3999afa6640e599a0b3b43a8
+  md5: 967e4d37eaad18d4add66aaa394d8de8
   license: MIT
   license_family: MIT
   purls: []
-  size: 138011
-  timestamp: 1749836220507
+  size: 139554
+  timestamp: 1764021418156
 - conda: https://conda.anaconda.org/conda-forge/noarch/wcwidth-0.2.14-pyhd8ed1ab_0.conda
   sha256: e311b64e46c6739e2a35ab8582c20fa30eb608da130625ed379f4467219d4813
   md5: 7e1e5ff31239f9cd5855714df8a3783d
diff --git a/pixi.toml b/pixi.toml
index 76c98f0ca..6b00c2ebe 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -1,8 +1,9 @@
 [workspace]
 authors = ["Florian Vahl <7vahl@informatik.uni-hamburg.de>"]
-channels = ["robostack-jazzy", "conda-forge", "https://data.bit-bots.de/conda/"]
+channels = ["robostack-jazzy", "conda-forge", "https://data.bit-bots.de/conda/", "https://data.bit-bots.de/model_packaging/output/"]
 name = "bitbots_main"
 platforms = ["linux-64"]
+preview = ["pixi-build"]
 version = "0.1.0"
 
 [tasks]
@@ -155,6 +156,9 @@ ros-jazzy-dynamixel-workbench-toolbox = ">=0.1.8,<0.2"
 ipython = ">=9.7.0,<10"
 ros-jazzy-better-launch = ">=1.0.3,<2"
 pillow = "<12" # this constraint is needed as yoeo specifies the 11 major version and otherwise uv fails to solve given the constrains from the conda ecosystem.
+bitbots_model_2021_12_06_flo_torso21_yoeo_7 = ">=1.0.0,<2"
+bitbots_model_2023_04_04_philipp_yoeox_with_team_colors = ">=1.0.0,<2"
+bitbots_model_2022_10_07_flo_torso21_yoeox = ">=1.0.0,<2"
 
 [pypi-dependencies]
 syrupy = ">=5.0.0, <6"
diff --git a/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
index 3aadfb974..0a129ba00 100644
--- a/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
+++ b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
@@ -1,4 +1,4 @@
-import os.path as osp
+import os
 from typing import Optional
 
 import rclpy
@@ -27,18 +27,8 @@ class YOEOObjectManager:
     _framework: str = ""
     _model_config: ModelConfig = ModelConfig()
     _model_path: str = ""
-    _package_directory: str = ""
-    _package_directory_set: bool = False
     _yoeo_instance: Optional[yoeo_handlers.IYOEOHandler] = None
 
-    @classmethod
-    def set_package_directory(cls, package_directory: str) -> None:
-        """
-        Set the package directory. Required before first use in order to have the correct paths for the models.
-        """
-        cls._package_directory = package_directory
-        cls._package_directory_set = True
-
     @classmethod
     def get(cls) -> yoeo_handlers.IYOEOHandler:
         """
@@ -73,13 +63,19 @@ def is_team_color_detection_supported(cls) -> bool:
 
     @classmethod
     def configure(cls, config: dict) -> None:
-        if not cls._package_directory_set:
-            logger.error("Package directory not set!")
-
         framework = config["yoeo_framework"]
         cls._verify_framework_parameter(framework)
 
-        model_path = cls._get_full_model_path(config["yoeo_model_path"])
+        conda_prefix = os.environ.get("CONDA_PREFIX", "")
+        if not conda_prefix:
+            raise ValueError("CONDA_PREFIX environment variable not set! We now expect YOEO models to be shared as conda packages.")
+
+        # Assemble model package name and look at its share directory
+        model_path = os.path.join(
+            conda_prefix,
+            "share",
+            "bitbots_model_" + config["yoeo_model_path"])
+
         cls._verify_required_neural_network_files_exist(framework, model_path)
 
         cls._configure_yoeo_instance(config, framework, model_path)
@@ -93,10 +89,6 @@ def _verify_framework_parameter(framework: str) -> None:
         if framework not in {"openvino", "onnx", "pytorch", "tvm"}:
             logger.error(f"Unknown neural network framework '{framework}'")
 
-    @classmethod
-    def _get_full_model_path(cls, model_path: str) -> str:
-        return osp.join(cls._package_directory, "models", model_path)
-
     @classmethod
     def _verify_required_neural_network_files_exist(cls, framework: str, model_path: str) -> None:
         if not cls._model_files_exist(framework, model_path):

From 9587b139def1155bd60080fe4980178adc0b54f5 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Thu, 27 Nov 2025 01:13:03 +0100
Subject: [PATCH 49/90] Remove requirements file

---
 .gitignore              |  2 +-
 requirements/common.txt | 12 ------------
 requirements/dev.txt    | 13 -------------
 requirements/robot.txt  |  7 -------
 4 files changed, 1 insertion(+), 33 deletions(-)
 delete mode 100644 requirements/common.txt
 delete mode 100644 requirements/dev.txt
 delete mode 100644 requirements/robot.txt

diff --git a/.gitignore b/.gitignore
index 263ab83a8..0ae41e8a5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -237,7 +237,7 @@ doku/*
 .pytest_cache/
 
 # pixi environments
-.pixi/*
+.pixi/
 !.pixi/config.toml
 
 CMakeFiles/
diff --git a/requirements/common.txt b/requirements/common.txt
deleted file mode 100644
index ad19f9b66..000000000
--- a/requirements/common.txt
+++ /dev/null
@@ -1,12 +0,0 @@
-# This file includes common dependencies for all environments
-pip
-transforms3d==0.4.1
-git+https://github.com/bit-bots/YOEO
-git+https://github.com/bit-bots/bitbots_rust_nav
-git+https://github.com/timonegk/colcon-core.git@colors
-git+https://github.com/timonegk/colcon-notification.git@colors
-git+https://github.com/timonegk/colcon-output.git@colors
-simpleeval
-beartype
-jaxtyping
-mypy
diff --git a/requirements/dev.txt b/requirements/dev.txt
deleted file mode 100644
index 4921075f1..000000000
--- a/requirements/dev.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-# This file is used by pip to install dependencies for the development environment
--r robot.txt  # Include robot.txt dependencies
-colorama  # Colorful terminal formatting
-exhale  # Necessary for rst rendering
-fabric  # Manages SSH sessions for the deploy tool
-GitPython  # Used by the deploy tool to check current state of the git repository
-invoke  # Necessary for paramiko
-paramiko  # Necessary for fabric
-pre-commit  # Installs and runs pre-commit hooks for git
-pytest-mock   # Mocking for pytest
-rich  # Rich terminal output
-ruff  # Python linting
-syrupy  # Python snapshot testing
diff --git a/requirements/robot.txt b/requirements/robot.txt
deleted file mode 100644
index a41d3b8cd..000000000
--- a/requirements/robot.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-# This file is used for installation of dependencies on the robot
--r common.txt  # Includes all common dependencies
-mycroft-mimic3-tts
-protobuf==3.20.3 # Required for mycroft-mimic3-tts, but we want to enshure that the version is compatible binaries build using the system version, but it should also be compatiple with all the python dependencies
-pyttsx3
-playsound
-pyamdgpuinfo

From c8d921c2339923607d64b75bdf1b1f002b640a55 Mon Sep 17 00:00:00 2001
From: Florian Vahl <florian@flova.de>
Date: Sat, 29 Nov 2025 02:06:27 +0100
Subject: [PATCH 50/90] Use readine hack

---
 pixi.lock | 300 ++++++++++++++++++++++++++----------------------------
 pixi.toml |   1 +
 2 files changed, 147 insertions(+), 154 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 055152c2f..94cc1fe34 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -83,7 +83,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
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   size: 28669
   timestamp: 1733750596111
-- conda: https://conda.anaconda.org/conda-forge/linux-64/sqlite-3.51.0-heff268d_0.conda
-  sha256: 5cece58ca7353705ea47bbe44088baee70d2dfa8bdf2bbcd211698f60ab5e7cd
-  md5: 5422f0e1b59d2aa29329d5b3e36d57e5
+- conda: https://conda.anaconda.org/conda-forge/linux-64/sqlite-3.51.1-hbc0de68_0.conda
+  sha256: f74f6e1302086d84cb62b2bca74950763378054008c77b0a62ac637bcf25b3c1
+  md5: 968f50847d17c74a428fc47a2c70fd6f
   depends:
   - __glibc >=2.17,<3.0.a0
-  - icu >=75.1,<76.0a0
   - libgcc >=14
-  - libsqlite 3.51.0 hee844dc_0
+  - libsqlite 3.51.1 h0c1763c_0
   - libzlib >=1.3.1,<2.0a0
   - ncurses >=6.5,<7.0a0
   - readline >=8.2,<9.0a0
   license: blessing
   purls: []
-  size: 182985
-  timestamp: 1762299697693
+  size: 183775
+  timestamp: 1764359463938
 - conda: https://conda.anaconda.org/conda-forge/noarch/stack_data-0.6.3-pyhd8ed1ab_1.conda
   sha256: 570da295d421661af487f1595045760526964f41471021056e993e73089e9c41
   md5: b1b505328da7a6b246787df4b5a49fbc
diff --git a/pixi.toml b/pixi.toml
index 29d20170a..6317099d7 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -161,6 +161,7 @@ bitbots_model_2023_04_04_philipp_yoeox_with_team_colors = ">=1.0.0,<2"
 bitbots_model_2022_10_07_flo_torso21_yoeox = ">=1.0.0,<2"
 
 bitbots_rust_nav = { path = "src/bitbots_navigation/bitbots_rust_nav" }
+readline = ">=8.2.999"  # This is needed because we want to install an empty readline package from our models channel that leads to the system version being used. Otherwise we might have a missmatch between bash (often accessed globally ignoring the env) and readline (provided by the env)  breaking everything.
 
 [pypi-dependencies]
 syrupy = ">=5.0.0, <6"

From 79dc5adc5c18e7d728d20947d0ac6eabdf8e35ae Mon Sep 17 00:00:00 2001
From: Florian Vahl <florian@flova.de>
Date: Sat, 29 Nov 2025 02:10:25 +0100
Subject: [PATCH 51/90] Use smaller files

---
 pixi.lock | 48 ++++++++++++++++++++++++------------------------
 1 file changed, 24 insertions(+), 24 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 94cc1fe34..0f826690d 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -34,9 +34,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-default_h4852527_104.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-default_hfdba357_104.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45-default_h4852527_104.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.0-h4616a5c_0.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.0-h4616a5c_0.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.0-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.1-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-hed03a55_1.conda
@@ -446,7 +446,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/qt6-main-6.9.2-h5bd77bc_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rapidjson-1.1.0.post20240409-h3f2d84a_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rav1e-0.7.1-h8fae777_3.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/readline-8.2.999-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/model_packaging/output/noarch/readline-8.2.9999-h4616a5c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/requests-2.32.5-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.6-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/rich-14.2.0-pyhcf101f3_0.conda
@@ -1381,24 +1381,24 @@ packages:
   purls: []
   size: 36180
   timestamp: 1764007883258
-- conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.0-h4616a5c_0.conda
-  sha256: a60302524ab86a073d9efdbaccaa43610cfee3e8199c608a5badce01a320078f
-  md5: 1bb761e4ae8bc51c28e547964c0aaf73
+- conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.1-h4616a5c_0.conda
+  sha256: dd273a5c1e4256d2aaf59d66baa4530f4a7df828b689d4e056a15433c53f17ae
+  md5: d731bf398ac069ce2dd97a6061aa7b4d
   license: MIT
-  size: 210616086
-  timestamp: 1764196978685
-- conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.0-h4616a5c_0.conda
-  sha256: 52ca206738b4c98e260f15fbfd91d096e5105d657607fb27d547ccf52902f40b
-  md5: 8f17773f0b1e6b37973ffcac609f463b
+  size: 27253666
+  timestamp: 1764378517256
+- conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_0.conda
+  sha256: 52fe9c2fb6585b92f36290face8abd9ce9c8b1d8f8f5eb842616ebf62fbcc286
+  md5: 64af621be88fb228ff02f611ab7ac91b
   license: MIT
-  size: 261337412
-  timestamp: 1764196978685
-- conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.0-h4616a5c_0.conda
-  sha256: eb6520183cf2f9e35bf4d7d45463c7b3c88dc100a1d7195ab18c420f37f1eeed
-  md5: f58a019c2324a6c520df54608961fd62
+  size: 77978905
+  timestamp: 1764378517255
+- conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_0.conda
+  sha256: 89be0ffb2cdd41d433ba2717196b7d3de84e34732b4ce280cc6bc5d6c82b7792
+  md5: 0b9488c7b39f5c91f724df95b7a2ac8c
   license: MIT
-  size: 235038928
-  timestamp: 1764196978684
+  size: 51676315
+  timestamp: 1764378517255
 - conda: src/bitbots_navigation/bitbots_rust_nav
   name: bitbots_rust_nav
   version: 0.1.0
@@ -7860,12 +7860,12 @@ packages:
   purls: []
   size: 5176669
   timestamp: 1746622023242
-- conda: https://data.bit-bots.de/model_packaging/output/noarch/readline-8.2.999-h4616a5c_0.conda
-  sha256: eb5e0e872e4522cc60691fd379ccd3a9928f577d1f14c1fcff8144beb21724c1
-  md5: 31ef4ccc5411bb50e5755a41dbc3827b
+- conda: https://data.bit-bots.de/model_packaging/output/noarch/readline-8.2.9999-h4616a5c_0.conda
+  sha256: 9afc087ebd4e9576ea49736138281a601ba02569ae98f564f436caa134c0c3c7
+  md5: b3d8f6fdb0120c801b92c2f777fd9724
   license: MIT
-  size: 183364598
-  timestamp: 1764376464969
+  size: 1038
+  timestamp: 1764378517250
 - pypi: https://files.pythonhosted.org/packages/84/bd/9ce9f629fcb714ffc2c3faf62b6766ecb7a585e1e885eb699bcf130a5209/regex-2025.11.3-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
   name: regex
   version: 2025.11.3

From 48692f07ecc33e403e113deb266d9a563c39e56e Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 19:05:53 +0100
Subject: [PATCH 52/90] Enable events executor again

---
 .../bitbots_hcm/bitbots_hcm/humanoid_control_module.py      | 6 +++---
 .../bitbots_webots_sim/scripts/start_simulator.py           | 6 +++---
 .../bitbots_webots_sim/scripts/start_single.py              | 6 +++---
 .../scripts/start_webots_ros_supervisor.py                  | 6 +++---
 src/bitbots_vision/bitbots_vision/vision.py                 | 6 +++---
 5 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py
index 0f9e47d66..14a4a38d4 100755
--- a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py
+++ b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py
@@ -54,9 +54,9 @@ def __init__(self, use_sim_time, simulation_active, visualization_active):
         )
 
         # Create own executor for Python part
-        #executor = EventsExecutor()
-        #executor.add_node(self.node)
-        self.spin_thread = threading.Thread(target=rclpy.spin, args=(self.node,), daemon=True)
+        executor = EventsExecutor()
+        executor.add_node(self.node)
+        self.spin_thread = threading.Thread(target=executor.spin, args=(), daemon=True)
         self.spin_thread.start()
 
         # Otherwise messages will get lost, bc the init is not finished
diff --git a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
index 4bd1b5612..77e2c3c0d 100755
--- a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
+++ b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
@@ -73,10 +73,10 @@ def run_simulation(self):
     rclpy.init()
     node = WebotsSim(args.nogui, args.multi_robot, args.headless, args.sim_port, args.robot_type)
 
-    #executor = EventsExecutor()
-    #executor.add_node(node)
+    executor = EventsExecutor()
+    executor.add_node(node)
 
-    thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
+    thread = threading.Thread(target=executor.spin, args=(), daemon=True)
     thread.start()
     node.run_simulation()
 
diff --git a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
index b8f094871..54a066587 100755
--- a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
+++ b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
@@ -61,10 +61,10 @@ def run(self):
         args.sim_port, args.robot_name, args.void_controller, args.disable_camera, args.recognize, args.robot_type
     )
 
-    #executor = EventsExecutor()
-    #executor.add_node(robot.node)
+    executor = EventsExecutor()
+    executor.add_node(robot.node)
 
-    thread = threading.Thread(target=rclpy.spin, args=(robot.node,), daemon=True)
+    thread = threading.Thread(target=executor.spin, args=(), daemon=True)
     thread.start()
     robot.run()
 
diff --git a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
index 5282a5b81..2c2fababc 100755
--- a/src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
+++ b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
@@ -31,10 +31,10 @@ def run(self):
     rclpy.init()
     supervisor = SupervisorNode(args.sim_port)
 
-    #executor = EventsExecutor()
-    #executor.add_node(supervisor.node)
+    executor = EventsExecutor()
+    executor.add_node(supervisor.node)
 
-    thread = threading.Thread(target=rclpy.spin, args=(supervisor.node,), daemon=True)
+    thread = threading.Thread(target=executor.spin, args=(), daemon=True)
     thread.start()
     supervisor.run()
 
diff --git a/src/bitbots_vision/bitbots_vision/vision.py b/src/bitbots_vision/bitbots_vision/vision.py
index 59f2ad75b..59f5c7065 100755
--- a/src/bitbots_vision/bitbots_vision/vision.py
+++ b/src/bitbots_vision/bitbots_vision/vision.py
@@ -142,10 +142,10 @@ def _run_components(self, image_msg: Image) -> None:
 def main(args=None):
     rclpy.init(args=args)
     node = YOEOVision()
-    # executor = EventsExecutor()
-    # executor.add_node(node)
+    executor = EventsExecutor()
+    executor.add_node(node)
     try:
-        rclpy.spin(node)
+        executor.spin()
     except KeyboardInterrupt:
         pass
     node.destroy_node()

From 43297899e1d63c04417395fc57b980917bb287ba Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 19:06:13 +0100
Subject: [PATCH 53/90] Migrate CI to pixi

---
 .github/workflows/ci.yml | 48 ++++++++++------------------------------
 1 file changed, 12 insertions(+), 36 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index bf6a6ea74..4433c0176 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -4,14 +4,9 @@ on:
     - cron: '0 0 * * *'
   push:
 
-env:
-  PYTHONWARNINGS: "ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-
 jobs:
   build:
     runs-on: ubuntu-latest
-    container:
-      image: ubuntu:noble
 
     steps:
       - name: Cancel outdated jobs
@@ -19,45 +14,26 @@ jobs:
         with:
           cancel_others: 'true'
 
-     # Remove comments to spawn an interactive debigging ssh shell in the ci
+     # Remove comments to spawn an interactive debugging ssh shell in the ci
      #- name: Setup tmate session
      #   uses: mxschmitt/action-tmate@v3
      #   with:
      #     detached: true
 
-      - name: Set up ROS ecosystem
-        uses: ros-tooling/setup-ros@v0.7
-
       - name: Check out repository
         uses: actions/checkout@v4
 
       - name: Configure git to trust repository
         run: git config --global --add safe.directory /__w/bitbots_main/bitbots_main
 
-      - name: Add '$HOME/.local/bin' to PATH
-        run: |
-          mkdir -p $HOME/.local/bin
-          echo "PATH=$PATH:/github/home/.local/bin" >> "$GITHUB_ENV"
-
-      - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
-
-      - name: Pull source code for libraries and install dependencies
-        run: |
-          sudo apt-get remove -y python3-pytest-repeat  #TODO remove once the upstream apt package reports the correct version on the newest pip version
-          just HTTPS=true CI=true install
-
-      - name: Build packages
-        run: |
-          . /opt/ros/jazzy/setup.sh
-          just build
-
-      - name: Test packages
-        run: |
-          # Source workspace
-          . /opt/ros/jazzy/setup.sh
-          . install/setup.sh
-          # Run tests for all packages
-          colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1
+      - name: Set up workspace
+        uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          pixi-version: v0.59.0
+          cache: true
+
+      - name: Build
+        run: pixi run build
+
+      - name: Test
+        run: pixi run test --parallel-workers 1

From 9e6c569403d27163af1bfc77471fc1624f2dff4e Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 19:19:16 +0100
Subject: [PATCH 54/90] Disable cache

---
 .github/workflows/ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 4433c0176..4d84757e2 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -30,7 +30,7 @@ jobs:
         uses: prefix-dev/setup-pixi@v0.9.3
         with:
           pixi-version: v0.59.0
-          cache: true
+          cache: false  # Our deps exceed the cache size limit :(
 
       - name: Build
         run: pixi run build

From 856bcf52974aaf698daed6493684bdddd16e7c35 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 19:22:32 +0100
Subject: [PATCH 55/90] Install pylon in CI

---
 .github/workflows/ci.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 4d84757e2..079e8c643 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -26,6 +26,9 @@ jobs:
       - name: Configure git to trust repository
         run: git config --global --add safe.directory /__w/bitbots_main/bitbots_main
 
+      - name: Install host dependencies
+        run: scripts/make_basler.sh --ci
+
       - name: Set up workspace
         uses: prefix-dev/setup-pixi@v0.9.3
         with:

From 1a95681d16250631844d47f8078fb696606d6211 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 19:53:56 +0100
Subject: [PATCH 56/90] Fix snapshots

---
 .../test_state_to_message_converter.ambr      | 36 +++++++++----------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr b/src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr
index 972bf4400..faca72f13 100644
--- a/src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr
+++ b/src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr
@@ -13,19 +13,19 @@
   }
   covariance {
     x {
-      x: 1.0
-      y: 2.0
-      z: 3.0
+      x: 1
+      y: 2
+      z: 3
     }
     y {
-      x: 4.0
-      y: 5.0
-      z: 6.0
+      x: 4
+      y: 5
+      z: 6
     }
     z {
-      x: 7.0
-      y: 8.0
-      z: 9.0
+      x: 7
+      y: 8
+      z: 9
     }
   }
   
@@ -42,19 +42,19 @@
 # name: test_convert_current_pose.1
   '''
   x {
-    x: 1.0
-    y: 2.0
-    z: 3.0
+    x: 1
+    y: 2
+    z: 3
   }
   y {
-    x: 4.0
-    y: 5.0
-    z: 6.0
+    x: 4
+    y: 5
+    z: 6
   }
   z {
-    x: 7.0
-    y: 8.0
-    z: 9.0
+    x: 7
+    y: 8
+    z: 9
   }
   
   '''

From 8d452d47a4b29506bc297a38d9fe7a85dd9ff7b0 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 20:46:17 +0100
Subject: [PATCH 57/90] Organize deps

---
 pixi.lock | 3484 +++++++++++++++++++++++++++++++++++++++++++++++++++--
 pixi.toml |   67 +-
 2 files changed, 3462 insertions(+), 89 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 0f826690d..9a077c94c 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,5 +1,1024 @@
 version: 6
 environments:
+  ci:
+    channels:
+    - url: https://conda.anaconda.org/robostack-jazzy/
+    - url: https://conda.anaconda.org/conda-forge/
+    - url: https://data.bit-bots.de/conda/
+    - url: https://data.bit-bots.de/model_packaging/output/
+    indexes:
+    - https://pypi.org/simple
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
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@@ -17655,6 +20822,11 @@ packages:
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   size: 680892
   timestamp: 1759437964748
+- pypi: https://files.pythonhosted.org/packages/b7/ce/149a00dd41f10bc29e5921b496af8b574d8413afcd5e30dfa0ed46c2cc5e/six-1.17.0-py2.py3-none-any.whl
+  name: six
+  version: 1.17.0
+  sha256: 4721f391ed90541fddacab5acf947aa0d3dc7d27b2e1e8eda2be8970586c3274
+  requires_python: '>=2.7,!=3.0.*,!=3.1.*,!=3.2.*'
 - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
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@@ -17691,6 +20863,11 @@ packages:
   purls: []
   size: 45829
   timestamp: 1762948049098
+- pypi: https://files.pythonhosted.org/packages/c8/78/3565d011c61f5a43488987ee32b6f3f656e7f107ac2782dd57bdd7d91d9a/snowballstemmer-3.0.1-py3-none-any.whl
+  name: snowballstemmer
+  version: 3.0.1
+  sha256: 6cd7b3897da8d6c9ffb968a6781fa6532dce9c3618a4b127d920dab764a19064
+  requires_python: '!=3.0.*,!=3.1.*,!=3.2.*'
 - conda: https://conda.anaconda.org/conda-forge/noarch/snowballstemmer-3.0.1-pyhd8ed1ab_0.conda
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@@ -17720,6 +20897,29 @@ packages:
   purls: []
   size: 195618
   timestamp: 1751348678073
+- pypi: https://files.pythonhosted.org/packages/c6/3f/4bbd76424c393caead2e1eb89777f575dee5c8653e2d4b6afd7a564f5974/sphinx-9.0.4-py3-none-any.whl
+  name: sphinx
+  version: 9.0.4
+  sha256: 5bebc595a5e943ea248b99c13814c1c5e10b3ece718976824ffa7959ff95fffb
+  requires_dist:
+  - sphinxcontrib-applehelp>=1.0.7
+  - sphinxcontrib-devhelp>=1.0.6
+  - sphinxcontrib-htmlhelp>=2.0.6
+  - sphinxcontrib-jsmath>=1.0.1
+  - sphinxcontrib-qthelp>=1.0.6
+  - sphinxcontrib-serializinghtml>=1.1.9
+  - jinja2>=3.1
+  - pygments>=2.17
+  - docutils>=0.20,<0.23
+  - snowballstemmer>=2.2
+  - babel>=2.13
+  - alabaster>=0.7.14
+  - imagesize>=1.3
+  - requests>=2.30.0
+  - roman-numerals>=1.0.0
+  - packaging>=23.0
+  - colorama>=0.4.6 ; sys_platform == 'win32'
+  requires_python: '>=3.11'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinx-8.2.3-pyhd8ed1ab_0.conda
   sha256: 995f58c662db0197d681fa345522fd9e7ac5f05330d3dff095ab2f102e260ab0
   md5: f7af826063ed569bb13f7207d6f949b0
@@ -17773,6 +20973,17 @@ packages:
   - pkg:pypi/sphinx-rtd-theme?source=hash-mapping
   size: 4629955
   timestamp: 1757836585728
+- pypi: https://files.pythonhosted.org/packages/5d/85/9ebeae2f76e9e77b952f4b274c27238156eae7979c5421fba91a28f4970d/sphinxcontrib_applehelp-2.0.0-py3-none-any.whl
+  name: sphinxcontrib-applehelp
+  version: 2.0.0
+  sha256: 4cd3f0ec4ac5dd9c17ec65e9ab272c9b867ea77425228e68ecf08d6b28ddbdb5
+  requires_dist:
+  - ruff==0.5.5 ; extra == 'lint'
+  - mypy ; extra == 'lint'
+  - types-docutils ; extra == 'lint'
+  - sphinx>=5 ; extra == 'standalone'
+  - pytest ; extra == 'test'
+  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-applehelp-2.0.0-pyhd8ed1ab_1.conda
   sha256: d7433a344a9ad32a680b881c81b0034bc61618d12c39dd6e3309abeffa9577ba
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@@ -17785,6 +20996,17 @@ packages:
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   size: 29752
   timestamp: 1733754216334
+- pypi: https://files.pythonhosted.org/packages/35/7a/987e583882f985fe4d7323774889ec58049171828b58c2217e7f79cdf44e/sphinxcontrib_devhelp-2.0.0-py3-none-any.whl
+  name: sphinxcontrib-devhelp
+  version: 2.0.0
+  sha256: aefb8b83854e4b0998877524d1029fd3e6879210422ee3780459e28a1f03a8a2
+  requires_dist:
+  - ruff==0.5.5 ; extra == 'lint'
+  - mypy ; extra == 'lint'
+  - types-docutils ; extra == 'lint'
+  - sphinx>=5 ; extra == 'standalone'
+  - pytest ; extra == 'test'
+  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-devhelp-2.0.0-pyhd8ed1ab_1.conda
   sha256: 55d5076005d20b84b20bee7844e686b7e60eb9f683af04492e598a622b12d53d
   md5: 910f28a05c178feba832f842155cbfff
@@ -17797,6 +21019,18 @@ packages:
   - pkg:pypi/sphinxcontrib-devhelp?source=hash-mapping
   size: 24536
   timestamp: 1733754232002
+- pypi: https://files.pythonhosted.org/packages/0a/7b/18a8c0bcec9182c05a0b3ec2a776bba4ead82750a55ff798e8d406dae604/sphinxcontrib_htmlhelp-2.1.0-py3-none-any.whl
+  name: sphinxcontrib-htmlhelp
+  version: 2.1.0
+  sha256: 166759820b47002d22914d64a075ce08f4c46818e17cfc9470a9786b759b19f8
+  requires_dist:
+  - ruff==0.5.5 ; extra == 'lint'
+  - mypy ; extra == 'lint'
+  - types-docutils ; extra == 'lint'
+  - sphinx>=5 ; extra == 'standalone'
+  - pytest ; extra == 'test'
+  - html5lib ; extra == 'test'
+  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-htmlhelp-2.1.0-pyhd8ed1ab_1.conda
   sha256: c1492c0262ccf16694bdcd3bb62aa4627878ea8782d5cd3876614ffeb62b3996
   md5: e9fb3fe8a5b758b4aff187d434f94f03
@@ -17820,6 +21054,15 @@ packages:
   - pkg:pypi/sphinxcontrib-jquery?source=hash-mapping
   size: 112964
   timestamp: 1734344603903
+- pypi: https://files.pythonhosted.org/packages/c2/42/4c8646762ee83602e3fb3fbe774c2fac12f317deb0b5dbeeedd2d3ba4b77/sphinxcontrib_jsmath-1.0.1-py2.py3-none-any.whl
+  name: sphinxcontrib-jsmath
+  version: 1.0.1
+  sha256: 2ec2eaebfb78f3f2078e73666b1415417a116cc848b72e5172e596c871103178
+  requires_dist:
+  - pytest ; extra == 'test'
+  - flake8 ; extra == 'test'
+  - mypy ; extra == 'test'
+  requires_python: '>=3.5'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-jsmath-1.0.1-pyhd8ed1ab_1.conda
   sha256: 578bef5ec630e5b2b8810d898bbbf79b9ae66d49b7938bcc3efc364e679f2a62
   md5: fa839b5ff59e192f411ccc7dae6588bb
@@ -17831,6 +21074,18 @@ packages:
   - pkg:pypi/sphinxcontrib-jsmath?source=hash-mapping
   size: 10462
   timestamp: 1733753857224
+- pypi: https://files.pythonhosted.org/packages/27/83/859ecdd180cacc13b1f7e857abf8582a64552ea7a061057a6c716e790fce/sphinxcontrib_qthelp-2.0.0-py3-none-any.whl
+  name: sphinxcontrib-qthelp
+  version: 2.0.0
+  sha256: b18a828cdba941ccd6ee8445dbe72ffa3ef8cbe7505d8cd1fa0d42d3f2d5f3eb
+  requires_dist:
+  - ruff==0.5.5 ; extra == 'lint'
+  - mypy ; extra == 'lint'
+  - types-docutils ; extra == 'lint'
+  - sphinx>=5 ; extra == 'standalone'
+  - pytest ; extra == 'test'
+  - defusedxml>=0.7.1 ; extra == 'test'
+  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-qthelp-2.0.0-pyhd8ed1ab_1.conda
   sha256: c664fefae4acdb5fae973bdde25836faf451f41d04342b64a358f9a7753c92ca
   md5: 00534ebcc0375929b45c3039b5ba7636
@@ -17843,6 +21098,17 @@ packages:
   - pkg:pypi/sphinxcontrib-qthelp?source=hash-mapping
   size: 26959
   timestamp: 1733753505008
+- pypi: https://files.pythonhosted.org/packages/52/a7/d2782e4e3f77c8450f727ba74a8f12756d5ba823d81b941f1b04da9d033a/sphinxcontrib_serializinghtml-2.0.0-py3-none-any.whl
+  name: sphinxcontrib-serializinghtml
+  version: 2.0.0
+  sha256: 6e2cb0eef194e10c27ec0023bfeb25badbbb5868244cf5bc5bdc04e4464bf331
+  requires_dist:
+  - ruff==0.5.5 ; extra == 'lint'
+  - mypy ; extra == 'lint'
+  - types-docutils ; extra == 'lint'
+  - sphinx>=5 ; extra == 'standalone'
+  - pytest ; extra == 'test'
+  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-serializinghtml-1.1.10-pyhd8ed1ab_1.conda
   sha256: 64d89ecc0264347486971a94487cb8d7c65bfc0176750cf7502b8a272f4ab557
   md5: 3bc61f7161d28137797e038263c04c54
@@ -17911,6 +21177,15 @@ packages:
   - pytest>=7.1.0 ; extra == 'dev'
   - hypothesis>=6.70.0 ; extra == 'dev'
   requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/a2/09/77d55d46fd61b4a135c444fc97158ef34a095e5681d0a6c10b75bf356191/sympy-1.14.0-py3-none-any.whl
+  name: sympy
+  version: 1.14.0
+  sha256: e091cc3e99d2141a0ba2847328f5479b05d94a6635cb96148ccb3f34671bd8f5
+  requires_dist:
+  - mpmath>=1.1.0,<1.4
+  - pytest>=7.1.0 ; extra == 'dev'
+  - hypothesis>=6.70.0 ; extra == 'dev'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/9d/9a/6c68aad2ccfce6e2eeebbf5bb709d0240592eb51ff142ec4c8fbf3c2460a/syrupy-5.0.0-py3-none-any.whl
   name: syrupy
   version: 5.0.0
@@ -18044,6 +21319,18 @@ packages:
   purls: []
   size: 3284905
   timestamp: 1763054914403
+- conda: https://conda.anaconda.org/conda-forge/noarch/toml-0.10.2-pyhcf101f3_3.conda
+  sha256: fd30e43699cb22ab32ff3134d3acf12d6010b5bbaa63293c37076b50009b91f8
+  md5: d0fc809fa4c4d85e959ce4ab6e1de800
+  depends:
+  - python >=3.10
+  - python
+  license: MIT
+  license_family: MIT
+  purls:
+  - pkg:pypi/toml?source=hash-mapping
+  size: 24017
+  timestamp: 1764486833072
 - conda: https://conda.anaconda.org/conda-forge/noarch/toml-0.10.2-pyhd8ed1ab_2.conda
   sha256: 5fe40fb250890a1f81be8c5ad0ba94b41ad614ce51e19098110f635dd9400f82
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@@ -18339,6 +21626,17 @@ packages:
   purls: []
   size: 19201
   timestamp: 1726152409175
+- pypi: https://files.pythonhosted.org/packages/56/1a/9ffe814d317c5224166b23e7c47f606d6e473712a2fad0f704ea9b99f246/urllib3-2.6.0-py3-none-any.whl
+  name: urllib3
+  version: 2.6.0
+  sha256: c90f7a39f716c572c4e3e58509581ebd83f9b59cced005b7db7ad2d22b0db99f
+  requires_dist:
+  - brotli>=1.2.0 ; platform_python_implementation == 'CPython' and extra == 'brotli'
+  - brotlicffi>=1.2.0.0 ; platform_python_implementation != 'CPython' and extra == 'brotli'
+  - h2>=4,<5 ; extra == 'h2'
+  - pysocks>=1.5.6,!=1.5.7,<2.0 ; extra == 'socks'
+  - backports-zstd>=1.0.0 ; python_full_version < '3.14' and extra == 'zstd'
+  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.5.0-pyhd8ed1ab_0.conda
   sha256: 4fb9789154bd666ca74e428d973df81087a697dbb987775bc3198d2215f240f8
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@@ -18354,6 +21652,21 @@ packages:
   - pkg:pypi/urllib3?source=hash-mapping
   size: 101735
   timestamp: 1750271478254
+- conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.0-pyhd8ed1ab_0.conda
+  sha256: 2b95dee46e9e7cfaaecb9cc7f3de70d4ce77a2a1aee4538da4bd1ab7a45c7f9f
+  md5: de7372f43e63ff0876b4023b79b55e95
+  depends:
+  - backports.zstd >=1.0.0
+  - brotli-python >=1.2.0
+  - h2 >=4,<5
+  - pysocks >=1.5.6,<2.0,!=1.5.7
+  - python >=3.10
+  license: MIT
+  license_family: MIT
+  purls:
+  - pkg:pypi/urllib3?source=compressed-mapping
+  size: 102983
+  timestamp: 1764955468239
 - conda: https://conda.anaconda.org/conda-forge/linux-64/utfcpp-4.0.8-ha770c72_0.conda
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@@ -18510,6 +21823,14 @@ packages:
   - markupsafe>=2.1.1
   - watchdog>=2.3 ; extra == 'watchdog'
   requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/2f/f9/9e082990c2585c744734f85bec79b5dae5df9c974ffee58fe421652c8e91/werkzeug-3.1.4-py3-none-any.whl
+  name: werkzeug
+  version: 3.1.4
+  sha256: 2ad50fb9ed09cc3af22c54698351027ace879a0b60a3b5edf5730b2f7d876905
+  requires_dist:
+  - markupsafe>=2.1.1
+  - watchdog>=2.3 ; extra == 'watchdog'
+  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/wrapt-1.17.3-py312h4c3975b_1.conda
   sha256: 8320d5af37eb8933e5d129884ea013b2687e75b08aff5216193df3378eaea92f
   md5: 8af3faf88325836e46c6cb79828e058c
@@ -19066,6 +22387,18 @@ packages:
   purls: []
   size: 310648
   timestamp: 1757370847287
+- conda: https://conda.anaconda.org/conda-forge/noarch/zipp-3.23.0-pyhcf101f3_1.conda
+  sha256: b4533f7d9efc976511a73ef7d4a2473406d7f4c750884be8e8620b0ce70f4dae
+  md5: 30cd29cb87d819caead4d55184c1d115
+  depends:
+  - python >=3.10
+  - python
+  license: MIT
+  license_family: MIT
+  purls:
+  - pkg:pypi/zipp?source=compressed-mapping
+  size: 24194
+  timestamp: 1764460141901
 - conda: https://conda.anaconda.org/conda-forge/noarch/zipp-3.23.0-pyhd8ed1ab_0.conda
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@@ -19106,6 +22439,17 @@ packages:
   - pkg:pypi/zstandard?source=compressed-mapping
   size: 467133
   timestamp: 1762512686069
+- conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
+  sha256: 68f0206ca6e98fea941e5717cec780ed2873ffabc0e1ed34428c061e2c6268c7
+  md5: 4a13eeac0b5c8e5b8ab496e6c4ddd829
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libzlib >=1.3.1,<2.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 601375
+  timestamp: 1764777111296
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb8e6e7a_2.conda
   sha256: a4166e3d8ff4e35932510aaff7aa90772f84b4d07e9f6f83c614cba7ceefe0eb
   md5: 6432cb5d4ac0046c3ac0a8a0f95842f9
diff --git a/pixi.toml b/pixi.toml
index 6317099d7..b4e8c07e3 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -10,19 +10,24 @@ version = "0.1.0"
 build = "colcon build --symlink-install --cmake-args -G Ninja"
 clean = "rm -rf build install log"
 test = "colcon test --event-handlers console_direct+ --return-code-on-test-failure"
-format = "pre-commit run --all-files"
+_format = "pre-commit run --all-files"
+format = [{ task = "_format", environment = "format" }]
 deploy = "scripts/deploy_robots.py"
 
 [dependencies]
+# Base dependencies
 python = "==3.12"
+
+# Patches
+readline = ">=8.2.999"  # This is needed because we want to install an empty readline package from our models channel that leads to the system version being used. Otherwise we might have a missmatch between bash (often accessed globally ignoring the env) and readline (provided by the env)  breaking everything.
+
+[feature.ros.dependencies]
+# Misc dependencies for our ROS 2 packages
+compilers = ">=1.11.0,<2"
 beartype = ">=0.22.6,<0.23"
 breathe = ">=4.36.0,<5"
-clang-format = ">=21.1.0,<22"
 cmake = "<3.30"  # Constraint to avoid issues with deprecated features in newer cmake versions
-colcon-common-extensions = ">=0.3.0,<0.4"
 colorama = ">=0.4.6,<0.5"
-compilers = ">=1.11.0,<2"
-cppcheck = ">=2.18.3,<3"
 eigen = ">=3.4.0,<4"
 fabric = ">=3.2.2,<4"
 gitpython = ">=3.1.45,<4"
@@ -40,7 +45,6 @@ opencv = ">=4.11.0,<5"
 paramiko =   ">=4.0.0,<5"
 pkg-config = ">=0.29.2,<0.30"
 playsound = ">=1.3.0,<2"
-pre-commit = ">=4.4.0,<5"
 protobuf = ">=5.29.3,<6"
 psutil = ">=7.1.3,<8"
 pthread-stubs = ">=0.4,<0.5"
@@ -50,6 +54,17 @@ pytest = ">=9.0.1,<10"
 pytest-mock = ">=3.15.1,<4"
 pyyaml = ">=6.0.3,<7"
 rich = ">=14.2.0,<15"
+rospkg = ">=1.6.0,<2"
+ruff = ">=0.14.6,<0.15"
+simpleeval = ">=1.0.3,<2"
+sphinx-rtd-theme = ">=3.0.2,<4"
+sysroot_linux-64 = ">=2.28,<3"
+transforms3d = ">=0.4.2,<0.5"
+ipython = ">=9.7.0,<10"
+yaml-cpp = ">=0.8.0,<0.9"
+
+# Official ROS 2 packages
+colcon-common-extensions = ">=0.3.0,<0.4"
 ros-jazzy-action-msgs = ">=2.0.3,<3"
 ros-jazzy-ament-cmake = ">=2.5.4,<3"
 ros-jazzy-ament-cmake-mypy = ">=0.17.3,<0.18"
@@ -118,14 +133,8 @@ ros-jazzy-urdfdom-py = ">=1.2.1,<2"
 ros-jazzy-vision-opencv = ">=4.1.0,<5"
 ros-jazzy-visualization-msgs = ">=5.3.6,<6"
 ros-jazzy-xacro = ">=2.1.1,<3"
-rospkg = ">=1.6.0,<2"
-ruff = ">=0.14.6,<0.15"
-setuptools = "==68.1.2"
-simpleeval = ">=1.0.3,<2"
-sphinx-rtd-theme = ">=3.0.2,<4"
-sysroot_linux-64 = ">=2.28,<3"
-transforms3d = ">=0.4.2,<0.5"
-yaml-cpp = ">=0.8.0,<0.9"
+
+# Bit-Bots vendor packages
 ros-jazzy-imu-complementary-filter = ">=2.1.5,<3"
 ros-jazzy-pybind11-vendor = ">=3.1.3,<4"
 ros-jazzy-soccer-vision-3d-msgs = ">=1.0.0,<2"
@@ -153,23 +162,43 @@ ros-jazzy-ros2-numpy = ">=2.0.9,<3"
 ros-jazzy-gazebo-msgs = ">=3.8.0,<4"
 ros-jazzy-bitbots-dynamixel-sdk = ">=3.7.21,<4"
 ros-jazzy-dynamixel-workbench-toolbox = ">=0.1.8,<0.2"
-ipython = ">=9.7.0,<10"
 ros-jazzy-better-launch = ">=1.0.3,<2"
-pillow = "<12" # this constraint is needed as yoeo specifies the 11 major version and otherwise uv fails to solve given the constrains from the conda ecosystem.
+
+# Neural network models / data packages
 bitbots_model_2021_12_06_flo_torso21_yoeo_7 = ">=1.0.0,<2"
 bitbots_model_2023_04_04_philipp_yoeox_with_team_colors = ">=1.0.0,<2"
 bitbots_model_2022_10_07_flo_torso21_yoeox = ">=1.0.0,<2"
 
+# Local packages
 bitbots_rust_nav = { path = "src/bitbots_navigation/bitbots_rust_nav" }
-readline = ">=8.2.999"  # This is needed because we want to install an empty readline package from our models channel that leads to the system version being used. Otherwise we might have a missmatch between bash (often accessed globally ignoring the env) and readline (provided by the env)  breaking everything.
+
+# Patches
+pillow = "<12" # this constraint is needed as yoeo specifies the 11 major version and otherwise uv fails to solve given the constrains from the conda ecosystem.
+setuptools = "==68.1.2"  # Pinning setuptools to avoid issues with colcon build
+
+[feature.format.dependencies]
+clang-format = ">=21.1.0,<22"
+cppcheck = ">=2.18.3,<3"
+pre-commit = ">=4.4.0,<5"
 
 [pypi-dependencies]
 syrupy = ">=5.0.0, <6"
 exhale = ">=0.3.7, <0.4"
-pyamdgpuinfo = ">=2.1.7, <3"
 mycroft-mimic3-tts = ">=0.2.4, <0.3"
 pyttsx3 = ">=2.99, <3"
+
+[feature.robot.pypi-dependencies]
+# These are only needed on the robot
+pyamdgpuinfo = ">=2.1.7, <3"
+
+[feature.pytorch.pypi-dependencies]
 yoeo = { git = "https://github.com/bit-bots/YOEO" }
 
-[activation]
+[feature.ros.activation]
 scripts = ["install/setup.sh"]
+
+[environments]
+default = ["ros", "format", "pytorch"]  # Full development environment (excluding robot-only deps)
+format = ["format"]  # Format only environment
+robot = ["ros", "robot", "pytorch"]  # Robot environment with additional robot-only dependencies
+ci = ["ros"]  # CI does not need format or full pytorch to save time and space

From 743f231aa43a9c23ac0814b914b8468131b8432c Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 20:51:02 +0100
Subject: [PATCH 58/90] Use pixi for pre-commits

---
 .github/workflows/pre-commit.yml | 22 ++++++++++++++--------
 1 file changed, 14 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index bb80c075f..2fed11817 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -1,16 +1,22 @@
 name: Code style checks
 
 on:
-  pull_request:
   push:
-    branches: [main]
 
 jobs:
   pre-commit:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v4
-      - name: Install cppcheck
-        run: sudo apt install cppcheck -y
-      - uses: pre-commit/action@v3.0.1
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up workspace
+        uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          pixi-version: v0.59.0
+          cache: true
+          environments: >-
+            format
+
+      - name: Run pre-commit
+        run: pixi run format

From 1e58594c06bd64235885b6d74b04bc6bac8a8fdf Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 20:52:52 +0100
Subject: [PATCH 59/90] Apply formatting

---
 .../bitfoot_hardware_interface.hpp            |  6 +--
 .../button_hardware_interface.hpp             |  6 +--
 .../core_hardware_interface.hpp               |  6 +--
 .../dynamixel_servo_hardware_interface.hpp    |  8 ++--
 .../hardware_interface.hpp                    |  6 +--
 .../imu_hardware_interface.hpp                |  6 +--
 .../leds_hardware_interface.hpp               |  6 +--
 .../servo_bus_interface.hpp                   |  6 +--
 .../wolfgang_hardware_interface.hpp           |  4 +-
 .../src/bitfoot_hardware_interface.cpp        |  8 ++--
 .../src/button_hardware_interface.cpp         |  6 +--
 .../src/core_hardware_interface.cpp           |  8 ++--
 .../dynamixel_servo_hardware_interface.cpp    | 22 +++++-----
 .../src/imu_hardware_interface.cpp            |  8 ++--
 .../src/leds_hardware_interface.cpp           |  6 +--
 .../bitbots_ros_control/src/node.cpp          |  2 +-
 .../src/pressure_converter.cpp                |  2 +-
 .../src/servo_bus_interface.cpp               | 26 +++++------
 .../src/wolfgang_hardware_interface.cpp       | 44 +++++++++----------
 .../src/extrinsic_calibration.cpp             |  6 +--
 .../include/bitbots_utils/utils.hpp           | 16 +++----
 .../bitbots_utils/scripts/tf_delay_plot.cpp   |  4 +-
 src/bitbots_misc/bitbots_utils/src/utils.cpp  | 16 +++----
 .../bitbots_dynamic_kick/kick_engine.hpp      | 14 +++---
 .../include/bitbots_dynamic_kick/kick_ik.hpp  | 10 ++---
 .../bitbots_dynamic_kick/kick_node.hpp        | 10 ++---
 .../bitbots_dynamic_kick/kick_pywrapper.hpp   |  4 +-
 .../bitbots_dynamic_kick/stabilizer.hpp       |  2 +-
 .../bitbots_dynamic_kick/visualizer.hpp       | 14 +++---
 .../bitbots_dynamic_kick/src/kick_engine.cpp  | 10 ++---
 .../bitbots_dynamic_kick/src/kick_ik.cpp      |  2 +-
 .../bitbots_dynamic_kick/src/kick_node.cpp    | 14 +++---
 .../src/kick_pywrapper.cpp                    |  8 ++--
 .../bitbots_dynamic_kick/src/stabilizer.cpp   |  2 +-
 .../bitbots_dynamic_kick/src/visualizer.cpp   | 14 +++---
 .../include/bitbots_dynup/dynup_engine.hpp    |  2 +-
 .../include/bitbots_dynup/dynup_ik.hpp        | 12 ++---
 .../include/bitbots_dynup/dynup_node.hpp      | 10 ++---
 .../include/bitbots_dynup/dynup_pywrapper.hpp |  2 +-
 .../bitbots_dynup/dynup_stabilizer.hpp        |  2 +-
 .../include/bitbots_dynup/visualizer.hpp      |  8 ++--
 .../bitbots_dynup/src/dynup_engine.cpp        |  4 +-
 .../bitbots_dynup/src/dynup_node.cpp          | 16 +++----
 .../bitbots_dynup/src/dynup_pywrapper.cpp     |  4 +-
 .../bitbots_dynup/src/dynup_stabilizer.cpp    |  2 +-
 .../bitbots_dynup/src/visualizer.cpp          |  8 ++--
 .../bitbots_quintic_walk/walk_engine.hpp      |  6 +--
 .../bitbots_quintic_walk/walk_node.hpp        | 10 ++---
 .../bitbots_quintic_walk/walk_pywrapper.hpp   | 14 +++---
 .../bitbots_quintic_walk/walk_stabilizer.hpp  |  2 +-
 .../bitbots_quintic_walk/walk_utils.hpp       |  2 +-
 .../bitbots_quintic_walk/walk_visualizer.hpp  | 10 ++---
 .../bitbots_quintic_walk/src/walk_ik.cpp      |  6 +--
 .../src/walk_pywrapper.cpp                    | 20 ++++-----
 .../src/walk_visualizer.cpp                   | 16 +++----
 .../bitbots_rl_motion/CMakeLists.txt          |  2 +-
 .../bitbots_splines/abstract_engine.hpp       |  2 +-
 .../include/bitbots_splines/abstract_ik.hpp   | 10 ++---
 .../bitbots_splines/abstract_stabilizer.hpp   |  2 +-
 .../bitbots_splines/abstract_visualizer.hpp   | 10 ++---
 .../include/bitbots_splines/euler.hpp         | 10 ++---
 .../include/bitbots_splines/polynom.hpp       | 12 ++---
 .../include/bitbots_splines/pose_spline.hpp   | 12 ++---
 .../bitbots_splines/position_spline.hpp       |  6 +--
 .../include/bitbots_splines/smooth_spline.hpp |  4 +-
 .../include/bitbots_splines/spline.hpp        | 10 ++---
 .../bitbots_splines/spline_container.hpp      | 26 +++++------
 .../bitbots_splines/src/Spline/polynom.cpp    | 14 +++---
 .../src/Spline/pose_spline.cpp                | 12 ++---
 .../src/Spline/position_spline.cpp            |  6 +--
 .../src/Spline/smooth_spline.cpp              |  8 ++--
 .../bitbots_splines/src/Spline/spline.cpp     | 12 ++---
 .../bitbots_localization/MotionModel.hpp      |  6 +--
 .../bitbots_localization/ObservationModel.hpp | 10 ++---
 .../bitbots_localization/Resampling.hpp       | 10 ++---
 .../bitbots_localization/RobotState.hpp       |  8 ++--
 .../StateDistribution.hpp                     | 14 +++---
 .../bitbots_localization/localization.hpp     | 10 ++---
 .../bitbots_localization/src/MotionModel.cpp  |  6 +--
 .../src/ObservationModel.cpp                  | 12 ++---
 .../bitbots_localization/src/RobotState.cpp   | 12 ++---
 .../src/StateDistribution.cpp                 | 12 ++---
 .../bitbots_localization/src/localization.cpp | 22 +++++-----
 .../bitbots_localization/src/map.cpp          |  8 ++--
 .../bitbots_odometry/src/motion_odometry.cpp  |  8 ++--
 .../bitbots_odometry/src/odometry_fuser.cpp   | 12 ++---
 .../RobocupProtocol/CMakeLists.txt            | 40 +++++++----------
 .../RobocupProtocol/decode_base.cpp           |  1 +
 .../RobocupProtocol/decode_extended.cpp       |  1 +
 .../RobocupProtocol/encode_base.cpp           |  1 +
 .../RobocupProtocol/encode_extended.cpp       |  1 +
 .../RobocupProtocol/utils.hpp                 |  1 +
 .../vision_modules/yoeo/object_manager.py     |  9 ++--
 93 files changed, 424 insertions(+), 426 deletions(-)

diff --git a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/bitfoot_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/bitfoot_hardware_interface.hpp
index 751f78c97..ab86bf5ec 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/bitfoot_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/bitfoot_hardware_interface.hpp
@@ -14,14 +14,14 @@ namespace bitbots_ros_control {
 
 class BitFootHardwareInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  explicit BitFootHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id,
+  explicit BitFootHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, int id,
                                     std::string topic_name, std::string name);
 
   bool init();
 
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
  private:
   rclcpp::Node::SharedPtr nh_;
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/button_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/button_hardware_interface.hpp
index 449e7e1ba..65ddd894a 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/button_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/button_hardware_interface.hpp
@@ -16,12 +16,12 @@ namespace bitbots_ros_control {
 
 class ButtonHardwareInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  explicit ButtonHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id,
+  explicit ButtonHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, int id,
                                    std::string topic, int read_rate_);
 
   bool init();
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
  private:
   rclcpp::Node::SharedPtr nh_;
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/core_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/core_hardware_interface.hpp
index 533d65256..a3a5f76ac 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/core_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/core_hardware_interface.hpp
@@ -18,16 +18,16 @@ namespace bitbots_ros_control {
 
 class CoreHardwareInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  explicit CoreHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id,
+  explicit CoreHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, int id,
                                  int read_rate);
 
   bool get_power_status();
 
   bool init();
 
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
   void restoreAfterPowerCycle();
 
  private:
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp
index 3f96c64af..f799abd90 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp
@@ -19,7 +19,7 @@
 
 namespace bitbots_ros_control {
 template <typename T>
-std::string vecToString(const std::vector<T> &vec) {
+std::string vecToString(const std::vector<T>& vec) {
   std::stringstream ss;
   ss << "[";
   for (unsigned int i = 0; i < vec.size(); ++i) {
@@ -50,8 +50,8 @@ class DynamixelServoHardwareInterface : public bitbots_ros_control::HardwareInte
   explicit DynamixelServoHardwareInterface(rclcpp::Node::SharedPtr nh);
 
   bool init();
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
   void addBusInterface(std::shared_ptr<ServoBusInterface> bus);
   void writeROMRAM(bool first_time);
 
@@ -61,7 +61,7 @@ class DynamixelServoHardwareInterface : public bitbots_ros_control::HardwareInte
 
   void setTorqueCb(std_msgs::msg::Bool::SharedPtr enabled);
   void individualTorqueCb(bitbots_msgs::msg::JointTorque msg);
-  void commandCb(const bitbots_msgs::msg::JointCommand &command_msg);
+  void commandCb(const bitbots_msgs::msg::JointCommand& command_msg);
 
   std::vector<int32_t> goal_torque_individual_;
 
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
index 499222df5..7c0771c11 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
@@ -12,13 +12,13 @@ class HardwareInterface {
  public:
   virtual bool init() = 0;
 
-  virtual void read(const rclcpp::Time &t, const rclcpp::Duration &dt) {};
+  virtual void read(const rclcpp::Time& t, const rclcpp::Duration& dt) {};
 
-  virtual void write(const rclcpp::Time &t, const rclcpp::Duration &dt) {};
+  virtual void write(const rclcpp::Time& t, const rclcpp::Duration& dt) {};
 
   virtual void restoreAfterPowerCycle() {};
 
-  virtual ~HardwareInterface(){};
+  virtual ~HardwareInterface() {};
 };
 }  // namespace bitbots_ros_control
 #endif  // BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_HARDWARE_INTERFACE_H_
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/imu_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/imu_hardware_interface.hpp
index 8e844eccd..1719041ad 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/imu_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/imu_hardware_interface.hpp
@@ -19,12 +19,12 @@ namespace bitbots_ros_control {
 
 class ImuHardwareInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  explicit ImuHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id,
+  explicit ImuHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, int id,
                                 std::string topic, std::string frame, std::string name);
 
   bool init();
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
   void restoreAfterPowerCycle();
 
  private:
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/leds_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/leds_hardware_interface.hpp
index 19d689e6e..d11728c22 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/leds_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/leds_hardware_interface.hpp
@@ -12,12 +12,12 @@ namespace bitbots_ros_control {
 
 class LedsHardwareInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  LedsHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, uint8_t id,
+  LedsHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, uint8_t id,
                         uint8_t num_leds, uint8_t start_number);
 
   bool init();
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
  private:
   rclcpp::Node::SharedPtr nh_;
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/servo_bus_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/servo_bus_interface.hpp
index 4a9793a5a..dc144b7d8 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/servo_bus_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/servo_bus_interface.hpp
@@ -21,11 +21,11 @@ namespace bitbots_ros_control {
 
 class ServoBusInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  explicit ServoBusInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+  explicit ServoBusInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                              std::vector<std::tuple<int, std::string, float, float, std::string>> servos);
   bool init();
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
   void restoreAfterPowerCycle();
 
   bool loadDynamixels();
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/wolfgang_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/wolfgang_hardware_interface.hpp
index f73254a9f..d55f27e18 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/wolfgang_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/wolfgang_hardware_interface.hpp
@@ -21,9 +21,9 @@ class WolfgangHardwareInterface {
 
   bool init();
 
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
  private:
   bool create_interfaces(std::vector<std::pair<std::string, int>> dxl_devices);
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/bitfoot_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/bitfoot_hardware_interface.cpp
index d5cc4a982..f8d3ea3ec 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/bitfoot_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/bitfoot_hardware_interface.cpp
@@ -3,7 +3,7 @@
 
 namespace bitbots_ros_control {
 
-BitFootHardwareInterface::BitFootHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+BitFootHardwareInterface::BitFootHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                                                    int id, std::string topic_name, std::string name) {
   nh_ = nh;
   driver_ = driver;
@@ -19,7 +19,7 @@ bool BitFootHardwareInterface::init() {
   return true;
 }
 
-void BitFootHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void BitFootHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * Reads the foot pressure sensors of the BitFoot
    */
@@ -101,7 +101,7 @@ void BitFootHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duratio
     }
     std::vector<diagnostic_msgs::msg::KeyValue> keyValues = std::vector<diagnostic_msgs::msg::KeyValue>();
     // iterate through map and save it into values
-    for (auto const &ent1 : map) {
+    for (auto const& ent1 : map) {
       diagnostic_msgs::msg::KeyValue key_value = diagnostic_msgs::msg::KeyValue();
       key_value.key = ent1.first;
       key_value.value = ent1.second;
@@ -115,5 +115,5 @@ void BitFootHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duratio
 }
 
 // we dont write anything to the pressure sensors
-void BitFootHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {}
+void BitFootHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {}
 }  // namespace bitbots_ros_control
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/button_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/button_hardware_interface.cpp
index 23ab79bd9..c3e364767 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/button_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/button_hardware_interface.cpp
@@ -1,7 +1,7 @@
 #include <bitbots_ros_control/button_hardware_interface.hpp>
 
 namespace bitbots_ros_control {
-ButtonHardwareInterface::ButtonHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+ButtonHardwareInterface::ButtonHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                                                  int id, std::string topic, int read_rate) {
   nh_ = nh;
   driver_ = driver;
@@ -16,7 +16,7 @@ bool ButtonHardwareInterface::init() {
   return true;
 }
 
-void ButtonHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void ButtonHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * Reads the buttons
    */
@@ -56,5 +56,5 @@ void ButtonHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration
 }
 
 // we don't write anything to the buttons
-void ButtonHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {}
+void ButtonHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {}
 }  // namespace bitbots_ros_control
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/core_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/core_hardware_interface.cpp
index 869716ff0..18b8e8761 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/core_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/core_hardware_interface.cpp
@@ -2,7 +2,7 @@
 
 namespace bitbots_ros_control {
 
-CoreHardwareInterface::CoreHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+CoreHardwareInterface::CoreHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                                              int id, int read_rate) {
   nh_ = nh;
   driver_ = driver;
@@ -47,7 +47,7 @@ bool CoreHardwareInterface::get_power_status() {
   return power_control_status_.data && power_switch_status_.data;
 }
 
-void CoreHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void CoreHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * Reads the CORE board
    */
@@ -128,7 +128,7 @@ void CoreHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &
     }
     std::vector<diagnostic_msgs::msg::KeyValue> keyValues = std::vector<diagnostic_msgs::msg::KeyValue>();
     // iterate through map and save it into values
-    for (auto const &ent1 : map) {
+    for (auto const& ent1 : map) {
       diagnostic_msgs::msg::KeyValue key_value = diagnostic_msgs::msg::KeyValue();
       key_value.key = ent1.first;
       key_value.value = ent1.second;
@@ -142,7 +142,7 @@ void CoreHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &
   read_counter_++;
 }
 
-void CoreHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void CoreHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   // we only need to write something if requested power status and current power status do not match
   // we don't use power_switch_status here because we cannot overwrite the physical switch
   if (requested_power_status_ != power_control_status_.data && last_read_successful_) {
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp
index 81371b754..f27b303a9 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp
@@ -14,7 +14,7 @@ void DynamixelServoHardwareInterface::addBusInterface(std::shared_ptr<ServoBusIn
 }
 
 void DynamixelServoHardwareInterface::writeROMRAM(bool first_time) {
-  for (auto &bus : bus_interfaces_) {
+  for (auto& bus : bus_interfaces_) {
     bus->writeROMRAM(first_time);
   }
 }
@@ -41,7 +41,7 @@ bool DynamixelServoHardwareInterface::init() {
 
   // init merged vectors for controller
   joint_count_ = 0;
-  for (const auto &bus : bus_interfaces_) {
+  for (const auto& bus : bus_interfaces_) {
     joint_count_ = joint_count_ + bus->joint_count_;
     for (int i = 0; i < bus->joint_count_; i++) {
       joint_names_.push_back(bus->joint_names_[i]);
@@ -70,8 +70,8 @@ bool DynamixelServoHardwareInterface::init() {
   moveit::core::RobotModelPtr model = rml.getModel();
   lower_joint_limits_.resize(joint_count_);
   upper_joint_limits_.resize(joint_count_);
-  for (const std::string &joint_name : joint_names_) {
-    moveit::core::JointModel *jm = model->getJointModel(joint_name);
+  for (const std::string& joint_name : joint_names_) {
+    moveit::core::JointModel* jm = model->getJointModel(joint_name);
     // we use getVariableBounds()[0] because there is only a single variable for all of our joints
     lower_joint_limits_[joint_map_[joint_name]] = jm->getVariableBounds()[0].min_position_;
     upper_joint_limits_[joint_map_[joint_name]] = jm->getVariableBounds()[0].max_position_;
@@ -94,7 +94,7 @@ bool DynamixelServoHardwareInterface::init() {
   return true;
 }
 
-void DynamixelServoHardwareInterface::commandCb(const bitbots_msgs::msg::JointCommand &command_msg) {
+void DynamixelServoHardwareInterface::commandCb(const bitbots_msgs::msg::JointCommand& command_msg) {
   if (!(command_msg.joint_names.size() == command_msg.positions.size() &&
         command_msg.joint_names.size() == command_msg.velocities.size() &&
         command_msg.joint_names.size() == command_msg.accelerations.size() &&
@@ -147,7 +147,7 @@ void DynamixelServoHardwareInterface::individualTorqueCb(bitbots_msgs::msg::Join
       RCLCPP_WARN(nh_->get_logger(), "Couldn't set torque for servo %s ", msg.joint_names[i].c_str());
     }
   }
-  for (const auto &bus : bus_interfaces_) {
+  for (const auto& bus : bus_interfaces_) {
     bus->switch_individual_torque_ = true;
   }
 }
@@ -156,7 +156,7 @@ void DynamixelServoHardwareInterface::setTorqueCb(std_msgs::msg::Bool::SharedPtr
   /**
    * This saves the given required value, so that it can be written to the servos in the write method
    */
-  for (const auto &bus : bus_interfaces_) {
+  for (const auto& bus : bus_interfaces_) {
     bus->goal_torque_ = enabled->data;
   }
   for (size_t j = 0; j < joint_names_.size(); j++) {
@@ -164,11 +164,11 @@ void DynamixelServoHardwareInterface::setTorqueCb(std_msgs::msg::Bool::SharedPtr
   }
 }
 
-void DynamixelServoHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void DynamixelServoHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   // retrieve values from the buses and set controller vector accordingly
   // todo improve performance
   int i = 0;
-  for (const auto &bus : bus_interfaces_) {
+  for (const auto& bus : bus_interfaces_) {
     for (int j = 0; j < bus->joint_count_; j++) {
       current_position_[i] = bus->current_position_[j];
       current_velocity_[i] = bus->current_velocity_[j];
@@ -191,11 +191,11 @@ void DynamixelServoHardwareInterface::read(const rclcpp::Time &t, const rclcpp::
   pwm_pub_->publish(pwm_msg_);
 }
 
-void DynamixelServoHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void DynamixelServoHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   // set all values from controller to the buses
   // todo improve performance
   int i = 0;
-  for (const auto &bus : bus_interfaces_) {
+  for (const auto& bus : bus_interfaces_) {
     for (int j = 0; j < bus->joint_count_; j++) {
       bus->goal_position_[j] = goal_position_[i];
       bus->goal_velocity_[j] = goal_velocity_[i];
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/imu_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/imu_hardware_interface.cpp
index 557f13376..cb2f9f1bd 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/imu_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/imu_hardware_interface.cpp
@@ -7,7 +7,7 @@ namespace bitbots_ros_control {
 using std::placeholders::_1;
 using std::placeholders::_2;
 
-ImuHardwareInterface::ImuHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id,
+ImuHardwareInterface::ImuHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, int id,
                                            std::string topic, std::string frame, std::string name) {
   nh_ = nh;
   driver_ = driver;
@@ -78,7 +78,7 @@ bool ImuHardwareInterface::init() {
   return true;
 }
 
-void ImuHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void ImuHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * Reads the IMU
    */
@@ -155,7 +155,7 @@ void ImuHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &d
     }
     std::vector<diagnostic_msgs::msg::KeyValue> keyValues = std::vector<diagnostic_msgs::msg::KeyValue>();
     // itarate through map and save it into values
-    for (auto const &ent1 : map) {
+    for (auto const& ent1 : map) {
       diagnostic_msgs::msg::KeyValue key_value = diagnostic_msgs::msg::KeyValue();
       key_value.key = ent1.first;
       key_value.value = ent1.second;
@@ -239,7 +239,7 @@ void ImuHardwareInterface::setAccelCalibrationThreshold(
   set_accel_calib_threshold_ = true;
 }
 
-void ImuHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void ImuHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   if (write_ranges_) {
     RCLCPP_INFO_STREAM(nh_->get_logger(), "Setting Gyroscope range to " << gyroRangeToString(gyro_range_));
     RCLCPP_INFO_STREAM(nh_->get_logger(), "Setting Accelerometer range to " << accelRangeToString(accel_range_));
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/leds_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/leds_hardware_interface.cpp
index faa516b20..98cf9de8b 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/leds_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/leds_hardware_interface.cpp
@@ -6,7 +6,7 @@ using std::placeholders::_1;
 using std::placeholders::_2;
 using std::placeholders::_3;
 
-LedsHardwareInterface::LedsHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+LedsHardwareInterface::LedsHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                                              uint8_t id, uint8_t num_leds, uint8_t start_number) {
   nh_ = nh;
   driver_ = driver;
@@ -61,7 +61,7 @@ void LedsHardwareInterface::ledCb2(std_msgs::msg::ColorRGBA msg) {
   }
 }
 
-void LedsHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {}
+void LedsHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {}
 
 void LedsHardwareInterface::setLeds(const std::shared_ptr<bitbots_msgs::srv::Leds::Request> req,
                                     std::shared_ptr<bitbots_msgs::srv::Leds::Response> resp) {
@@ -92,7 +92,7 @@ uint32_t rgba_to_int32(std_msgs::msg::ColorRGBA rgba) {
   return led;
 }
 
-void LedsHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void LedsHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   if (write_leds_) {
     // resort LEDs to go from left to right
     driver_->writeRegister(id_, "LED_2", rgba_to_int32(leds_[0]));
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/node.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/node.cpp
index c51210a51..fd681c8c8 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/node.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/node.cpp
@@ -13,7 +13,7 @@ void sigintHandler(int sig) {
   request_shutdown = 1;
 }
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   // register signal handler for ctrl-c that we use to request shutdown but give extra time for other nodes to finish
   signal(SIGINT, sigintHandler);
 
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
index 0dff0ae2e..d4285c5f8 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
@@ -257,7 +257,7 @@ bool PressureConverter::zeroCallback(const std::shared_ptr<std_srvs::srv::Empty:
   return true;
 }
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   rclcpp::init(argc, argv);
   // declare parameters automatically
   rclcpp::NodeOptions options = rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true);
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp
index 06c82fff5..ed47806b0 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp
@@ -3,7 +3,7 @@
 
 namespace bitbots_ros_control {
 
-ServoBusInterface::ServoBusInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+ServoBusInterface::ServoBusInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                                      std::vector<std::tuple<int, std::string, float, float, std::string>> servos)
     : first_cycle_(true), read_position_(true), read_velocity_(false), read_effort_(true) {
   nh_ = nh;
@@ -120,7 +120,7 @@ bool ServoBusInterface::loadDynamixels() {
 
   // iterate over all servos and save the information
   // the wolfgang hardware interface already loaded them into the driver by pinging
-  for (std::tuple<int, std::string, float, float, std::string> &servo : servos_) {
+  for (std::tuple<int, std::string, float, float, std::string>& servo : servos_) {
     int motor_id = std::get<0>(servo);
     joint_ids_.push_back(uint8_t(motor_id));
     std::string joint_name = std::get<1>(servo);
@@ -164,7 +164,7 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
       rcl_interfaces::msg::ListParametersResult rom_ram_parameter_list =
           nh_->list_parameters({ROM_RAM_PARAMETER_NAMESPACE + joint_group}, 0);
       // Iterate over the parameters and set each one
-      for (std::string &register_parameter_name : rom_ram_parameter_list.names) {
+      for (std::string& register_parameter_name : rom_ram_parameter_list.names) {
         // Get the value of the parameter
         int value = nh_->get_parameter(register_parameter_name).as_int();
         // Get only the name of the register without the namespace
@@ -181,17 +181,17 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
   // Check that all groups have the same parameters not only the same number of parameters
   // Get all keys of the first group
   std::vector<std::string> parameter_names;
-  for (auto const &[key, value] : joint_register_value_map[0]) {
+  for (auto const& [key, value] : joint_register_value_map[0]) {
     parameter_names.push_back(key);
   }
-  for (auto const &[group_id, group_params] : group_param_cache) {
+  for (auto const& [group_id, group_params] : group_param_cache) {
     // Check that the size is the same
     if (group_params.size() != parameter_names.size()) {
       RCLCPP_ERROR(nh_->get_logger(), "Servo group %s has a different number of servo parameters", group_id.c_str());
       success = false;
     }
     // Check that all keys are the same
-    for (std::string &key : parameter_names) {
+    for (std::string& key : parameter_names) {
       if (group_params.find(key) == group_params.end()) {
         RCLCPP_ERROR(nh_->get_logger(), "Group %s does not have parameter %s", group_id.c_str(), key.c_str());
         success = false;
@@ -202,7 +202,7 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
   // Allocate memory for the values in the driver
   std::vector<int> values(joint_names_.size());
   // Iterate over parameter names
-  for (const auto &register_name : parameter_names) {
+  for (const auto& register_name : parameter_names) {
     // Get the value for each joint
     for (size_t num = 0; num < joint_names_.size(); num++) {
       // Get the value from the cache
@@ -220,7 +220,7 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
   return success;
 }
 
-void ServoBusInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void ServoBusInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * This is part of the main loop and handles reading of all connected devices
    */
@@ -320,7 +320,7 @@ void ServoBusInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt)
   }
 }
 
-void ServoBusInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void ServoBusInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * This is part of the mainloop and handles all the writing to the connected devices
    */
@@ -415,7 +415,7 @@ void ServoBusInterface::switchDynamixelControlMode() {
   }
 
   std::vector<int32_t> operating_mode(joint_names_.size(), value);
-  int32_t *o = &operating_mode[0];
+  int32_t* o = &operating_mode[0];
   driver_->syncWrite("Operating_Mode", o);
 
   nh_->get_clock()->sleep_for(rclcpp::Duration::from_nanoseconds(1e9 * 0.5));
@@ -437,7 +437,7 @@ diagnostic_msgs::msg::DiagnosticStatus ServoBusInterface::createServoDiagMsg(int
   servo_status.hardware_id = std::to_string(id);
   std::vector<diagnostic_msgs::msg::KeyValue> keyValues = std::vector<diagnostic_msgs::msg::KeyValue>();
   // iterate through map and save it into values
-  for (auto const &ent1 : map) {
+  for (auto const& ent1 : map) {
     diagnostic_msgs::msg::KeyValue key_value = diagnostic_msgs::msg::KeyValue();
     key_value.key = ent1.first;
     key_value.value = ent1.second;
@@ -525,7 +525,7 @@ void ServoBusInterface::writeTorque(bool enabled) {
   // only set values if we're not in torqueless mode
   if (!torqueless_mode_) {
     std::vector<int32_t> torque(joint_names_.size(), enabled);
-    int32_t *t = &torque[0];
+    int32_t* t = &torque[0];
     driver_->syncWrite("Torque_Enable", t);
     current_torque_ = enabled;
     goal_torque_ = enabled;
@@ -541,7 +541,7 @@ void ServoBusInterface::writeTorqueForServos(std::vector<int32_t> torque) {
   if (!torqueless_mode_) {
     // this actually writes each value in the torque vector
     // but the dynamixel_toolbox requires a reference to the first element
-    int32_t *t = &torque[0];
+    int32_t* t = &torque[0];
     driver_->syncWrite("Torque_Enable", t);
   }
 }
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
index 96097debd..e732e4524 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
@@ -31,7 +31,7 @@ WolfgangHardwareInterface::WolfgangHardwareInterface(rclcpp::Node::SharedPtr nh)
 
   // Convert dxls to native type: a vector of tuples with name and id for sorting purposes
   std::vector<std::pair<std::string, int>> dxl_devices;
-  for (const std::string &parameter_name : device_name_list.names) {
+  for (const std::string& parameter_name : device_name_list.names) {
     // we get directly the parameters and not the groups. use id parameter to identify them
     if (parameter_name.find(".id") != std::string::npos) {
       int id = nh->get_parameter(parameter_name).as_int();
@@ -45,7 +45,7 @@ WolfgangHardwareInterface::WolfgangHardwareInterface(rclcpp::Node::SharedPtr nh)
   // easier.
   std::sort(
       dxl_devices.begin(), dxl_devices.end(),
-      [](const std::pair<std::string, int> &a, const std::pair<std::string, int> &b) { return a.second < b.second; });
+      [](const std::pair<std::string, int>& a, const std::pair<std::string, int>& b) { return a.second < b.second; });
 
   // create overall servo interface since we need a single interface for the controllers
   servo_interface_ = DynamixelServoHardwareInterface(nh);
@@ -64,7 +64,7 @@ bool WolfgangHardwareInterface::create_interfaces(std::vector<std::pair<std::str
   // init bus drivers
   std::vector<std::string> pinged;
   rcl_interfaces::msg::ListParametersResult port_list = nh_->list_parameters({"port_info"}, 3);
-  for (const std::string &parameter_name : port_list.names) {
+  for (const std::string& parameter_name : port_list.names) {
     // we get directly the parameters and not the groups. use id parameter to identify them
     if (parameter_name.find(".device_file") != std::string::npos) {
       std::string port_name = parameter_name.substr(10, parameter_name.size() - 11 - 11);
@@ -86,7 +86,7 @@ bool WolfgangHardwareInterface::create_interfaces(std::vector<std::pair<std::str
       std::vector<std::shared_ptr<HardwareInterface>> interfaces_on_port;
       // iterate over all devices and ping them to see what is connected to this bus
       std::vector<std::tuple<int, std::string, float, float, std::string>> servos_on_port;
-      for (std::pair<std::string, int> &device : dxl_devices) {
+      for (std::pair<std::string, int>& device : dxl_devices) {
         // RCLCPP_INFO_STREAM(nh_->get_logger(), device.first);
         std::string name = device.first;
         int id = device.second;
@@ -205,7 +205,7 @@ bool WolfgangHardwareInterface::create_interfaces(std::vector<std::pair<std::str
         RCLCPP_ERROR(nh_->get_logger(), "Could not ping all devices!");
         speakError(speak_pub_, "error starting ross control");
         // check which devices were not pinged successful
-        for (std::pair<std::string, int> &device : dxl_devices) {
+        for (std::pair<std::string, int>& device : dxl_devices) {
           if (std::find(pinged.begin(), pinged.end(), device.first) != pinged.end()) {
           } else {
             RCLCPP_ERROR(nh_->get_logger(), "%s with id %d missing", device.first.c_str(), device.second);
@@ -220,8 +220,8 @@ bool WolfgangHardwareInterface::create_interfaces(std::vector<std::pair<std::str
   }
 }
 
-void threaded_init(const std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces, rclcpp::Node::SharedPtr &nh,
-                   int &success) {
+void threaded_init(const std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces, rclcpp::Node::SharedPtr& nh,
+                   int& success) {
   success = std::all_of(port_interfaces.begin(), port_interfaces.end(),
                         [](std::shared_ptr<HardwareInterface> interface) -> bool { return interface->init(); });
 }
@@ -229,9 +229,9 @@ void threaded_init(const std::vector<std::shared_ptr<HardwareInterface>> &port_i
 bool WolfgangHardwareInterface::init() {
   // iterate through all ports
   std::vector<std::thread> threads;
-  std::vector<int *> successes;
+  std::vector<int*> successes;
   int i = 0;
-  for (std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces : interfaces_) {
+  for (std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces : interfaces_) {
     // iterate through all interfaces on this port
     // we use an int instead of bool, since std::ref can't handle bool
     int suc = 0;
@@ -240,24 +240,24 @@ bool WolfgangHardwareInterface::init() {
     i++;
   }
   // wait for all inits to finish
-  for (std::thread &thread : threads) {
+  for (std::thread& thread : threads) {
     thread.join();
   }
   // see if all inits were successful
-  bool success = std::all_of(successes.begin(), successes.end(), [](int *s) { return *s; });
+  bool success = std::all_of(successes.begin(), successes.end(), [](int* s) { return *s; });
   // init servo interface last after all servo busses are there
   success &= servo_interface_.init();
   return success;
 }
 
-void threaded_read(const std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces, const rclcpp::Time &t,
-                   const rclcpp::Duration &dt) {
+void threaded_read(const std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces, const rclcpp::Time& t,
+                   const rclcpp::Duration& dt) {
   for (std::shared_ptr<HardwareInterface> interface : port_interfaces) {
     interface->read(t, dt);
   }
 }
 
-void WolfgangHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void WolfgangHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   // give feedback to power changes
   if (core_present_) {
     if (current_power_status_ && !last_power_status_) {
@@ -270,11 +270,11 @@ void WolfgangHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Durati
     // only read all hardware if power is on
     std::vector<std::thread> threads;
     // start all reads
-    for (std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces : interfaces_) {
+    for (std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces : interfaces_) {
       threads.push_back(std::thread(threaded_read, std::ref(port_interfaces), std::ref(t), std::ref(dt)));
     }
     // wait for all reads to finish
-    for (std::thread &thread : threads) {
+    for (std::thread& thread : threads) {
       thread.join();
     }
     // aggregate all servo values for controller
@@ -292,14 +292,14 @@ void WolfgangHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Durati
   }
 }
 
-void threaded_write(const std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces, const rclcpp::Time &t,
-                    const rclcpp::Duration &dt) {
+void threaded_write(const std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces, const rclcpp::Time& t,
+                    const rclcpp::Duration& dt) {
   for (std::shared_ptr<HardwareInterface> interface : port_interfaces) {
     interface->write(t, dt);
   }
 }
 
-void WolfgangHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void WolfgangHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   if (core_present_ && !last_power_status_ && current_power_status_ &&
       nh_->get_parameter("servos.set_ROM_RAM").as_bool()) {
     bus_start_time_ = t + rclcpp::Duration::from_seconds(nh_->get_parameter("start_delay").as_double());
@@ -307,7 +307,7 @@ void WolfgangHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Durat
   }
   if (!bus_start_time_ || t > bus_start_time_.value()) {
     if (bus_first_write_) {
-      for (std::vector<std::shared_ptr<HardwareInterface>> const &port_interfaces : interfaces_) {
+      for (std::vector<std::shared_ptr<HardwareInterface>> const& port_interfaces : interfaces_) {
         for (std::shared_ptr<HardwareInterface> interface : port_interfaces) {
           interface->restoreAfterPowerCycle();
         }
@@ -322,12 +322,12 @@ void WolfgangHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Durat
       servo_interface_.write(t, dt);
       std::vector<std::thread> threads;
       // start all writes
-      for (std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces : interfaces_) {
+      for (std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces : interfaces_) {
         threads.push_back(std::thread(threaded_write, std::ref(port_interfaces), std::ref(t), std::ref(dt)));
       }
 
       // wait for all writes to finish
-      for (std::thread &thread : threads) {
+      for (std::thread& thread : threads) {
         thread.join();
       }
     }
diff --git a/src/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp b/src/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
index ba668a025..8c93cc078 100644
--- a/src/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
+++ b/src/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
@@ -28,8 +28,8 @@ class ExtrinsicCalibrationBroadcaster : public rclcpp::Node {
         this->add_on_set_parameters_callback(std::bind(&ExtrinsicCalibrationBroadcaster::onSetParameters, this, _1));
   }
 
-  rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter> &parameters) {
-    for (const auto &parameter : parameters) {
+  rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter>& parameters) {
+    for (const auto& parameter : parameters) {
       if (parameter.get_name() == "offset_x") {
         offset_x_ = parameter.as_double();
       } else if (parameter.get_name() == "offset_y") {
@@ -72,7 +72,7 @@ class ExtrinsicCalibrationBroadcaster : public rclcpp::Node {
   double offset_x_ = 0, offset_y_ = 0, offset_z_ = 0;
 };
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
 
   auto node = std::make_shared<ExtrinsicCalibrationBroadcaster>();
diff --git a/src/bitbots_misc/bitbots_utils/include/bitbots_utils/utils.hpp b/src/bitbots_misc/bitbots_utils/include/bitbots_utils/utils.hpp
index ba486f942..9949541fc 100644
--- a/src/bitbots_misc/bitbots_utils/include/bitbots_utils/utils.hpp
+++ b/src/bitbots_misc/bitbots_utils/include/bitbots_utils/utils.hpp
@@ -24,11 +24,11 @@ namespace bitbots_utils {
  * @param warn_interval Interval in which to keep warning if the frames are not available
  * @param verbose Can be used to disable the warning messages
  */
-void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> clock, tf2_ros::Buffer *tf_buffer,
-                 const std::vector<std::string> &frames, const std::string &root_frame,
-                 const rclcpp::Duration &check_interval = rclcpp::Duration(0.1s),
-                 const rclcpp::Duration &warn_duration = rclcpp::Duration(5.0s),
-                 const rclcpp::Duration &warn_interval = rclcpp::Duration(1.0s), bool verbose = true);
+void wait_for_tf(const rclcpp::Logger& logger, std::shared_ptr<rclcpp::Clock> clock, tf2_ros::Buffer* tf_buffer,
+                 const std::vector<std::string>& frames, const std::string& root_frame,
+                 const rclcpp::Duration& check_interval = rclcpp::Duration(0.1s),
+                 const rclcpp::Duration& warn_duration = rclcpp::Duration(5.0s),
+                 const rclcpp::Duration& warn_interval = rclcpp::Duration(1.0s), bool verbose = true);
 
 /**
  * @brief Get the parameters from other node by calling the get_parameters service
@@ -42,9 +42,9 @@ void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> cl
  */
 
 std::map<std::string, rclcpp::Parameter> get_parameters_from_other_node(rclcpp::Node::SharedPtr own_node,
-                                                                        const std::string &other_node_name,
-                                                                        const std::vector<std::string> &parameter_names,
-                                                                        const std::chrono::seconds &service_timeout);
+                                                                        const std::string& other_node_name,
+                                                                        const std::vector<std::string>& parameter_names,
+                                                                        const std::chrono::seconds& service_timeout);
 
 }  // namespace bitbots_utils
 
diff --git a/src/bitbots_misc/bitbots_utils/scripts/tf_delay_plot.cpp b/src/bitbots_misc/bitbots_utils/scripts/tf_delay_plot.cpp
index 35c560ec0..61aa8e95a 100644
--- a/src/bitbots_misc/bitbots_utils/scripts/tf_delay_plot.cpp
+++ b/src/bitbots_misc/bitbots_utils/scripts/tf_delay_plot.cpp
@@ -22,7 +22,7 @@ class TfDelayPlot : public rclcpp::Node {
 
   void tf_callback(const tf2_msgs::msg::TFMessage::SharedPtr msg) {
     RCLCPP_INFO(this->get_logger(), "Got transform message");
-    for (auto &transform : msg->transforms) {
+    for (auto& transform : msg->transforms) {
       // Calculate delay
       double delay =
           ((transform.header.stamp.sec * 1.0e9 + transform.header.stamp.nanosec) - this->now().nanoseconds()) / 1.0e9;
@@ -45,7 +45,7 @@ class TfDelayPlot : public rclcpp::Node {
   rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr tf_sub_;
 };
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<TfDelayPlot>());
   rclcpp::shutdown();
diff --git a/src/bitbots_misc/bitbots_utils/src/utils.cpp b/src/bitbots_misc/bitbots_utils/src/utils.cpp
index 2131dec2e..ed249ba2e 100644
--- a/src/bitbots_misc/bitbots_utils/src/utils.cpp
+++ b/src/bitbots_misc/bitbots_utils/src/utils.cpp
@@ -14,10 +14,10 @@ namespace bitbots_utils {
  * @param warn_interval Interval in which to keep warning if the frames are not available
  * @param verbose Can be used to disable the warning messages
  */
-void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> clock, tf2_ros::Buffer *tf_buffer,
-                 const std::vector<std::string> &frames, const std::string &root_frame,
-                 const rclcpp::Duration &check_interval, const rclcpp::Duration &warn_duration,
-                 const rclcpp::Duration &warn_interval, bool verbose) {
+void wait_for_tf(const rclcpp::Logger& logger, std::shared_ptr<rclcpp::Clock> clock, tf2_ros::Buffer* tf_buffer,
+                 const std::vector<std::string>& frames, const std::string& root_frame,
+                 const rclcpp::Duration& check_interval, const rclcpp::Duration& warn_duration,
+                 const rclcpp::Duration& warn_interval, bool verbose) {
   // Store the beginning time
   auto start_time = clock->now();
 
@@ -45,7 +45,7 @@ void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> cl
       }
       // We can transform to all frames, so we are done
       return;
-    } catch (const std::exception &e) {
+    } catch (const std::exception& e) {
       if (verbose) {
         RCLCPP_ERROR(logger, "Error while waiting for transforms: %s \n", e.what());
       }
@@ -62,9 +62,9 @@ void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> cl
 }
 
 std::map<std::string, rclcpp::Parameter> get_parameters_from_other_node(rclcpp::Node::SharedPtr own_node,
-                                                                        const std::string &other_node_name,
-                                                                        const std::vector<std::string> &parameter_names,
-                                                                        const std::chrono::seconds &service_timeout) {
+                                                                        const std::string& other_node_name,
+                                                                        const std::vector<std::string>& parameter_names,
+                                                                        const std::chrono::seconds& service_timeout) {
   // Create a client to the other node
   auto client = own_node->create_client<rcl_interfaces::srv::GetParameters>(other_node_name + "/get_parameters");
 
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_engine.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_engine.hpp
index 87dd56cd4..582a24e3e 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_engine.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_engine.hpp
@@ -84,7 +84,7 @@ class KickEngine : public bitbots_splines::AbstractEngine<KickGoals, KickPositio
    *
    * @throws tf2::TransformException when goal cannot be converted into needed tf frames
    */
-  void setGoals(const KickGoals &goals) override;
+  void setGoals(const KickGoals& goals) override;
 
   /**
    * Reset this KickEngine completely, removing the goal, all splines and thereby stopping all output
@@ -149,7 +149,7 @@ class KickEngine : public bitbots_splines::AbstractEngine<KickGoals, KickPositio
    *  @param flying_foot_pose Current pose of the flying foot relative to the support foot
    *  @param trunk_pose Current pose of the trunk relative to the support foot
    */
-  void calcSplines(const Eigen::Isometry3d &flying_foot_pose, const Eigen::Isometry3d &trunk_pose);
+  void calcSplines(const Eigen::Isometry3d& flying_foot_pose, const Eigen::Isometry3d& trunk_pose);
 
   /**
    *  Calculate the point from which to perform the final kicking movement
@@ -169,7 +169,7 @@ class KickEngine : public bitbots_splines::AbstractEngine<KickGoals, KickPositio
    *
    * @throws tf2::TransformException when ball_position and kick_direction cannot be converted into base_footprint frame
    */
-  bool calcIsLeftFootKicking(const Eigen::Vector3d &ball_position, const Eigen::Quaterniond &kick_direction);
+  bool calcIsLeftFootKicking(const Eigen::Vector3d& ball_position, const Eigen::Quaterniond& kick_direction);
 
   /**
    * Calculate the yaw of the kicking foot, so that it is turned
@@ -187,10 +187,10 @@ class KickEngine : public bitbots_splines::AbstractEngine<KickGoals, KickPositio
    *
    * @throws tf2::TransformException when goal cannot be transformed into support_foot_frame
    */
-  std::pair<Eigen::Vector3d, Eigen::Quaterniond> transformGoal(const std::string &support_foot_frame,
-                                                               const Eigen::Isometry3d &trunk_to_base_footprint,
-                                                               const Eigen::Vector3d &ball_position,
-                                                               const Eigen::Quaterniond &kick_direction);
+  std::pair<Eigen::Vector3d, Eigen::Quaterniond> transformGoal(const std::string& support_foot_frame,
+                                                               const Eigen::Isometry3d& trunk_to_base_footprint,
+                                                               const Eigen::Vector3d& ball_position,
+                                                               const Eigen::Quaterniond& kick_direction);
 };
 }  // namespace bitbots_dynamic_kick
 
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp
index 1cd86bacc..bc5416733 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp
@@ -11,17 +11,17 @@ namespace bitbots_dynamic_kick {
 
 class KickIK : public bitbots_splines::AbstractIK<KickPositions> {
  public:
-  KickIK() : legs_joints_group_(), left_leg_joints_group_(), right_leg_joints_group_(){};
+  KickIK() : legs_joints_group_(), left_leg_joints_group_(), right_leg_joints_group_() {};
   void init(moveit::core::RobotModelPtr kinematic_model) override;
-  bitbots_splines::JointGoals calculate(const KickPositions &positions) override;
+  bitbots_splines::JointGoals calculate(const KickPositions& positions) override;
   void reset() override;
 
  private:
   moveit::core::RobotStatePtr goal_state_;
   planning_scene::PlanningScenePtr planning_scene_;
-  moveit::core::JointModelGroup *legs_joints_group_;
-  moveit::core::JointModelGroup *left_leg_joints_group_;
-  moveit::core::JointModelGroup *right_leg_joints_group_;
+  moveit::core::JointModelGroup* legs_joints_group_;
+  moveit::core::JointModelGroup* left_leg_joints_group_;
+  moveit::core::JointModelGroup* right_leg_joints_group_;
 };
 }  // namespace bitbots_dynamic_kick
 
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_node.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_node.hpp
index 70214945c..893be5c0f 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_node.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_node.hpp
@@ -38,7 +38,7 @@ using namespace std::placeholders;
  */
 class KickNode : public rclcpp::Node {
  public:
-  explicit KickNode(const std::string &ns = std::string(), std::vector<rclcpp::Parameter> parameters = {});
+  explicit KickNode(const std::string& ns = std::string(), std::vector<rclcpp::Parameter> parameters = {});
 
   /**
    * Callback that gets executed whenever #server_ receives a new goal.
@@ -65,7 +65,7 @@ class KickNode : public rclcpp::Node {
    * @param trunk_to_base_footprint transform from trunk to base_footprint
    * @return whether the setup was successful
    */
-  bool init(const bitbots_msgs::action::Kick::Goal &goal_msg, std::string &error_string);
+  bool init(const bitbots_msgs::action::Kick::Goal& goal_msg, std::string& error_string);
 
   /**
    * Set the current joint state of the robot
@@ -114,7 +114,7 @@ class KickNode : public rclcpp::Node {
    */
   void loopEngine(const std::shared_ptr<rclcpp_action::ServerGoalHandle<bitbots_msgs::action::Kick>> goal_handle);
 
-  rclcpp_action::GoalResponse goalCb(const rclcpp_action::GoalUUID &uuid,
+  rclcpp_action::GoalResponse goalCb(const rclcpp_action::GoalUUID& uuid,
                                      std::shared_ptr<const bitbots_msgs::action::Kick::Goal> goal);
 
   rclcpp_action::CancelResponse cancelCb(
@@ -137,13 +137,13 @@ class KickNode : public rclcpp::Node {
   /**
    * Get JointCommand message for JointGoals
    */
-  bitbots_msgs::msg::JointCommand getJointCommand(const bitbots_splines::JointGoals &goals);
+  bitbots_msgs::msg::JointCommand getJointCommand(const bitbots_splines::JointGoals& goals);
 
   void copLCallback(const geometry_msgs::msg::PointStamped::SharedPtr cop);
 
   void copRCallback(const geometry_msgs::msg::PointStamped::SharedPtr cop);
 
-  rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter> &parameters);
+  rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter>& parameters);
 };
 }  // namespace bitbots_dynamic_kick
 
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_pywrapper.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_pywrapper.hpp
index 1cc5083a3..8d75cd365 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_pywrapper.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_pywrapper.hpp
@@ -15,8 +15,8 @@
 class PyKickWrapper {
  public:
   explicit PyKickWrapper(std::string ns);
-  moveit::py_bindings_tools::ByteString step(double dt, const std::string &joint_state_str);
-  bool set_goal(const std::string &goal_str, const std::string &joint_state_str);
+  moveit::py_bindings_tools::ByteString step(double dt, const std::string& joint_state_str);
+  bool set_goal(const std::string& goal_str, const std::string& joint_state_str);
   double get_progress();
   // todo
   //  void set_params(boost::python::object params);
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/stabilizer.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/stabilizer.hpp
index 3eac1d78a..1022b6f1f 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/stabilizer.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/stabilizer.hpp
@@ -27,7 +27,7 @@ class Stabilizer : public bitbots_splines::AbstractStabilizer<KickPositions> {
    * @return BioIK Options that can be used by an instance of AbstractIK
    */
 
-  KickPositions stabilize(const KickPositions &positions, const rclcpp::Duration &dt) override;
+  KickPositions stabilize(const KickPositions& positions, const rclcpp::Duration& dt) override;
   void reset() override;
   void useCop(bool use);
   void setRobotModel(moveit::core::RobotModelPtr model);
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/visualizer.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/visualizer.hpp
index 7f0170fef..7f4c88613 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/visualizer.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/visualizer.hpp
@@ -34,20 +34,20 @@ struct VisualizationParams {
 
 class Visualizer : bitbots_splines::AbstractVisualizer {
  public:
-  explicit Visualizer(const std::string &base_topic, rclcpp::Node::SharedPtr node);
+  explicit Visualizer(const std::string& base_topic, rclcpp::Node::SharedPtr node);
 
   void setParams(VisualizationParams params);
 
-  void displayReceivedGoal(const bitbots_msgs::action::Kick::Goal &goal);
+  void displayReceivedGoal(const bitbots_msgs::action::Kick::Goal& goal);
 
-  void displayFlyingSplines(bitbots_splines::PoseSpline splines, const std::string &support_foot_frame);
+  void displayFlyingSplines(bitbots_splines::PoseSpline splines, const std::string& support_foot_frame);
 
-  void displayTrunkSplines(bitbots_splines::PoseSpline splines, const std::string &support_foot_frame);
+  void displayTrunkSplines(bitbots_splines::PoseSpline splines, const std::string& support_foot_frame);
 
-  void displayWindupPoint(const Eigen::Vector3d &kick_windup_point, const std::string &support_foot_frame);
+  void displayWindupPoint(const Eigen::Vector3d& kick_windup_point, const std::string& support_foot_frame);
 
-  void publishGoals(const KickPositions &positions, const KickPositions &stabilized_positions,
-                    const moveit::core::RobotStatePtr &robot_state, KickPhase engine_phase);
+  void publishGoals(const KickPositions& positions, const KickPositions& stabilized_positions,
+                    const moveit::core::RobotStatePtr& robot_state, KickPhase engine_phase);
 
  private:
   rclcpp::Node::SharedPtr node_;
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp
index 679d79739..723e35a4b 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp
@@ -11,7 +11,7 @@ void KickEngine::reset() {
   flying_foot_spline_ = bitbots_splines::PoseSpline();
 }
 
-void KickEngine::setGoals(const KickGoals &goals) {
+void KickEngine::setGoals(const KickGoals& goals) {
   is_left_kick_ = calcIsLeftFootKicking(goals.ball_position, goals.kick_direction);
   // TODO Internal state is dirty when goal transformation fails
 
@@ -65,7 +65,7 @@ KickPositions KickEngine::update(double dt) {
   return positions;
 }
 
-void KickEngine::calcSplines(const Eigen::Isometry3d &flying_foot_pose, const Eigen::Isometry3d &trunk_pose) {
+void KickEngine::calcSplines(const Eigen::Isometry3d& flying_foot_pose, const Eigen::Isometry3d& trunk_pose) {
   /*
    * Add current position, target position and current position to splines so that they describe a smooth
    * curve to the ball and back
@@ -195,8 +195,8 @@ void KickEngine::calcSplines(const Eigen::Isometry3d &flying_foot_pose, const Ei
 }
 
 std::pair<Eigen::Vector3d, Eigen::Quaterniond> KickEngine::transformGoal(
-    const std::string &support_foot_frame, const Eigen::Isometry3d &trunk_to_base_footprint,
-    const Eigen::Vector3d &ball_position, const Eigen::Quaterniond &kick_direction) {
+    const std::string& support_foot_frame, const Eigen::Isometry3d& trunk_to_base_footprint,
+    const Eigen::Vector3d& ball_position, const Eigen::Quaterniond& kick_direction) {
   /* ball_position and kick_direction are currently in base_footprint, we want them in support foot frame */
   /* first, get transform from base_footprint to support foot */
   Eigen::Isometry3d trunk_to_support_foot = current_state_->getGlobalLinkTransform(support_foot_frame);
@@ -229,7 +229,7 @@ Eigen::Vector3d KickEngine::calcKickWindupPoint() {
   return vec;
 }
 
-bool KickEngine::calcIsLeftFootKicking(const Eigen::Vector3d &ball_position, const Eigen::Quaterniond &kick_direction) {
+bool KickEngine::calcIsLeftFootKicking(const Eigen::Vector3d& ball_position, const Eigen::Quaterniond& kick_direction) {
   /* it is important that everything is in base_footprint frame! */
 
   /*
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp
index a44013df1..227ec982d 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp
@@ -27,7 +27,7 @@ void KickIK::reset() {
   }
 }
 
-bitbots_splines::JointGoals KickIK::calculate(const KickPositions &positions) {
+bitbots_splines::JointGoals KickIK::calculate(const KickPositions& positions) {
   // change goals from support foot based coordinate system to trunk based coordinate system
   Eigen::Isometry3d trunk_to_support_foot_goal = positions.trunk_pose.inverse();
   Eigen::Isometry3d trunk_to_flying_foot_goal = trunk_to_support_foot_goal * positions.flying_foot_pose;
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp
index 9b47bd922..98a7c293f 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp
@@ -3,7 +3,7 @@
 namespace bitbots_dynamic_kick {
 using namespace std::chrono_literals;
 
-KickNode::KickNode(const std::string &ns, std::vector<rclcpp::Parameter> parameters)
+KickNode::KickNode(const std::string& ns, std::vector<rclcpp::Parameter> parameters)
     : Node(ns + "dynamic_kick", rclcpp::NodeOptions()
                                     .allow_undeclared_parameters(true)
                                     .parameter_overrides(parameters)
@@ -145,8 +145,8 @@ void KickNode::jointStateCallback(const sensor_msgs::msg::JointState::SharedPtr
   }
 }
 
-rcl_interfaces::msg::SetParametersResult KickNode::onSetParameters(const std::vector<rclcpp::Parameter> &parameters) {
-  for (const auto &parameter : parameters) {
+rcl_interfaces::msg::SetParametersResult KickNode::onSetParameters(const std::vector<rclcpp::Parameter>& parameters) {
+  for (const auto& parameter : parameters) {
     if (parameter.get_name() == "engine_rate") {
       engine_rate_ = parameter.as_int();
     } else if (parameter.get_name() == "foot_rise") {
@@ -197,7 +197,7 @@ rcl_interfaces::msg::SetParametersResult KickNode::onSetParameters(const std::ve
   return result;
 }
 
-bool KickNode::init(const bitbots_msgs::action::Kick::Goal &goal_msg, std::string &error_string) {
+bool KickNode::init(const bitbots_msgs::action::Kick::Goal& goal_msg, std::string& error_string) {
   /* currently, the ball must always be in the base_footprint frame */
   if (goal_msg.header.frame_id != base_footprint_frame_) {
     RCLCPP_ERROR_STREAM(this->get_logger(), "Goal should be in " << base_footprint_frame_ << " frame");
@@ -257,7 +257,7 @@ void KickNode::acceptedCb(const std::shared_ptr<KickGoalHandle> goal) {
   std::thread{std::bind(&KickNode::executeCb, this, std::placeholders::_1), goal}.detach();
 }
 
-rclcpp_action::GoalResponse KickNode::goalCb(const rclcpp_action::GoalUUID &uuid,
+rclcpp_action::GoalResponse KickNode::goalCb(const rclcpp_action::GoalUUID& uuid,
                                              std::shared_ptr<const bitbots_msgs::action::Kick::Goal> goal) {
   RCLCPP_INFO(this->get_logger(), "Received goal request");
   (void)uuid;
@@ -375,7 +375,7 @@ bitbots_splines::JointGoals KickNode::kickStep(double dt) {
   return motor_goals;
 }
 
-bitbots_msgs::msg::JointCommand KickNode::getJointCommand(const bitbots_splines::JointGoals &goals) {
+bitbots_msgs::msg::JointCommand KickNode::getJointCommand(const bitbots_splines::JointGoals& goals) {
   /* Construct JointCommand message */
   bitbots_msgs::msg::JointCommand command;
   command.header.stamp = this->get_clock()->now();
@@ -428,7 +428,7 @@ bool KickNode::isLeftKick() { return engine_.isLeftKick(); }
 
 }  // namespace bitbots_dynamic_kick
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   /* Setup ROS node */
   rclcpp::init(argc, argv);
   bitbots_dynamic_kick::KickNode node;
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/src/kick_pywrapper.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_pywrapper.cpp
index 7251f9e9f..a2f156eef 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/src/kick_pywrapper.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_pywrapper.cpp
@@ -4,7 +4,7 @@
  * Read a ROS message from a serialized string.
  */
 template <typename M>
-M from_python(const std::string &str_msg) {
+M from_python(const std::string& str_msg) {
   size_t serial_size = str_msg.size();
   // todo
   //  boost::shared_array<uint8_t> buffer(new uint8_t[serial_size]);
@@ -21,7 +21,7 @@ M from_python(const std::string &str_msg) {
  * Write a ROS message into a serialized string.
  */
 template <typename M>
-std::string to_python(const M &msg) {
+std::string to_python(const M& msg) {
   size_t serial_size = ros::serialization::serializationLength(msg);
   // todo
   //  boost::shared_array<uint8_t> buffer(new uint8_t[serial_size]);
@@ -39,7 +39,7 @@ PyKickWrapper::PyKickWrapper(const std::string ns) {
   kick_node_ = std::make_shared<bitbots_dynamic_kick::KickNode>(ns);
 }
 
-moveit::py_bindings_tools::ByteString PyKickWrapper::step(double dt, const std::string &joint_state_str) {
+moveit::py_bindings_tools::ByteString PyKickWrapper::step(double dt, const std::string& joint_state_str) {
   auto joint_state = from_python<sensor_msgs::msg::JointState>(joint_state_str);
   kick_node_->jointStateCallback(joint_state);
   std::string result = to_python<bitbots_msgs::msg::JointCommand>(kick_node_->stepWrapper(dt));
@@ -90,7 +90,7 @@ void PyKickWrapper::set_params(const boost::python::object params) {
   kick_node_->reconfigureCallback(conf, 0xff);
 }*/
 
-bool PyKickWrapper::set_goal(const std::string &goal_str, const std::string &joint_state_str) {
+bool PyKickWrapper::set_goal(const std::string& goal_str, const std::string& joint_state_str) {
   auto joint_state = from_python<sensor_msgs::msg::JointState>(joint_state_str);
   kick_node_->jointStateCallback(joint_state);
   auto goal = from_python<bitbots_msgs::KickGoal>(goal_str);
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
index e9fd2a6ef..428dd8bfc 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
@@ -34,7 +34,7 @@ void Stabilizer::reset() {
   pid_trunk_fused_roll_->reset();
 }
 
-KickPositions Stabilizer::stabilize(const KickPositions &positions, const rclcpp::Duration &dt) {
+KickPositions Stabilizer::stabilize(const KickPositions& positions, const rclcpp::Duration& dt) {
   KickPositions stabilized_positions = positions;
   if (positions.cop_support_point && use_cop_) {
     /* calculate stabilizing target from center of pressure
diff --git a/src/bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp
index 69f3d3103..1e200e2cf 100644
--- a/src/bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp
@@ -3,7 +3,7 @@
 
 namespace bitbots_dynamic_kick {
 
-Visualizer::Visualizer(const std::string &base_topic, rclcpp::Node::SharedPtr node)
+Visualizer::Visualizer(const std::string& base_topic, rclcpp::Node::SharedPtr node)
     : node_(node), base_topic_(base_topic) {
   /* make sure base_topic_ has consistent scheme */
   if (base_topic.compare(base_topic.size() - 1, 1, "/") != 0) {
@@ -22,7 +22,7 @@ Visualizer::Visualizer(const std::string &base_topic, rclcpp::Node::SharedPtr no
 
 void Visualizer::setParams(VisualizationParams params) { params_ = params; }
 
-void Visualizer::displayFlyingSplines(bitbots_splines::PoseSpline splines, const std::string &support_foot_frame) {
+void Visualizer::displayFlyingSplines(bitbots_splines::PoseSpline splines, const std::string& support_foot_frame) {
   if (foot_spline_publisher_->get_subscription_count() == 0) return;
 
   visualization_msgs::msg::MarkerArray path = getPath(splines, support_foot_frame, params_.spline_smoothness, node_);
@@ -31,7 +31,7 @@ void Visualizer::displayFlyingSplines(bitbots_splines::PoseSpline splines, const
   foot_spline_publisher_->publish(path);
 }
 
-void Visualizer::displayTrunkSplines(bitbots_splines::PoseSpline splines, const std::string &support_foot_frame) {
+void Visualizer::displayTrunkSplines(bitbots_splines::PoseSpline splines, const std::string& support_foot_frame) {
   if (trunk_spline_publisher_->get_subscription_count() == 0) return;
 
   visualization_msgs::msg::MarkerArray path = getPath(splines, support_foot_frame, params_.spline_smoothness, node_);
@@ -40,7 +40,7 @@ void Visualizer::displayTrunkSplines(bitbots_splines::PoseSpline splines, const
   trunk_spline_publisher_->publish(path);
 }
 
-void Visualizer::displayReceivedGoal(const bitbots_msgs::action::Kick::Goal &goal) {
+void Visualizer::displayReceivedGoal(const bitbots_msgs::action::Kick::Goal& goal) {
   if (goal_publisher_->get_subscription_count() == 0) return;
 
   visualization_msgs::msg::Marker marker =
@@ -57,7 +57,7 @@ void Visualizer::displayReceivedGoal(const bitbots_msgs::action::Kick::Goal &goa
   goal_publisher_->publish(marker);
 }
 
-void Visualizer::displayWindupPoint(const Eigen::Vector3d &kick_windup_point, const std::string &support_foot_frame) {
+void Visualizer::displayWindupPoint(const Eigen::Vector3d& kick_windup_point, const std::string& support_foot_frame) {
   if (windup_publisher_->get_subscription_count() == 0) return;
 
   tf2::Vector3 tf_kick_windup_point;
@@ -71,8 +71,8 @@ void Visualizer::displayWindupPoint(const Eigen::Vector3d &kick_windup_point, co
   windup_publisher_->publish(marker);
 }
 
-void Visualizer::publishGoals(const KickPositions &positions, const KickPositions &stabilized_positions,
-                              const moveit::core::RobotStatePtr &robot_state, KickPhase engine_phase) {
+void Visualizer::publishGoals(const KickPositions& positions, const KickPositions& stabilized_positions,
+                              const moveit::core::RobotStatePtr& robot_state, KickPhase engine_phase) {
   /* only calculate the debug information if someone is subscribing */
   if (debug_publisher_->get_subscription_count() == 0) {
     return;
diff --git a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
index 5a04b90d7..86f87e957 100644
--- a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
@@ -27,7 +27,7 @@ class DynupEngine : public bitbots_splines::AbstractEngine<DynupRequest, DynupRe
 
   DynupResponse update(double dt) override;
 
-  void setGoals(const DynupRequest &goals) override;
+  void setGoals(const DynupRequest& goals) override;
 
   /*
    * Publishes debug markers
diff --git a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
index f14e95c86..6dbdfb0ac 100644
--- a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
@@ -17,7 +17,7 @@ class DynupIK : public bitbots_splines::AbstractIK<DynupResponse> {
  public:
   explicit DynupIK(rclcpp::Node::SharedPtr node);
   void init(moveit::core::RobotModelPtr kinematic_model) override;
-  bitbots_splines::JointGoals calculate(const DynupResponse &ik_goals) override;
+  bitbots_splines::JointGoals calculate(const DynupResponse& ik_goals) override;
   void reset() override;
   void setDirection(DynupDirection direction);
   moveit::core::RobotStatePtr get_goal_state();
@@ -25,11 +25,11 @@ class DynupIK : public bitbots_splines::AbstractIK<DynupResponse> {
 
  private:
   rclcpp::Node::SharedPtr node_;
-  moveit::core::JointModelGroup *all_joints_group_;
-  moveit::core::JointModelGroup *l_arm_joints_group_;
-  moveit::core::JointModelGroup *l_leg_joints_group_;
-  moveit::core::JointModelGroup *r_arm_joints_group_;
-  moveit::core::JointModelGroup *r_leg_joints_group_;
+  moveit::core::JointModelGroup* all_joints_group_;
+  moveit::core::JointModelGroup* l_arm_joints_group_;
+  moveit::core::JointModelGroup* l_leg_joints_group_;
+  moveit::core::JointModelGroup* r_arm_joints_group_;
+  moveit::core::JointModelGroup* r_leg_joints_group_;
   moveit::core::RobotStatePtr goal_state_;
   sensor_msgs::msg::JointState::ConstSharedPtr joint_state_;
   DynupDirection direction_;
diff --git a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
index 028b35f43..6d09f072d 100644
--- a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
@@ -50,7 +50,7 @@ using namespace std::placeholders;
  */
 class DynupNode {
  public:
-  explicit DynupNode(rclcpp::Node::SharedPtr node, const std::string &ns = "",
+  explicit DynupNode(rclcpp::Node::SharedPtr node, const std::string& ns = "",
                      std::vector<rclcpp::Parameter> parameters = {});
 
   void onSetParameters();
@@ -59,9 +59,9 @@ class DynupNode {
 
   void jointStateCallback(const sensor_msgs::msg::JointState::SharedPtr joint_states);
 
-  DynupEngine *getEngine();
+  DynupEngine* getEngine();
 
-  DynupIK *getIK();
+  DynupIK* getIK();
 
   /**
    * Retrieve current positions of left foot and trunk relative to right foot
@@ -84,7 +84,7 @@ class DynupNode {
    * Callback that gets executed whenever #m_server receives a new goal.
    * @param goal New goal to process
    */
-  rclcpp_action::GoalResponse goalCb(const rclcpp_action::GoalUUID &uuid, std::shared_ptr<const DynupGoal::Goal> goal);
+  rclcpp_action::GoalResponse goalCb(const rclcpp_action::GoalUUID& uuid, std::shared_ptr<const DynupGoal::Goal> goal);
 
   rclcpp_action::CancelResponse cancelCb(std::shared_ptr<DynupGoalHandle> goal);
 
@@ -147,7 +147,7 @@ class DynupNode {
   /**
    * Creates the Goal Msg
    */
-  bitbots_msgs::msg::JointCommand createGoalMsg(const bitbots_splines::JointGoals &goals);
+  bitbots_msgs::msg::JointCommand createGoalMsg(const bitbots_splines::JointGoals& goals);
 
   /**
    * Helper method to achieve correctly sampled rate
diff --git a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp
index 82fe8a14e..219a8f422 100644
--- a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp
@@ -17,7 +17,7 @@ using namespace ros2_python_extension;
 class PyDynupWrapper {
  public:
   explicit PyDynupWrapper(std::string ns);
-  py::bytes step(double dt, py::bytes &imu_msg, py::bytes &joint_state_msg);
+  py::bytes step(double dt, py::bytes& imu_msg, py::bytes& joint_state_msg);
   py::bytes step_open_loop(double dt);
   py::bytes get_poses();
   void reset();
diff --git a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
index d4d2b861f..dce20bc4e 100644
--- a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
@@ -18,7 +18,7 @@ namespace bitbots_dynup {
 class Stabilizer : public bitbots_splines::AbstractStabilizer<DynupResponse> {
  public:
   explicit Stabilizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Stabilizer params);
-  DynupResponse stabilize(const DynupResponse &response, const rclcpp::Duration &dt) override;
+  DynupResponse stabilize(const DynupResponse& response, const rclcpp::Duration& dt) override;
   void setRSoleToTrunk(geometry_msgs::msg::TransformStamped r_sole_to_trunk);
   void setParams(bitbots_dynup::Params::Stabilizer params);
   void reset() override;
diff --git a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
index 35a8195dd..5655197c5 100644
--- a/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
@@ -21,13 +21,13 @@ namespace bitbots_dynup {
 
 class Visualizer : bitbots_splines::AbstractVisualizer {
  public:
-  Visualizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Visualizer params, const std::string &base_topic);
+  Visualizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Visualizer params, const std::string& base_topic);
 
   void setParams(bitbots_dynup::Params::Visualizer params);
 
-  void displaySplines(bitbots_splines::PoseSpline splines, const std::string &frame);
-  void publishIKOffsets(const moveit::core::RobotModelPtr &model, const DynupResponse &response,
-                        const bitbots_splines::JointGoals &ik_joint_goals);
+  void displaySplines(bitbots_splines::PoseSpline splines, const std::string& frame);
+  void publishIKOffsets(const moveit::core::RobotModelPtr& model, const DynupResponse& response,
+                        const bitbots_splines::JointGoals& ik_joint_goals);
 
  private:
   rclcpp::Node::SharedPtr node_;
diff --git a/src/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp b/src/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp
index 157c32631..407f089c0 100644
--- a/src/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp
+++ b/src/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp
@@ -643,7 +643,7 @@ double DynupEngine::calcDescendSplines(double time) {
   return time;
 }
 
-void DynupEngine::setGoals(const DynupRequest &goals) {
+void DynupEngine::setGoals(const DynupRequest& goals) {
   // we use hand splines from shoulder frame instead of base_link
   geometry_msgs::msg::Pose l_hand = goals.l_hand_pose;
   geometry_msgs::msg::Pose r_hand = goals.r_hand_pose;
@@ -672,7 +672,7 @@ void DynupEngine::setGoals(const DynupRequest &goals) {
   } else {
     // Placeholders for the parameters, we assure that we have all parameters before, so we can use -1 as a placeholder
     double foot_distance = -1, trunk_x_final = -1, trunk_pitch = -1, trunk_height = -1;
-    for (auto &param : walking_params) {
+    for (auto& param : walking_params) {
       if (param.get_name() == "engine.trunk_pitch") {
         trunk_pitch = param.get_value<double>();
       } else if (param.get_name() == "engine.trunk_height") {
diff --git a/src/bitbots_motion/bitbots_dynup/src/dynup_node.cpp b/src/bitbots_motion/bitbots_dynup/src/dynup_node.cpp
index a37f009f3..7b6530f3f 100644
--- a/src/bitbots_motion/bitbots_dynup/src/dynup_node.cpp
+++ b/src/bitbots_motion/bitbots_dynup/src/dynup_node.cpp
@@ -3,7 +3,7 @@
 namespace bitbots_dynup {
 using namespace std::chrono_literals;
 
-DynupNode::DynupNode(rclcpp::Node::SharedPtr node, const std::string &ns, std::vector<rclcpp::Parameter> parameters)
+DynupNode::DynupNode(rclcpp::Node::SharedPtr node, const std::string& ns, std::vector<rclcpp::Parameter> parameters)
     : node_(node),
       param_listener_(node_),
       params_(param_listener_.get_params()),
@@ -48,7 +48,7 @@ DynupNode::DynupNode(rclcpp::Node::SharedPtr node, const std::string &ns, std::v
     rcl_interfaces::msg::ListParametersResult parameter_list =
         parameters_client->list_parameters({"robot_description_kinematics"}, 10);
     auto copied_parameters = parameters_client->get_parameters(parameter_list.names);
-    for (auto &parameter : copied_parameters) {
+    for (auto& parameter : copied_parameters) {
       moveit_node->declare_parameter(parameter.get_name(), parameter.get_type());
       moveit_node->set_parameter(parameter);
     }
@@ -207,7 +207,7 @@ void DynupNode::execute(const std::shared_ptr<DynupGoalHandle> goal_handle) {
   }
 }
 
-rclcpp_action::GoalResponse DynupNode::goalCb(const rclcpp_action::GoalUUID &uuid,
+rclcpp_action::GoalResponse DynupNode::goalCb(const rclcpp_action::GoalUUID& uuid,
                                               std::shared_ptr<const DynupGoal::Goal> goal) {
   RCLCPP_INFO(node_->get_logger(), "Received goal request");
   (void)uuid;
@@ -339,13 +339,13 @@ bitbots_dynup::msg::DynupPoses DynupNode::getCurrentPoses() {
     msg.r_arm_pose = transform2pose(r_hand_transformed);
     msg.header.stamp = node_->get_clock()->now();
     return msg;
-  } catch (tf2::TransformException &exc) {
+  } catch (tf2::TransformException& exc) {
     RCLCPP_ERROR_STREAM(node_->get_logger(), exc.what());
     return msg;
   }
 }
 
-bitbots_msgs::msg::JointCommand DynupNode::createGoalMsg(const bitbots_splines::JointGoals &goals) {
+bitbots_msgs::msg::JointCommand DynupNode::createGoalMsg(const bitbots_splines::JointGoals& goals) {
   /* Construct JointCommand message */
   bitbots_msgs::msg::JointCommand command;
   command.header.stamp = node_->get_clock()->now();
@@ -367,13 +367,13 @@ bitbots_msgs::msg::JointCommand DynupNode::createGoalMsg(const bitbots_splines::
   return command;
 }
 
-DynupEngine *DynupNode::getEngine() { return &engine_; }
+DynupEngine* DynupNode::getEngine() { return &engine_; }
 
-DynupIK *DynupNode::getIK() { return &ik_; }
+DynupIK* DynupNode::getIK() { return &ik_; }
 
 }  // namespace bitbots_dynup
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   // init node
   rclcpp::init(argc, argv);
 
diff --git a/src/bitbots_motion/bitbots_dynup/src/dynup_pywrapper.cpp b/src/bitbots_motion/bitbots_dynup/src/dynup_pywrapper.cpp
index 0ceb2aa34..45fa581be 100644
--- a/src/bitbots_motion/bitbots_dynup/src/dynup_pywrapper.cpp
+++ b/src/bitbots_motion/bitbots_dynup/src/dynup_pywrapper.cpp
@@ -12,7 +12,7 @@ PyDynupWrapper::PyDynupWrapper(const std::string ns) {
 
 void PyDynupWrapper::spin_some() { rclcpp::spin_some(node_); }
 
-py::bytes PyDynupWrapper::step(double dt, py::bytes &imu_msg, py::bytes &joint_state_msg) {
+py::bytes PyDynupWrapper::step(double dt, py::bytes& imu_msg, py::bytes& joint_state_msg) {
   bitbots_msgs::msg::JointCommand result = dynup_->step(
       dt, std::make_shared<sensor_msgs::msg::Imu>(fromPython<sensor_msgs::msg::Imu>(imu_msg)),
       std::make_shared<sensor_msgs::msg::JointState>(fromPython<sensor_msgs::msg::JointState>(joint_state_msg)));
@@ -49,7 +49,7 @@ py::bytes PyDynupWrapper::get_poses() {
   return toPython<bitbots_dynup::msg::DynupPoses>(poses);
 }
 
-bool string2bool(const std::string &v) {
+bool string2bool(const std::string& v) {
   return !v.empty() && (strcasecmp(v.c_str(), "true") == 0 || atoi(v.c_str()) != 0);
 }
 
diff --git a/src/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp b/src/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
index 31771a5ff..aab401d98 100644
--- a/src/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
+++ b/src/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
@@ -17,7 +17,7 @@ void Stabilizer::reset() {
   pid_trunk_roll_.reset();
 }
 
-DynupResponse Stabilizer::stabilize(const DynupResponse &ik_goals, const rclcpp::Duration &dt) {
+DynupResponse Stabilizer::stabilize(const DynupResponse& ik_goals, const rclcpp::Duration& dt) {
   tf2::Transform right_foot_goal;
 
   // Check if we have all the necessary data to stabilize
diff --git a/src/bitbots_motion/bitbots_dynup/src/visualizer.cpp b/src/bitbots_motion/bitbots_dynup/src/visualizer.cpp
index 5228b28e5..50b62ded5 100644
--- a/src/bitbots_motion/bitbots_dynup/src/visualizer.cpp
+++ b/src/bitbots_motion/bitbots_dynup/src/visualizer.cpp
@@ -3,7 +3,7 @@
 
 namespace bitbots_dynup {
 Visualizer::Visualizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Visualizer params,
-                       const std::string &base_topic)
+                       const std::string& base_topic)
     : node_(node), base_topic_(base_topic), params_(params) {
   /* make sure base_topic_ has consistent scheme */
   if (base_topic.compare(base_topic.size() - 1, 1, "/") != 0) {
@@ -18,7 +18,7 @@ Visualizer::Visualizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Visu
 
 void Visualizer::setParams(bitbots_dynup::Params::Visualizer params) { params_ = params; }
 
-void Visualizer::displaySplines(bitbots_splines::PoseSpline splines, const std::string &frame) {
+void Visualizer::displaySplines(bitbots_splines::PoseSpline splines, const std::string& frame) {
   // if (spline_publisher_->get_subscription_count() == 0)
   //     return;
   visualization_msgs::msg::MarkerArray path = getPath(splines, frame, params_.spline_smoothness, node_);
@@ -26,8 +26,8 @@ void Visualizer::displaySplines(bitbots_splines::PoseSpline splines, const std::
   spline_publisher_->publish(path);
 }
 
-void Visualizer::publishIKOffsets(const moveit::core::RobotModelPtr &model, const DynupResponse &response,
-                                  const bitbots_splines::JointGoals &ik_joint_goals) {
+void Visualizer::publishIKOffsets(const moveit::core::RobotModelPtr& model, const DynupResponse& response,
+                                  const bitbots_splines::JointGoals& ik_joint_goals) {
   bitbots_dynup::msg::DynupIkOffset msg;
   // those are the motor goals for the robot computed by the IK
   moveit::core::RobotStatePtr ik_state = std::make_shared<moveit::core::RobotState>(model);
diff --git a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
index 5b9cf96cd..ebee94f64 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
@@ -29,7 +29,7 @@ class WalkEngine : public bitbots_splines::AbstractEngine<WalkRequest, WalkRespo
 
   // methods from abstract engine class
   WalkResponse update(double dt) override;
-  void setGoals(const WalkRequest &goals) override;
+  void setGoals(const WalkRequest& goals) override;
   void reset() override;
   [[nodiscard]] int getPercentDone() const override;
 
@@ -170,14 +170,14 @@ class WalkEngine : public bitbots_splines::AbstractEngine<WalkRequest, WalkRespo
    * Set the target pose of current support foot during next support phase and update support foot.
    * The target foot pose diff is given with respect to next support foot pose (current flying foot target).
    */
-  void stepFromSupport(const tf2::Transform &diff);
+  void stepFromSupport(const tf2::Transform& diff);
 
   /**
    * Set target pose of current support foot using diff orders.
    * Zero vector means in place walking.
    * Special handle of lateral and turn step to avoid foot collision.
    */
-  void stepFromOrders(const std::vector<double> &linear_orders, double angular_z);
+  void stepFromOrders(const std::vector<double>& linear_orders, double angular_z);
 
   /**
    * Small helper method to get euler angle instead of quaternion.
diff --git a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
index 9b847ba28..17e02e0ea 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
@@ -52,8 +52,8 @@ namespace bitbots_quintic_walk {
 
 class WalkNode {
  public:
-  explicit WalkNode(rclcpp::Node::SharedPtr node, const std::string &ns = "",
-                    const std::vector<rclcpp::Parameter> &moveit_parameters = {});
+  explicit WalkNode(rclcpp::Node::SharedPtr node, const std::string& ns = "",
+                    const std::vector<rclcpp::Parameter>& moveit_parameters = {});
   bitbots_msgs::msg::JointCommand step(double dt);
   bitbots_msgs::msg::JointCommand step(double dt, geometry_msgs::msg::Twist::SharedPtr cmdvel_msg,
                                        sensor_msgs::msg::Imu::SharedPtr imu_msg,
@@ -105,9 +105,9 @@ class WalkNode {
    */
   void robotStateCb(bitbots_msgs::msg::RobotControlState::SharedPtr msg);
 
-  WalkEngine *getEngine();
-  WalkIK *getIk();
-  moveit::core::RobotModelPtr *get_kinematic_model();
+  WalkEngine* getEngine();
+  WalkIK* getIk();
+  moveit::core::RobotModelPtr* get_kinematic_model();
 
   nav_msgs::msg::Odometry getOdometry();
 
diff --git a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp
index 2436bd40d..ec44dd953 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp
@@ -22,14 +22,14 @@ using namespace ros2_python_extension;
 
 class PyWalkWrapper {
  public:
-  explicit PyWalkWrapper(const std::string &ns, const std::vector<py::bytes> &walk_parameter_msgs = {},
-                         const std::vector<py::bytes> &moveit_parameter_msgs = {},
+  explicit PyWalkWrapper(const std::string& ns, const std::vector<py::bytes>& walk_parameter_msgs = {},
+                         const std::vector<py::bytes>& moveit_parameter_msgs = {},
                          bool force_smooth_step_transition = false);
-  py::bytes step(double dt, py::bytes &cmdvel_msg, py::bytes &imu_msg, py::bytes &jointstate_msg,
-                 py::bytes &pressure_left, py::bytes &pressure_right);
-  py::bytes step_relative(double dt, py::bytes &step_msg, py::bytes &imu_msg, py::bytes &jointstate_msg,
-                          py::bytes &pressure_left, py::bytes &pressure_right);
-  py::bytes step_open_loop(double dt, py::bytes &cmdvel_msg);
+  py::bytes step(double dt, py::bytes& cmdvel_msg, py::bytes& imu_msg, py::bytes& jointstate_msg,
+                 py::bytes& pressure_left, py::bytes& pressure_right);
+  py::bytes step_relative(double dt, py::bytes& step_msg, py::bytes& imu_msg, py::bytes& jointstate_msg,
+                          py::bytes& pressure_left, py::bytes& pressure_right);
+  py::bytes step_open_loop(double dt, py::bytes& cmdvel_msg);
   py::bytes get_left_foot_pose();
   py::bytes get_right_foot_pose();
   py::bytes get_odom();
diff --git a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp
index 7b5387833..51416948c 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp
@@ -18,7 +18,7 @@ class WalkStabilizer : public bitbots_splines::AbstractStabilizer<WalkResponse>
  public:
   explicit WalkStabilizer(rclcpp::Node::SharedPtr node);
   void reset() override;
-  WalkResponse stabilize(const WalkResponse &response, const rclcpp::Duration &dt) override;
+  WalkResponse stabilize(const WalkResponse& response, const rclcpp::Duration& dt) override;
 
  private:
   control_toolbox::PidROS pid_trunk_fused_pitch_;
diff --git a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_utils.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_utils.hpp
index cb50c5b7a..50cd7cb2f 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_utils.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_utils.hpp
@@ -103,7 +103,7 @@ inline double angleDistance(double angle_src, double angle_dst) {
   }
 }
 
-inline void tf_pose_to_msg(tf2::Transform &tf_pose, geometry_msgs::msg::Pose &msg_pose) {
+inline void tf_pose_to_msg(tf2::Transform& tf_pose, geometry_msgs::msg::Pose& msg_pose) {
   msg_pose.position.x = tf_pose.getOrigin().getX();
   msg_pose.position.y = tf_pose.getOrigin().getY();
   msg_pose.position.z = tf_pose.getOrigin().getZ();
diff --git a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp
index df7f38cbe..62d695227 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp
@@ -23,9 +23,9 @@ class WalkVisualizer : public bitbots_splines::AbstractVisualizer {
  public:
   explicit WalkVisualizer(rclcpp::Node::SharedPtr node, walking::Params::Node::Tf tf_config);
 
-  visualization_msgs::msg::Marker createArrowMarker(const std::string &name_space, const std::string &frame,
-                                                    const geometry_msgs::msg::Pose &pose,
-                                                    const std_msgs::msg::ColorRGBA &color);
+  visualization_msgs::msg::Marker createArrowMarker(const std::string& name_space, const std::string& frame,
+                                                    const geometry_msgs::msg::Pose& pose,
+                                                    const std_msgs::msg::ColorRGBA& color);
 
   std::pair<bitbots_quintic_walk::msg::WalkEngineDebug, visualization_msgs::msg::MarkerArray> buildEngineDebugMsgs(
       WalkResponse response);
@@ -35,8 +35,8 @@ class WalkVisualizer : public bitbots_splines::AbstractVisualizer {
 
   void init(moveit::core::RobotModelPtr kinematic_model);
 
-  void publishDebug(const WalkResponse &current_response, const moveit::core::RobotStatePtr &current_state,
-                    const bitbots_splines::JointGoals &motor_goals);
+  void publishDebug(const WalkResponse& current_response, const moveit::core::RobotStatePtr& current_state,
+                    const bitbots_splines::JointGoals& motor_goals);
 
   std_msgs::msg::ColorRGBA colorFactory(double r, double g, double b) {
     std_msgs::msg::ColorRGBA color;
diff --git a/src/bitbots_motion/bitbots_quintic_walk/src/walk_ik.cpp b/src/bitbots_motion/bitbots_quintic_walk/src/walk_ik.cpp
index 14b4d5a0e..d4e8fa1d3 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/src/walk_ik.cpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/src/walk_ik.cpp
@@ -17,7 +17,7 @@ void WalkIK::init(moveit::core::RobotModelPtr kinematic_model) {
   }
 }
 
-bitbots_splines::JointGoals WalkIK::calculate(const WalkResponse &ik_goals) {
+bitbots_splines::JointGoals WalkIK::calculate(const WalkResponse& ik_goals) {
   // change goals from support foot based coordinate system to trunk based coordinate system
   tf2::Transform trunk_to_support_foot_goal = ik_goals.support_foot_to_trunk.inverse();
   tf2::Transform trunk_to_flying_foot_goal = trunk_to_support_foot_goal * ik_goals.support_foot_to_flying_foot;
@@ -76,9 +76,9 @@ void WalkIK::reset() {
 
 void WalkIK::setConfig(walking::Params::Node::Ik config) { config_ = config; }
 
-const std::vector<std::string> &WalkIK::getLeftLegJointNames() { return left_leg_joints_group_->getJointModelNames(); }
+const std::vector<std::string>& WalkIK::getLeftLegJointNames() { return left_leg_joints_group_->getJointModelNames(); }
 
-const std::vector<std::string> &WalkIK::getRightLegJointNames() {
+const std::vector<std::string>& WalkIK::getRightLegJointNames() {
   return right_leg_joints_group_->getJointModelNames();
 }
 
diff --git a/src/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp b/src/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp
index e0f2ac570..0fb1da82b 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp
@@ -2,8 +2,8 @@
 
 void PyWalkWrapper::spin_some() { rclcpp::spin_some(node_); }
 
-PyWalkWrapper::PyWalkWrapper(const std::string &ns, const std::vector<py::bytes> &walk_parameter_msgs,
-                             const std::vector<py::bytes> &moveit_parameter_msgs, bool force_smooth_step_transition) {
+PyWalkWrapper::PyWalkWrapper(const std::string& ns, const std::vector<py::bytes>& walk_parameter_msgs,
+                             const std::vector<py::bytes>& moveit_parameter_msgs, bool force_smooth_step_transition) {
   // initialize rclcpp if not already done
   if (!rclcpp::contexts::get_global_default_context()->is_valid()) {
     rclcpp::init(0, nullptr);
@@ -12,7 +12,7 @@ PyWalkWrapper::PyWalkWrapper(const std::string &ns, const std::vector<py::bytes>
   // internal function to deserialize the parameter messages
   auto deserialize_parameters = [](std::vector<py::bytes> parameter_msgs) {
     std::vector<rclcpp::Parameter> cpp_parameters = {};
-    for (auto &parameter_msg : parameter_msgs) {
+    for (auto& parameter_msg : parameter_msgs) {
       cpp_parameters.push_back(
           rclcpp::Parameter::from_parameter_msg(fromPython<rcl_interfaces::msg::Parameter>(parameter_msg)));
     }
@@ -38,8 +38,8 @@ PyWalkWrapper::PyWalkWrapper(const std::string &ns, const std::vector<py::bytes>
   walk_node_->getEngine()->setForceSmoothStepTransition(force_smooth_step_transition);
 }
 
-py::bytes PyWalkWrapper::step(double dt, py::bytes &cmdvel_msg, py::bytes &imu_msg, py::bytes &jointstate_msg,
-                              py::bytes &pressure_left, py::bytes &pressure_right) {
+py::bytes PyWalkWrapper::step(double dt, py::bytes& cmdvel_msg, py::bytes& imu_msg, py::bytes& jointstate_msg,
+                              py::bytes& pressure_left, py::bytes& pressure_right) {
   bitbots_msgs::msg::JointCommand result = walk_node_->step(
       dt, std::make_shared<geometry_msgs::msg::Twist>(fromPython<geometry_msgs::msg::Twist>(cmdvel_msg)),
       std::make_shared<sensor_msgs::msg::Imu>(fromPython<sensor_msgs::msg::Imu>(imu_msg)),
@@ -49,8 +49,8 @@ py::bytes PyWalkWrapper::step(double dt, py::bytes &cmdvel_msg, py::bytes &imu_m
   return toPython<bitbots_msgs::msg::JointCommand>(result);
 }
 
-py::bytes PyWalkWrapper::step_relative(double dt, py::bytes &step_msg, py::bytes &imu_msg, py::bytes &jointstate_msg,
-                                       py::bytes &pressure_left, py::bytes &pressure_right) {
+py::bytes PyWalkWrapper::step_relative(double dt, py::bytes& step_msg, py::bytes& imu_msg, py::bytes& jointstate_msg,
+                                       py::bytes& pressure_left, py::bytes& pressure_right) {
   bitbots_msgs::msg::JointCommand result = walk_node_->step_relative(
       dt, std::make_shared<geometry_msgs::msg::Twist>(fromPython<geometry_msgs::msg::Twist>(step_msg)),
       std::make_shared<sensor_msgs::msg::Imu>(fromPython<sensor_msgs::msg::Imu>(imu_msg)),
@@ -60,7 +60,7 @@ py::bytes PyWalkWrapper::step_relative(double dt, py::bytes &step_msg, py::bytes
   return toPython<bitbots_msgs::msg::JointCommand>(result);
 }
 
-py::bytes PyWalkWrapper::step_open_loop(double dt, py::bytes &cmdvel_msg) {
+py::bytes PyWalkWrapper::step_open_loop(double dt, py::bytes& cmdvel_msg) {
   geometry_msgs::msg::PoseArray result = walk_node_->step_open_loop(
       dt, std::make_shared<geometry_msgs::msg::Twist>(fromPython<geometry_msgs::msg::Twist>(cmdvel_msg)));
   return toPython<geometry_msgs::msg::PoseArray>(result);
@@ -147,8 +147,8 @@ void PyWalkWrapper::publish_debug() { walk_node_->publish_debug(); }
 bool PyWalkWrapper::reset_and_test_if_speed_possible(py::bytes cmd_vel, double pos_threshold) {
   walk_node_->reset(bitbots_quintic_walk::WalkState::WALKING, 0.0,
                     std::make_shared<geometry_msgs::msg::Twist>(fromPython<geometry_msgs::msg::Twist>(cmd_vel)), true);
-  bitbots_quintic_walk::WalkEngine *engine = walk_node_->getEngine();
-  bitbots_quintic_walk::WalkIK *ik = walk_node_->getIk();
+  bitbots_quintic_walk::WalkEngine* engine = walk_node_->getEngine();
+  bitbots_quintic_walk::WalkIK* ik = walk_node_->getIk();
   bitbots_quintic_walk::WalkResponse current_response;
   bitbots_splines::JointGoals joint_goals;
   moveit::core::RobotStatePtr goal_state;
diff --git a/src/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp b/src/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp
index a4e5d5151..d1a117aba 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp
@@ -10,9 +10,9 @@ WalkVisualizer::WalkVisualizer(rclcpp::Node::SharedPtr node, walking::Params::No
 
 void WalkVisualizer::init(moveit::core::RobotModelPtr kinematic_model) { kinematic_model_ = kinematic_model; }
 
-void WalkVisualizer::publishDebug(const WalkResponse &current_response,
-                                  const moveit::core::RobotStatePtr &current_state,
-                                  const bitbots_splines::JointGoals &motor_goals) {
+void WalkVisualizer::publishDebug(const WalkResponse& current_response,
+                                  const moveit::core::RobotStatePtr& current_state,
+                                  const bitbots_splines::JointGoals& motor_goals) {
   visualization_msgs::msg::MarkerArray marker_array;
 
   auto [engine_debug, engine_markers] = buildEngineDebugMsgs(current_response);
@@ -140,7 +140,7 @@ std::pair<bitbots_quintic_walk::msg::WalkDebug, visualization_msgs::msg::MarkerA
   // IK results
   moveit::core::RobotStatePtr goal_state;
   goal_state.reset(new moveit::core::RobotState(kinematic_model_));
-  auto &[names, goals] = joint_goals;
+  auto& [names, goals] = joint_goals;
   for (size_t i = 0; i < names.size(); i++) {
     // besides its name, this method only changes a single joint position...
     goal_state->setJointPositions(names[i], &goals[i]);
@@ -254,10 +254,10 @@ std::pair<bitbots_quintic_walk::msg::WalkDebug, visualization_msgs::msg::MarkerA
   return {msg, marker_array};
 }
 
-visualization_msgs::msg::Marker WalkVisualizer::createArrowMarker(const std::string &name_space,
-                                                                  const std::string &frame,
-                                                                  const geometry_msgs::msg::Pose &pose,
-                                                                  const std_msgs::msg::ColorRGBA &color) {
+visualization_msgs::msg::Marker WalkVisualizer::createArrowMarker(const std::string& name_space,
+                                                                  const std::string& frame,
+                                                                  const geometry_msgs::msg::Pose& pose,
+                                                                  const std_msgs::msg::ColorRGBA& color) {
   visualization_msgs::msg::Marker marker_msg;
   marker_msg.header.frame_id = frame;
 
diff --git a/src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt b/src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
index 14873a3f9..bc44f75a6 100644
--- a/src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
+++ b/src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
@@ -9,7 +9,7 @@ enable_bitbots_docs()
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/rl_walk_models")
-    install(DIRECTORY rl_walk_models DESTINATION share/${PROJECT_NAME})
+  install(DIRECTORY rl_walk_models DESTINATION share/${PROJECT_NAME})
 endif()
 install(PROGRAMS scripts/rl_walk.py DESTINATION lib/${PROJECT_NAME})
 
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_engine.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_engine.hpp
index f1f15e06d..ad37b9dc8 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_engine.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_engine.hpp
@@ -19,7 +19,7 @@ class AbstractEngine {
    * Set new goals for the engine to calculate splines from.
    * @param goals An instance of RequestType that describes the goals that the spline should fulfill
    */
-  virtual void setGoals(const RequestType &goals) = 0;
+  virtual void setGoals(const RequestType& goals) = 0;
   /**
    * Reset the engine to its initial state.
    */
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_ik.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_ik.hpp
index 93b8fac25..f58cb26b8 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_ik.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_ik.hpp
@@ -19,8 +19,8 @@ typedef std::pair<std::vector<std::string>, std::vector<double>> JointGoals;
  * @param values New values for the previously defined joint names
  * @return new joint goals with updated values
  */
-inline JointGoals joint_goals_update(const JointGoals &goals, const std::vector<std::string> &names,
-                                     const std::vector<double> &values, rclcpp::Logger logger) {
+inline JointGoals joint_goals_update(const JointGoals& goals, const std::vector<std::string>& names,
+                                     const std::vector<double>& values, rclcpp::Logger logger) {
   JointGoals result = goals;
 
   if (names.size() != values.size()) {
@@ -46,8 +46,8 @@ inline JointGoals joint_goals_update(const JointGoals &goals, const std::vector<
  * @param diffs Differences to be applied to the previously defined joint names
  * @return new joint goals with updated values
  */
-inline JointGoals joint_goals_update_diff(const JointGoals &goals, const std::vector<std::string> &names,
-                                          const std::vector<double> &diffs, rclcpp::Logger logger) {
+inline JointGoals joint_goals_update_diff(const JointGoals& goals, const std::vector<std::string>& names,
+                                          const std::vector<double>& diffs, rclcpp::Logger logger) {
   JointGoals result = goals;
 
   if (names.size() != diffs.size()) {
@@ -77,7 +77,7 @@ class AbstractIK {
    * @param positions the cartesian positions of end points and custom additional information (e.g. support foot)
    * @return motor positions
    */
-  virtual JointGoals calculate(const Positions &positions) = 0;
+  virtual JointGoals calculate(const Positions& positions) = 0;
   /**
    * Reset the IK to its initial state.
    */
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
index ee736462f..e5bcd0cf4 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
@@ -18,7 +18,7 @@ class AbstractStabilizer {
    * @param positions An instance of Positions that contains the results of the engine's calculations.
    * @return A pointer to BioIK Goals that can be passed to the AbstractIK.
    */
-  virtual Positions stabilize(const Positions &positions, const rclcpp::Duration &dt) = 0;
+  virtual Positions stabilize(const Positions& positions, const rclcpp::Duration& dt) = 0;
 };
 }  // namespace bitbots_splines
 
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_visualizer.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_visualizer.hpp
index 49fb8c159..819003bc7 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_visualizer.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_visualizer.hpp
@@ -17,7 +17,7 @@ class AbstractVisualizer {
    * @param frame The frame in which the position is given
    * @return The visualization marker
    */
-  visualization_msgs::msg::Marker getMarker(const tf2::Vector3 &position, const std::string &frame,
+  visualization_msgs::msg::Marker getMarker(const tf2::Vector3& position, const std::string& frame,
                                             rclcpp::Node::SharedPtr node) {
     visualization_msgs::msg::Marker marker;
 
@@ -46,7 +46,7 @@ class AbstractVisualizer {
    * @param smoothness The smoothness of the splines
    * @return The visualization markers
    */
-  visualization_msgs::msg::MarkerArray getPath(bitbots_splines::PoseSpline &spline, const std::string &frame,
+  visualization_msgs::msg::MarkerArray getPath(bitbots_splines::PoseSpline& spline, const std::string& frame,
                                                const double smoothness, rclcpp::Node::SharedPtr node) {
     visualization_msgs::msg::MarkerArray marker_array;
     visualization_msgs::msg::Marker base_marker;
@@ -83,13 +83,13 @@ class AbstractVisualizer {
     // Marker for spline orientation
     // Get all times of manually added points
     std::list<double> times;
-    for (const SmoothSpline::Point &p : spline.roll()->points()) {
+    for (const SmoothSpline::Point& p : spline.roll()->points()) {
       times.push_back(p.time);
     }
-    for (const SmoothSpline::Point &p : spline.pitch()->points()) {
+    for (const SmoothSpline::Point& p : spline.pitch()->points()) {
       times.push_back(p.time);
     }
-    for (const SmoothSpline::Point &p : spline.yaw()->points()) {
+    for (const SmoothSpline::Point& p : spline.yaw()->points()) {
       times.push_back(p.time);
     }
     times.sort();
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/euler.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/euler.hpp
index 17cf51a61..297d0b228 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/euler.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/euler.hpp
@@ -40,7 +40,7 @@ enum EulerType {
 /**
  * Return false if given Euler angles range are no valid
  */
-inline bool CheckEulerBounds(const Eigen::Vector3d &angles) {
+inline bool CheckEulerBounds(const Eigen::Vector3d& angles) {
   return (angles(0) >= -M_PI && angles(0) <= M_PI) &&
          ((angles(1) > -M_PI / 2.0 && angles(1) < M_PI / 2.0) ||
           (angles(0) == 0 && angles(2) == 0 && (angles(1) == -M_PI / 2.0 || angles(1) == M_PI / 2.0))) &&
@@ -51,7 +51,7 @@ inline bool CheckEulerBounds(const Eigen::Vector3d &angles) {
  * Convert given Euler angles of given
  * convention type to rotation matrix
  */
-inline Eigen::Matrix3d EulerToMatrix(const Eigen::Vector3d &angles, EulerType eulerType) {
+inline Eigen::Matrix3d EulerToMatrix(const Eigen::Vector3d& angles, EulerType eulerType) {
   Eigen::Quaternion<double> quat;
   switch (eulerType) {
     case EulerYawPitchRoll: {
@@ -101,7 +101,7 @@ inline Eigen::Matrix3d EulerToMatrix(const Eigen::Vector3d &angles, EulerType eu
  * Convert the given rotation matrix into
  * Euler angles of given convention
  */
-inline Eigen::Vector3d MatrixToEuler(const Eigen::Matrix3d &mat, EulerType eulerType) {
+inline Eigen::Vector3d MatrixToEuler(const Eigen::Matrix3d& mat, EulerType eulerType) {
   Eigen::Vector3d tmp(0.0, 0.0, 0.0);
   switch (eulerType) {
     case EulerYawPitchRoll: {
@@ -135,7 +135,7 @@ inline Eigen::Vector3d MatrixToEuler(const Eigen::Matrix3d &mat, EulerType euler
  * to [Roll, Pitch, Yaw] ZYX intrinsic euler
  * angle (Better range than Eigen conversion).
  */
-inline Eigen::Vector3d MatrixToEulerIntrinsic(const Eigen::Matrix3d &mat) {
+inline Eigen::Vector3d MatrixToEulerIntrinsic(const Eigen::Matrix3d& mat) {
   // Eigen euler angles and with better range)
   Eigen::Vector3d angles;
   // Roll
@@ -152,7 +152,7 @@ inline Eigen::Vector3d MatrixToEulerIntrinsic(const Eigen::Matrix3d &mat) {
  * Convert given Euler angles in [Roll, Pitch, Yaw]
  * ZYX intrinsic format to rotation matrix
  */
-inline Eigen::Matrix3d EulerIntrinsicToMatrix(const Eigen::Vector3d &angles) {
+inline Eigen::Matrix3d EulerIntrinsicToMatrix(const Eigen::Vector3d& angles) {
   Eigen::AngleAxisd yawRot(angles.z(), Eigen::Vector3d::UnitZ());
   Eigen::AngleAxisd pitchRot(angles.y(), Eigen::Vector3d::UnitY());
   Eigen::AngleAxisd rollRot(angles.x(), Eigen::Vector3d::UnitX());
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/polynom.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/polynom.hpp
index db8e3f7ef..ec01d88dd 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/polynom.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/polynom.hpp
@@ -32,14 +32,14 @@ class Polynom {
    * indexed from constant to
    * higher degree
    */
-  const std::vector<double> &getCoefs() const;
-  std::vector<double> &getCoefs();
+  const std::vector<double>& getCoefs() const;
+  std::vector<double>& getCoefs();
 
   /**
    * Access to coefficient
    */
-  const double &operator()(size_t index) const;
-  double &operator()(size_t index);
+  const double& operator()(size_t index) const;
+  double& operator()(size_t index);
 
   /**
    * Return polynom degree
@@ -60,7 +60,7 @@ class Polynom {
    * Some useful operators
    */
   void operator*=(double coef);
-  void operator+=(const Polynom &p);
+  void operator+=(const Polynom& p);
 
   /**
    * Update the polynom coefficients
@@ -79,7 +79,7 @@ class Polynom {
 /**
  * Print operator
  */
-std::ostream &operator<<(std::ostream &os, const Polynom &p);
+std::ostream& operator<<(std::ostream& os, const Polynom& p);
 
 }  // namespace bitbots_splines
 
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/pose_spline.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/pose_spline.hpp
index e1fce694f..edfb8b823 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/pose_spline.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/pose_spline.hpp
@@ -33,12 +33,12 @@ class PoseSpline {
 
   std::string getDebugString();
 
-  SmoothSpline *x();
-  SmoothSpline *y();
-  SmoothSpline *z();
-  SmoothSpline *roll();
-  SmoothSpline *pitch();
-  SmoothSpline *yaw();
+  SmoothSpline* x();
+  SmoothSpline* y();
+  SmoothSpline* z();
+  SmoothSpline* roll();
+  SmoothSpline* pitch();
+  SmoothSpline* yaw();
 
  private:
   SmoothSpline x_;
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/position_spline.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/position_spline.hpp
index 7f07740bc..e336d9407 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/position_spline.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/position_spline.hpp
@@ -16,9 +16,9 @@ class PositionSpline {
   tf2::Vector3 getVel(double time);
   tf2::Vector3 getAcc(double time);
 
-  SmoothSpline *x();
-  SmoothSpline *y();
-  SmoothSpline *z();
+  SmoothSpline* x();
+  SmoothSpline* y();
+  SmoothSpline* z();
 
  private:
   SmoothSpline x_;
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/smooth_spline.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/smooth_spline.hpp
index b6fe8ffab..731e3b45a 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/smooth_spline.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/smooth_spline.hpp
@@ -37,8 +37,8 @@ class SmoothSpline : public Spline {
   /**
    * Access to points container
    */
-  const std::vector<Point> &points() const;
-  std::vector<Point> &points();
+  const std::vector<Point>& points() const;
+  std::vector<Point>& points();
 
   /**
    * Recompute splines interpolation model
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline.hpp
index b09a5c62e..5a614747a 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline.hpp
@@ -62,8 +62,8 @@ class Spline {
    * Write and read splines data into given
    * iostream in ascii format
    */
-  void exportData(std::ostream &os) const;
-  void importData(std::istream &is);
+  void exportData(std::ostream& os) const;
+  void importData(std::istream& is);
 
   /**
    * Return the number of internal polynom
@@ -73,19 +73,19 @@ class Spline {
   /**
    * Access to given by its index
    */
-  const SplineT &part(size_t index) const;
+  const SplineT& part(size_t index) const;
 
   /**
    * Add a part with given polynom
    * and min/max time range
    */
-  void addPart(const Polynom &poly, double min, double max);
+  void addPart(const Polynom& poly, double min, double max);
 
   /**
    * Replace this spline part with the
    * internal data of given spline
    */
-  void copyData(const Spline &sp);
+  void copyData(const Spline& sp);
 
  protected:
   /**
diff --git a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline_container.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline_container.hpp
index 441ab310b..57d6a704f 100644
--- a/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline_container.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline_container.hpp
@@ -40,7 +40,7 @@ class SplineContainer {
    * spline constructor.
    */
   template <typename... Args>
-  inline void add(const std::string &name, Args... args) {
+  inline void add(const std::string& name, Args... args) {
     if (container_.count(name) != 0) {
       throw std::logic_error("SplineContainer spline already added");
     }
@@ -51,18 +51,18 @@ class SplineContainer {
    * Return true if given spline
    * name is contained
    */
-  inline bool exist(const std::string &name) const { return container_.count(name) > 0; }
+  inline bool exist(const std::string& name) const { return container_.count(name) > 0; }
 
   /**
    * Access to given named spline
    */
-  inline const T &get(const std::string &name) const {
+  inline const T& get(const std::string& name) const {
     if (container_.count(name) == 0) {
       throw std::logic_error("SplineContainer invalid name: " + name);
     }
     return container_.at(name);
   }
-  inline T &get(const std::string &name) {
+  inline T& get(const std::string& name) {
     if (container_.count(name) == 0) {
       throw std::logic_error("SplineContainer invalid name: " + name);
     }
@@ -72,8 +72,8 @@ class SplineContainer {
   /**
    * Access to internal map container
    */
-  const std::map<std::string, T> &get() const { return container_; }
-  std::map<std::string, T> &get() { return container_; }
+  const std::map<std::string, T>& get() const { return container_; }
+  std::map<std::string, T>& get() { return container_; }
 
   /**
    * Returns all time points where a point in any spline exists.
@@ -82,9 +82,9 @@ class SplineContainer {
     std::set<double> times;
     std::vector<double> times_sorted;
     // go trough all splines
-    for (const auto &sp : container_) {
+    for (const auto& sp : container_) {
       // go trough all points of the spline
-      for (const SmoothSpline::Point &point : sp.second.points()) {
+      for (const SmoothSpline::Point& point : sp.second.points()) {
         times.insert(point.time);
       }
     }
@@ -104,7 +104,7 @@ class SplineContainer {
     }
     bool is_first = true;
     double m = 0.0;
-    for (const auto &sp : container_) {
+    for (const auto& sp : container_) {
       if (is_first || m > sp.second.min()) {
         m = sp.second.min();
         is_first = false;
@@ -118,7 +118,7 @@ class SplineContainer {
     }
     bool is_first = true;
     double m = 0.0;
-    for (const auto &sp : container_) {
+    for (const auto& sp : container_) {
       if (is_first || m < sp.second.max()) {
         m = sp.second.max();
         is_first = false;
@@ -131,7 +131,7 @@ class SplineContainer {
    * Export to and Import from given file name
    * in "spline" CSV format prefixed with spline name
    */
-  void exportData(const std::string &file_name) const {
+  void exportData(const std::string& file_name) const {
     if (container_.size() == 0) {
       throw std::logic_error("SplineContainer empty");
     }
@@ -141,14 +141,14 @@ class SplineContainer {
       throw std::runtime_error("SplineContainer unable to write file: " + file_name);
     }
 
-    for (const auto &sp : container_) {
+    for (const auto& sp : container_) {
       file << "'" << sp.first << "' ";
       sp.second.exportData(file);
     }
 
     file.close();
   }
-  void importData(const std::string &file_name) {
+  void importData(const std::string& file_name) {
     std::ifstream file(file_name);
     if (!file.is_open()) {
       throw std::runtime_error("SplineContainer unable to read file: " + file_name);
diff --git a/src/bitbots_motion/bitbots_splines/src/Spline/polynom.cpp b/src/bitbots_motion/bitbots_splines/src/Spline/polynom.cpp
index 546526193..bfc4f6fe5 100644
--- a/src/bitbots_motion/bitbots_splines/src/Spline/polynom.cpp
+++ b/src/bitbots_motion/bitbots_splines/src/Spline/polynom.cpp
@@ -15,11 +15,11 @@ Polynom::Polynom(unsigned int degree) : coefs_() {
   }
 }
 
-const std::vector<double> &Polynom::getCoefs() const { return coefs_; }
-std::vector<double> &Polynom::getCoefs() { return coefs_; }
+const std::vector<double>& Polynom::getCoefs() const { return coefs_; }
+std::vector<double>& Polynom::getCoefs() { return coefs_; }
 
-const double &Polynom::operator()(size_t index) const { return coefs_.at(index); }
-double &Polynom::operator()(size_t index) { return coefs_.at(index); }
+const double& Polynom::operator()(size_t index) const { return coefs_.at(index); }
+double& Polynom::operator()(size_t index) { return coefs_.at(index); }
 
 size_t Polynom::degree() const { return coefs_.size() - 1; }
 
@@ -61,11 +61,11 @@ double Polynom::jerk(double x) const {
 }
 
 void Polynom::operator*=(double coef) {
-  for (double &_coef : coefs_) {
+  for (double& _coef : coefs_) {
     _coef *= coef;
   }
 }
-void Polynom::operator+=(const Polynom &p) {
+void Polynom::operator+=(const Polynom& p) {
   while (p.coefs_.size() > coefs_.size()) {
     coefs_.push_back(0.0);
   }
@@ -89,7 +89,7 @@ void Polynom::shift(double delta) {
   *this = n;
 }
 
-std::ostream &operator<<(std::ostream &os, const Polynom &p) {
+std::ostream& operator<<(std::ostream& os, const Polynom& p) {
   os << "degree=" << p.degree() << " ";
   for (size_t i = 0; i < p.degree() + 1; i++) {
     os << p(i) << " ";
diff --git a/src/bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp b/src/bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp
index e9566d915..603fb4f08 100644
--- a/src/bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp
+++ b/src/bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp
@@ -53,17 +53,17 @@ tf2::Quaternion PoseSpline::getOrientation(double time) {
   return quat;
 }
 
-SmoothSpline *PoseSpline::x() { return &x_; }
+SmoothSpline* PoseSpline::x() { return &x_; }
 
-SmoothSpline *PoseSpline::y() { return &y_; }
+SmoothSpline* PoseSpline::y() { return &y_; }
 
-SmoothSpline *PoseSpline::z() { return &z_; }
+SmoothSpline* PoseSpline::z() { return &z_; }
 
-SmoothSpline *PoseSpline::roll() { return &roll_; }
+SmoothSpline* PoseSpline::roll() { return &roll_; }
 
-SmoothSpline *PoseSpline::pitch() { return &pitch_; }
+SmoothSpline* PoseSpline::pitch() { return &pitch_; }
 
-SmoothSpline *PoseSpline::yaw() { return &yaw_; }
+SmoothSpline* PoseSpline::yaw() { return &yaw_; }
 
 std::string PoseSpline::getDebugString() {
   std::string output;
diff --git a/src/bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp b/src/bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp
index 4a5b65d35..871258525 100644
--- a/src/bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp
+++ b/src/bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp
@@ -16,10 +16,10 @@ tf2::Vector3 PositionSpline::getPos(double time) { return tf2::Vector3(x_.pos(ti
 tf2::Vector3 PositionSpline::getVel(double time) { return tf2::Vector3(x_.vel(time), y_.vel(time), z_.vel(time)); }
 tf2::Vector3 PositionSpline::getAcc(double time) { return tf2::Vector3(x_.acc(time), y_.acc(time), z_.acc(time)); }
 
-SmoothSpline *PositionSpline::x() { return &x_; }
+SmoothSpline* PositionSpline::x() { return &x_; }
 
-SmoothSpline *PositionSpline::y() { return &y_; }
+SmoothSpline* PositionSpline::y() { return &y_; }
 
-SmoothSpline *PositionSpline::z() { return &z_; }
+SmoothSpline* PositionSpline::z() { return &z_; }
 
 }  // namespace bitbots_splines
diff --git a/src/bitbots_motion/bitbots_splines/src/Spline/smooth_spline.cpp b/src/bitbots_motion/bitbots_splines/src/Spline/smooth_spline.cpp
index 1a3f2cc86..55e4887fc 100644
--- a/src/bitbots_motion/bitbots_splines/src/Spline/smooth_spline.cpp
+++ b/src/bitbots_motion/bitbots_splines/src/Spline/smooth_spline.cpp
@@ -16,8 +16,8 @@ void SmoothSpline::addPoint(double time, double position, double velocity, doubl
   computeSplines();
 }
 
-const std::vector<SmoothSpline::Point> &SmoothSpline::points() const { return points_; }
-std::vector<SmoothSpline::Point> &SmoothSpline::points() { return points_; }
+const std::vector<SmoothSpline::Point>& SmoothSpline::points() const { return points_; }
+std::vector<SmoothSpline::Point>& SmoothSpline::points() { return points_; }
 
 void SmoothSpline::computeSplines() {
   Spline::splines_.clear();
@@ -26,7 +26,7 @@ void SmoothSpline::computeSplines() {
   }
 
   std::sort(points_.begin(), points_.end(),
-            [](const Point &p_1, const Point &p_2) -> bool { return p_1.time < p_2.time; });
+            [](const Point& p_1, const Point& p_2) -> bool { return p_1.time < p_2.time; });
 
   for (size_t i = 1; i < points_.size(); i++) {
     double time = points_[i].time - points_[i - 1].time;
@@ -97,7 +97,7 @@ Polynom SmoothSpline::polynomFit(double t, double pos_1, double vel_1, double ac
 std::string SmoothSpline::getDebugString() {
   std::string output;
   int i = 0;
-  for (const auto &p : points_) {
+  for (const auto& p : points_) {
     output += "Point:" + std::to_string(i) + "\n";
     output += "  Time: " + std::to_string(p.time) + "\n";
     output += "  Pos: " + std::to_string(p.position) + "\n";
diff --git a/src/bitbots_motion/bitbots_splines/src/Spline/spline.cpp b/src/bitbots_motion/bitbots_splines/src/Spline/spline.cpp
index 12a83b4a7..9a580b979 100644
--- a/src/bitbots_motion/bitbots_splines/src/Spline/spline.cpp
+++ b/src/bitbots_motion/bitbots_splines/src/Spline/spline.cpp
@@ -34,8 +34,8 @@ double Spline::max() const {
   }
 }
 
-void Spline::exportData(std::ostream &os) const {
-  for (const auto &spline : splines_) {
+void Spline::exportData(std::ostream& os) const {
+  for (const auto& spline : splines_) {
     os << std::setprecision(17) << spline.min << " ";
     os << std::setprecision(17) << spline.max << " ";
     os << std::setprecision(17) << spline.polynom.getCoefs().size() << " ";
@@ -45,7 +45,7 @@ void Spline::exportData(std::ostream &os) const {
   }
   os << std::endl;
 }
-void Spline::importData(std::istream &is) {
+void Spline::importData(std::istream& is) {
   bool is_format_error = false;
   while (is.good()) {
     is_format_error = true;
@@ -86,11 +86,11 @@ void Spline::importData(std::istream &is) {
 
 size_t Spline::size() const { return splines_.size(); }
 
-const Spline::SplineT &Spline::part(size_t index) const { return splines_.at(index); }
+const Spline::SplineT& Spline::part(size_t index) const { return splines_.at(index); }
 
-void Spline::addPart(const Polynom &poly, double min, double max) { splines_.push_back({poly, min, max}); }
+void Spline::addPart(const Polynom& poly, double min, double max) { splines_.push_back({poly, min, max}); }
 
-void Spline::copyData(const Spline &sp) {
+void Spline::copyData(const Spline& sp) {
   splines_ = sp.splines_;
   // Call possible post import
   importCallBack();
diff --git a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
index b91480c6f..af43ea948 100644
--- a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
@@ -29,7 +29,7 @@ class RobotMotionModel : public particle_filter::MovementModel<RobotState> {
    * empty
 
    */
-  RobotMotionModel(const particle_filter::CRandomNumberGenerator &random_number_generator, double diffuse_xStdDev,
+  RobotMotionModel(const particle_filter::CRandomNumberGenerator& random_number_generator, double diffuse_xStdDev,
                    double diffuse_yStdDev, double diffuse_tStdDev, double diffuse_multiplier,
                    Eigen::Matrix<double, 3, 2> drift_cov);
 
@@ -38,14 +38,14 @@ class RobotMotionModel : public particle_filter::MovementModel<RobotState> {
    * @param linear Linear movement relative to the base footprint in cartesian space
    * @param angular Anular movement of of the robot in its z-axis, therefore only the z axis needs to be set
    */
-  void drift(RobotState &state, geometry_msgs::msg::Vector3 linear, geometry_msgs::msg::Vector3 angular) const override;
+  void drift(RobotState& state, geometry_msgs::msg::Vector3 linear, geometry_msgs::msg::Vector3 angular) const override;
 
   /**
    * The diffusion consists of a very small gaussian jitter on the
    * state's variable.
    * @param state Pointer to the state that has to be manipulated.
    */
-  void diffuse(RobotState &state) const override;
+  void diffuse(RobotState& state) const override;
 
   double diffuse_multiplier_;
 
diff --git a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
index f6c53a97b..2e45f3727 100644
--- a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
@@ -28,14 +28,14 @@ class RobotPoseObservationModel : public particle_filter::ObservationModel<Robot
    * empty
    */
   RobotPoseObservationModel(std::shared_ptr<Map> map_lines, std::shared_ptr<Map> map_goals,
-                            const bitbots_localization::Params &config, const FieldDimensions &field_dimensions);
+                            const bitbots_localization::Params& config, const FieldDimensions& field_dimensions);
 
   /**
    *
    * @param state Reference to the state that has to be weighted.
    * @return weight for the given state.
    */
-  double measure(const RobotState &state) const override;
+  double measure(const RobotState& state) const override;
 
   void set_measurement_lines_pc(sm::msg::PointCloud2 measurement);
 
@@ -55,10 +55,10 @@ class RobotPoseObservationModel : public particle_filter::ObservationModel<Robot
   void set_movement_since_goal_measurement(const tf2::Transform movement);
 
  private:
-  double calculate_weight_for_class(const RobotState &state,
-                                    const std::vector<std::pair<double, double>> &last_measurement,
+  double calculate_weight_for_class(const RobotState& state,
+                                    const std::vector<std::pair<double, double>>& last_measurement,
                                     std::shared_ptr<Map> map, double element_weight,
-                                    const tf2::Transform &movement_since_measurement) const;
+                                    const tf2::Transform& movement_since_measurement) const;
 
   // Measurements
   std::vector<std::pair<double, double>> last_measurement_lines_;
diff --git a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
index b145b5725..e473e99b3 100644
--- a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
@@ -17,14 +17,14 @@ class ImportanceResamplingWE : public particle_filter::ImportanceResampling<Stat
   /**
    * A ParticleList is an array of pointers to Particles.
    */
-  typedef std::vector<particle_filter::Particle<StateType> *> ParticleList;
+  typedef std::vector<particle_filter::Particle<StateType>*> ParticleList;
 
  public:
   /**
    * The constructor of this base class inits some members.
    */
   ImportanceResamplingWE(int explorer_count,
-                                    std::shared_ptr<particle_filter::StateDistribution<StateType>> distribution);
+                         std::shared_ptr<particle_filter::StateDistribution<StateType>> distribution);
 
   /**
    * This is the main method of ImportanceResampling. It takes two references
@@ -33,7 +33,7 @@ class ImportanceResamplingWE : public particle_filter::ImportanceResampling<Stat
    * @param source the source list to draw new particles from.
    * @param destination the destination list where to put the copies.
    */
-  void resample(const ParticleList &source, const ParticleList &destination) const;
+  void resample(const ParticleList& source, const ParticleList& destination) const;
 
   /**
    * Sets the Random Number Generator to use in resample() to generate
@@ -61,8 +61,8 @@ ImportanceResamplingWE<StateType>::ImportanceResamplingWE(
 // this is an implementation of the algorithm presented in Propabilistic
 // Robotics by Sebastian Thrun et al.
 template <class StateType>
-void ImportanceResamplingWE<StateType>::resample(const ParticleList &sourceList,
-                                                 const ParticleList &destinationList) const {
+void ImportanceResamplingWE<StateType>::resample(const ParticleList& sourceList,
+                                                 const ParticleList& destinationList) const {
   assert(sourceList.size() == destinationList.size());
   // some particles (most of them usually) get resampled and explorer_count
   // particles get assigned a random state
diff --git a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
index d457b09cd..6c119fdd6 100644
--- a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
@@ -39,7 +39,7 @@ class RobotState {
 
   RobotState operator*(float factor) const;
 
-  RobotState &operator+=(const RobotState &other);
+  RobotState& operator+=(const RobotState& other);
 
   double getXPos() const;
 
@@ -61,10 +61,10 @@ class RobotState {
 
   void setCosTheta(double t);
 
-  double calcDistance(const RobotState &state) const;
+  double calcDistance(const RobotState& state) const;
 
-  static void convertParticleListToEigen(const std::vector<particle_filter::Particle<RobotState> *> &particle_list,
-                                         Eigen::MatrixXd &matrix, const bool ignore_explorers);
+  static void convertParticleListToEigen(const std::vector<particle_filter::Particle<RobotState>*>& particle_list,
+                                         Eigen::MatrixXd& matrix, const bool ignore_explorers);
 
   bool is_explorer_;
 
diff --git a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
index 8e5b9b02a..9339d0f09 100644
--- a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
@@ -15,7 +15,7 @@ namespace bitbots_localization {
 
 class RobotStateDistribution : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistribution(particle_filter::CRandomNumberGenerator &random_number_generator,
+  RobotStateDistribution(particle_filter::CRandomNumberGenerator& random_number_generator,
                          std::pair<double, double> initial_robot_pose, std::pair<double, double> field_size);
 
   const RobotState draw() const override;
@@ -31,7 +31,7 @@ class RobotStateDistribution : public particle_filter::StateDistribution<RobotSt
 
 class RobotStateDistributionStartLeft : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionStartLeft(particle_filter::CRandomNumberGenerator &random_number_generator,
+  RobotStateDistributionStartLeft(particle_filter::CRandomNumberGenerator& random_number_generator,
                                   std::pair<double, double> field_size);
 
   const RobotState draw() const override;
@@ -43,7 +43,7 @@ class RobotStateDistributionStartLeft : public particle_filter::StateDistributio
 
 class RobotStateDistributionOwnSideline : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionOwnSideline(particle_filter::CRandomNumberGenerator &random_number_generator,
+  RobotStateDistributionOwnSideline(particle_filter::CRandomNumberGenerator& random_number_generator,
                                     std::pair<double, double> field_size);
 
   const RobotState draw() const override;
@@ -55,7 +55,7 @@ class RobotStateDistributionOwnSideline : public particle_filter::StateDistribut
 
 class RobotStateDistributionOpponentHalf : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionOpponentHalf(particle_filter::CRandomNumberGenerator &random_number_generator,
+  RobotStateDistributionOpponentHalf(particle_filter::CRandomNumberGenerator& random_number_generator,
                                      std::pair<double, double> field_size);
 
   const RobotState draw() const override;
@@ -70,7 +70,7 @@ class RobotStateDistributionOpponentHalf : public particle_filter::StateDistribu
 
 class RobotStateDistributionOwnHalf : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionOwnHalf(particle_filter::CRandomNumberGenerator &random_number_generator,
+  RobotStateDistributionOwnHalf(particle_filter::CRandomNumberGenerator& random_number_generator,
                                 std::pair<double, double> field_size);
 
   const RobotState draw() const override;
@@ -85,7 +85,7 @@ class RobotStateDistributionOwnHalf : public particle_filter::StateDistribution<
 
 class RobotStateDistributionPosition : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionPosition(particle_filter::CRandomNumberGenerator &random_number_generator, double x, double y);
+  RobotStateDistributionPosition(particle_filter::CRandomNumberGenerator& random_number_generator, double x, double y);
 
   const RobotState draw() const override;
 
@@ -97,7 +97,7 @@ class RobotStateDistributionPosition : public particle_filter::StateDistribution
 
 class RobotStateDistributionPose : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionPose(particle_filter::CRandomNumberGenerator &random_number_generator, double x, double y,
+  RobotStateDistributionPose(particle_filter::CRandomNumberGenerator& random_number_generator, double x, double y,
                              double t);
 
   const RobotState draw() const override;
diff --git a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
index b0309060b..28d083e11 100644
--- a/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
@@ -100,20 +100,20 @@ class Localization {
    * Callback for the line point cloud measurements
    * @param msg Message containing the line point cloud.
    */
-  void LinePointcloudCallback(const sm::msg::PointCloud2 &msg);
+  void LinePointcloudCallback(const sm::msg::PointCloud2& msg);
 
   /**
    * Callback for goal posts measurements
    * @param msg Message containing the goal posts.
    */
-  void GoalPostsCallback(const sv3dm::msg::GoalpostArray &msg);  // TODO
+  void GoalPostsCallback(const sv3dm::msg::GoalpostArray& msg);  // TODO
 
   /**
    * Resets the state distribution of the state space
    * @param distribution The type of the distribution
    */
 
-  void SetInitialPositionCallback(const gm::msg::PoseWithCovarianceStamped &msg);
+  void SetInitialPositionCallback(const gm::msg::PoseWithCovarianceStamped& msg);
 
   void reset_filter(int distribution);
 
@@ -254,9 +254,9 @@ class Localization {
    * @param map map for this class
    * @param publisher ros publisher for the type visualization_msgs::msg::Marker
    */
-  void publish_debug_rating(const std::vector<std::pair<double, double>> &measurements, double scale,
+  void publish_debug_rating(const std::vector<std::pair<double, double>>& measurements, double scale,
                             const char name[24], std::shared_ptr<Map> map,
-                            rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr &publisher);
+                            rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr& publisher);
 
   /**
    * Updates the measurements for all classes
diff --git a/src/bitbots_navigation/bitbots_localization/src/MotionModel.cpp b/src/bitbots_navigation/bitbots_localization/src/MotionModel.cpp
index d6c53ba2c..85b385edb 100644
--- a/src/bitbots_navigation/bitbots_localization/src/MotionModel.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/MotionModel.cpp
@@ -6,7 +6,7 @@
 
 namespace bitbots_localization {
 
-RobotMotionModel::RobotMotionModel(const particle_filter::CRandomNumberGenerator &random_number_generator,
+RobotMotionModel::RobotMotionModel(const particle_filter::CRandomNumberGenerator& random_number_generator,
                                    double diffuse_xStdDev, double diffuse_yStdDev, double diffuse_tStdDev,
                                    double diffuse_multiplier, Eigen::Matrix<double, 3, 2> drift_cov)
     : particle_filter::MovementModel<RobotState>(),
@@ -17,7 +17,7 @@ RobotMotionModel::RobotMotionModel(const particle_filter::CRandomNumberGenerator
       diffuse_tStdDev_(diffuse_tStdDev),
       drift_cov_(drift_cov) {}
 
-void RobotMotionModel::drift(RobotState &state, geometry_msgs::msg::Vector3 linear_movement,
+void RobotMotionModel::drift(RobotState& state, geometry_msgs::msg::Vector3 linear_movement,
                              geometry_msgs::msg::Vector3 rotational_movement) const {
   // Convert cartesian coordinates to polarcoordinates with an orientation
   auto [polar_rot, polar_dist] = cartesianToPolar(linear_movement.x, linear_movement.y);
@@ -44,7 +44,7 @@ void RobotMotionModel::drift(RobotState &state, geometry_msgs::msg::Vector3 line
   state.setTheta(theta);
 }
 
-void RobotMotionModel::diffuse(RobotState &state) const {
+void RobotMotionModel::diffuse(RobotState& state) const {
   state.setXPos(state.getXPos() + sample(diffuse_xStdDev_) * diffuse_multiplier_);
   state.setYPos(state.getYPos() + sample(diffuse_yStdDev_) * diffuse_multiplier_);
   double theta = state.getTheta() + sample(diffuse_tStdDev_) * diffuse_multiplier_;
diff --git a/src/bitbots_navigation/bitbots_localization/src/ObservationModel.cpp b/src/bitbots_navigation/bitbots_localization/src/ObservationModel.cpp
index d3f4c4fa5..3a737f0f4 100644
--- a/src/bitbots_navigation/bitbots_localization/src/ObservationModel.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/ObservationModel.cpp
@@ -7,8 +7,8 @@
 namespace bitbots_localization {
 
 RobotPoseObservationModel::RobotPoseObservationModel(std::shared_ptr<Map> map_lines, std::shared_ptr<Map> map_goals,
-                                                     const bitbots_localization::Params &config,
-                                                     const FieldDimensions &field_dimensions)
+                                                     const bitbots_localization::Params& config,
+                                                     const FieldDimensions& field_dimensions)
     : particle_filter::ObservationModel<RobotState>(),
       map_lines_(map_lines),
       map_goals_(map_goals),
@@ -18,8 +18,8 @@ RobotPoseObservationModel::RobotPoseObservationModel(std::shared_ptr<Map> map_li
 }
 
 double RobotPoseObservationModel::calculate_weight_for_class(
-    const RobotState &state, const std::vector<std::pair<double, double>> &last_measurement, std::shared_ptr<Map> map,
-    double element_weight, const tf2::Transform &movement_since_measurement) const {
+    const RobotState& state, const std::vector<std::pair<double, double>>& last_measurement, std::shared_ptr<Map> map,
+    double element_weight, const tf2::Transform& movement_since_measurement) const {
   double particle_weight_for_class;
   if (!last_measurement.empty()) {
     // Subtract (reverse) the movement from our state to get the hypothetical state at the time of the measurement
@@ -34,7 +34,7 @@ double RobotPoseObservationModel::calculate_weight_for_class(
   return particle_weight_for_class;
 }
 
-double RobotPoseObservationModel::measure(const RobotState &state) const {
+double RobotPoseObservationModel::measure(const RobotState& state) const {
   double particle_weight_lines =
       calculate_weight_for_class(state, last_measurement_lines_, map_lines_,
                                  config_.particle_filter.confidences.line_element, movement_since_line_measurement_);
@@ -75,7 +75,7 @@ void RobotPoseObservationModel::set_measurement_lines_pc(sm::msg::PointCloud2 me
 
 void RobotPoseObservationModel::set_measurement_goalposts(sv3dm::msg::GoalpostArray measurement) {
   // convert to polar
-  for (sv3dm::msg::Goalpost &post : measurement.posts) {
+  for (sv3dm::msg::Goalpost& post : measurement.posts) {
     std::pair<double, double> postPolar = cartesianToPolar(post.bb.center.position.x, post.bb.center.position.y);
     last_measurement_goal_.push_back(postPolar);
   }
diff --git a/src/bitbots_navigation/bitbots_localization/src/RobotState.cpp b/src/bitbots_navigation/bitbots_localization/src/RobotState.cpp
index 3f1cde1e2..e9c8e0705 100644
--- a/src/bitbots_navigation/bitbots_localization/src/RobotState.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/RobotState.cpp
@@ -25,7 +25,7 @@ RobotState RobotState::operator*(float factor) const {
   return newState;
 }
 
-RobotState &RobotState::operator+=(const RobotState &other) {
+RobotState& RobotState::operator+=(const RobotState& other) {
   m_XPos += other.m_XPos;
   m_YPos += other.m_YPos;
   m_SinTheta += other.m_SinTheta;
@@ -57,7 +57,7 @@ void RobotState::setSinTheta(double st) { m_SinTheta = st; }
 
 void RobotState::setCosTheta(double ct) { m_SinTheta = ct; }
 
-double RobotState::calcDistance(const RobotState &state) const {
+double RobotState::calcDistance(const RobotState& state) const {
   double diff = std::sqrt(std::pow(getXPos() - state.getXPos(), 2) + std::pow(getYPos() - state.getYPos(), 2));
   if (diff == 0.0) {
     diff = 0.0001;
@@ -65,17 +65,17 @@ double RobotState::calcDistance(const RobotState &state) const {
   return diff;
 }
 
-void RobotState::convertParticleListToEigen(const std::vector<particle_filter::Particle<RobotState> *> &particle_list,
-                                            Eigen::MatrixXd &matrix, const bool ignore_explorers) {
+void RobotState::convertParticleListToEigen(const std::vector<particle_filter::Particle<RobotState>*>& particle_list,
+                                            Eigen::MatrixXd& matrix, const bool ignore_explorers) {
   if (ignore_explorers) {
     int non_explorer_count =
         std::count_if(particle_list.begin(), particle_list.end(),
-                      [](particle_filter::Particle<RobotState> *particle) { return !particle->is_explorer_; });
+                      [](particle_filter::Particle<RobotState>* particle) { return !particle->is_explorer_; });
 
     matrix.resize(non_explorer_count, 3);
     int counter = 0;
     // #pragma parallel for
-    for (particle_filter::Particle<RobotState> *particle : particle_list) {
+    for (particle_filter::Particle<RobotState>* particle : particle_list) {
       if (!particle->is_explorer_) {
         matrix(counter, 0) = particle->getState().getXPos();
         matrix(counter, 1) = particle->getState().getYPos();
diff --git a/src/bitbots_navigation/bitbots_localization/src/StateDistribution.cpp b/src/bitbots_navigation/bitbots_localization/src/StateDistribution.cpp
index 71107ea93..0e8ba1d49 100644
--- a/src/bitbots_navigation/bitbots_localization/src/StateDistribution.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/StateDistribution.cpp
@@ -7,7 +7,7 @@
 namespace bitbots_localization {
 
 RobotStateDistributionStartLeft::RobotStateDistributionStartLeft(
-    particle_filter::CRandomNumberGenerator &random_number_generator, std::pair<double, double> field_size) {
+    particle_filter::CRandomNumberGenerator& random_number_generator, std::pair<double, double> field_size) {
   field_size = field_size;
 }
 
@@ -24,7 +24,7 @@ const RobotState RobotStateDistributionStartLeft::draw() const {
 }
 
 RobotStateDistributionOwnSideline::RobotStateDistributionOwnSideline(
-    particle_filter::CRandomNumberGenerator &random_number_generator, std::pair<double, double> field_size) {
+    particle_filter::CRandomNumberGenerator& random_number_generator, std::pair<double, double> field_size) {
   field_x = field_size.first;
   field_y = field_size.second;
 }
@@ -42,7 +42,7 @@ const RobotState RobotStateDistributionOwnSideline::draw() const {
 }
 
 RobotStateDistributionOpponentHalf::RobotStateDistributionOpponentHalf(
-    particle_filter::CRandomNumberGenerator &random_number_generator, std::pair<double, double> field_size)
+    particle_filter::CRandomNumberGenerator& random_number_generator, std::pair<double, double> field_size)
     : random_number_generator_(random_number_generator) {
   // only own half
   min_x_ = (field_size.first / 2.0) + 0.5;
@@ -58,7 +58,7 @@ const RobotState RobotStateDistributionOpponentHalf::draw() const {
 }
 
 RobotStateDistributionOwnHalf::RobotStateDistributionOwnHalf(
-    particle_filter::CRandomNumberGenerator &random_number_generator, std::pair<double, double> field_size)
+    particle_filter::CRandomNumberGenerator& random_number_generator, std::pair<double, double> field_size)
     : random_number_generator_(random_number_generator) {
   // only own half
   min_x_ = -field_size.first / 2.0;
@@ -74,7 +74,7 @@ const RobotState RobotStateDistributionOwnHalf::draw() const {
 }
 
 RobotStateDistributionPosition::RobotStateDistributionPosition(
-    particle_filter::CRandomNumberGenerator &random_number_generator, double x, double y) {
+    particle_filter::CRandomNumberGenerator& random_number_generator, double x, double y) {
   x_ = x;
   y_ = y;
 }
@@ -84,7 +84,7 @@ const RobotState RobotStateDistributionPosition::draw() const {
                      random_number_generator_.getUniform(-M_PI, M_PI)));
 }
 
-RobotStateDistributionPose::RobotStateDistributionPose(particle_filter::CRandomNumberGenerator &random_number_generator,
+RobotStateDistributionPose::RobotStateDistributionPose(particle_filter::CRandomNumberGenerator& random_number_generator,
                                                        double x, double y, double t) {
   x_ = x;
   y_ = y;
diff --git a/src/bitbots_navigation/bitbots_localization/src/localization.cpp b/src/bitbots_navigation/bitbots_localization/src/localization.cpp
index 89c2e1a92..a6b054d8e 100644
--- a/src/bitbots_navigation/bitbots_localization/src/localization.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/localization.cpp
@@ -185,11 +185,11 @@ void Localization::run_filter_one_step() {
   robot_pose_observation_model_->clear_measurement();
 }
 
-void Localization::LinePointcloudCallback(const sm::msg::PointCloud2 &msg) { line_pointcloud_relative_ = msg; }
+void Localization::LinePointcloudCallback(const sm::msg::PointCloud2& msg) { line_pointcloud_relative_ = msg; }
 
-void Localization::GoalPostsCallback(const sv3dm::msg::GoalpostArray &msg) { goal_posts_relative_ = msg; }
+void Localization::GoalPostsCallback(const sv3dm::msg::GoalpostArray& msg) { goal_posts_relative_ = msg; }
 
-void Localization::SetInitialPositionCallback(const gm::msg::PoseWithCovarianceStamped &msg) {
+void Localization::SetInitialPositionCallback(const gm::msg::PoseWithCovarianceStamped& msg) {
   // Transform the given pose to map frame
   auto pose_in_map = tf_buffer_->transform(msg, config_.ros.map_frame, tf2::durationFromSec(1.0));
 
@@ -290,7 +290,7 @@ void Localization::updateMeasurements() {
           odom_now);
       // Calculate the movement since the measurement was taken (in the local frame)
       return odom_at_measurement.inverseTimes(odom_now);
-    } catch (const tf2::TransformException &ex) {
+    } catch (const tf2::TransformException& ex) {
       RCLCPP_WARN(node_->get_logger(), "Could not acquire movement since measurement at time: %s Assumed no movement.",
                   ex.what());
       return tf2::Transform::getIdentity();
@@ -360,7 +360,7 @@ void Localization::getMotion() {
     // Set the variable for the transform of the previous step to the transform of the current step, because we finished
     // this step.
     previousOdomTransform_ = transformStampedNow;
-  } catch (const tf2::TransformException &ex) {
+  } catch (const tf2::TransformException& ex) {
     RCLCPP_WARN(node_->get_logger(), "Could not acquire motion for odom transforms: %s", ex.what());
   }
 }
@@ -380,7 +380,7 @@ void Localization::publish_transforms() {
   geometry_msgs::msg::TransformStamped odomDuringMeasurement, odomNow;
   try {
     odomNow = tf_buffer_->lookupTransform(config_.ros.odom_frame, config_.ros.base_footprint_frame, rclcpp::Time(0));
-  } catch (const tf2::TransformException &ex) {
+  } catch (const tf2::TransformException& ex) {
     RCLCPP_WARN(node_->get_logger(), "Could not acquire odom transforms: %s", ex.what());
   }
 
@@ -441,7 +441,7 @@ void Localization::publish_transforms() {
       map_odom_tf_last_published_time_ = map_odom_transform.header.stamp;
       br->sendTransform(map_odom_transform);
     }
-  } catch (const tf2::TransformException &ex) {
+  } catch (const tf2::TransformException& ex) {
     RCLCPP_WARN(node_->get_logger(), "Odom not available, therefore odom offset can not be published: %s", ex.what());
   }
 }
@@ -502,9 +502,9 @@ void Localization::publish_ratings() {
   }
 }
 
-void Localization::publish_debug_rating(const std::vector<std::pair<double, double>> &measurements, double scale,
+void Localization::publish_debug_rating(const std::vector<std::pair<double, double>>& measurements, double scale,
                                         const char name[], std::shared_ptr<Map> map,
-                                        rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr &publisher) {
+                                        rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr& publisher) {
   RobotState best_estimate = robot_pf_->getBestXPercentEstimate(config_.misc.percentage_best_particles);
 
   visualization_msgs::msg::Marker marker;
@@ -517,7 +517,7 @@ void Localization::publish_debug_rating(const std::vector<std::pair<double, doub
   marker.scale.x = scale;
   marker.scale.y = scale;
 
-  for (const std::pair<double, double> &measurement : measurements) {
+  for (const std::pair<double, double>& measurement : measurements) {
     // lines are in polar form!
     std::pair<double, double> observationRelative;
 
@@ -544,7 +544,7 @@ void Localization::publish_debug_rating(const std::vector<std::pair<double, doub
 }
 }  // namespace bitbots_localization
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("bitbots_localization");
   [[maybe_unused]] auto localization = bitbots_localization::Localization(node);
diff --git a/src/bitbots_navigation/bitbots_localization/src/map.cpp b/src/bitbots_navigation/bitbots_localization/src/map.cpp
index 6491368c4..b990313a2 100644
--- a/src/bitbots_navigation/bitbots_localization/src/map.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/map.cpp
@@ -10,7 +10,7 @@ namespace fs = boost::filesystem;
 
 namespace bitbots_localization {
 
-Map::Map(const std::string &name, const std::string &type, const double out_of_map_value) {
+Map::Map(const std::string& name, const std::string& type, const double out_of_map_value) {
   // Set config
   out_of_map_value_ = out_of_map_value;
   // get package path
@@ -48,10 +48,10 @@ double Map::get_occupancy(double x, double y) {
   return occupancy / 100.0;
 }
 
-std::vector<double> Map::provideRating(const RobotState &state,
-                                       const std::vector<std::pair<double, double>> &observations) {
+std::vector<double> Map::provideRating(const RobotState& state,
+                                       const std::vector<std::pair<double, double>>& observations) {
   std::vector<double> rating;
-  for (const std::pair<double, double> &observation : observations) {
+  for (const std::pair<double, double>& observation : observations) {
     // lines are in polar form!
     std::pair<double, double> lineRelative;
 
diff --git a/src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp b/src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
index d6c04f288..016d8e0a9 100644
--- a/src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
+++ b/src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
@@ -81,7 +81,7 @@ void MotionOdometry::loop() {
       q.setRPY(0, 0, yaw);
       previous_to_current_support.setRotation(q);
       odometry_to_support_foot_ = odometry_to_support_foot_ * previous_to_current_support;
-    } catch (tf2::TransformException &ex) {
+    } catch (tf2::TransformException& ex) {
       RCLCPP_WARN(this->get_logger(), "%s", ex.what());
       rclcpp::sleep_for(std::chrono::milliseconds(1000));
       return;
@@ -138,7 +138,7 @@ void MotionOdometry::loop() {
     odom_msg.twist = current_odom_msg_.twist;
     pub_odometry_->publish(odom_msg);
 
-  } catch (tf2::TransformException &ex) {
+  } catch (tf2::TransformException& ex) {
     RCLCPP_WARN(this->get_logger(), "%s", ex.what());
     rclcpp::sleep_for(std::chrono::milliseconds(1000));
     return;
@@ -167,7 +167,7 @@ void MotionOdometry::supportCallback(const biped_interfaces::msg::Phase::SharedP
                                      rclcpp::Duration::from_nanoseconds(1e9));
       odometry_to_support_foot_.setOrigin({-1 * base_to_current_support_msg.transform.translation.x,
                                            -1 * base_to_current_support_msg.transform.translation.y, 0});
-    } catch (tf2::TransformException &ex) {
+    } catch (tf2::TransformException& ex) {
       RCLCPP_WARN(this->get_logger(),
                   "Could not initialize motion odometry correctly, since there were no transforms available fast "
                   "enough on startup. Will initialize with 0,0,0");
@@ -179,7 +179,7 @@ void MotionOdometry::odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg)
 
 }  // namespace bitbots_odometry
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<bitbots_odometry::MotionOdometry>();
 
diff --git a/src/bitbots_navigation/bitbots_odometry/src/odometry_fuser.cpp b/src/bitbots_navigation/bitbots_odometry/src/odometry_fuser.cpp
index 694495d9c..90c7f2639 100644
--- a/src/bitbots_navigation/bitbots_odometry/src/odometry_fuser.cpp
+++ b/src/bitbots_navigation/bitbots_odometry/src/odometry_fuser.cpp
@@ -117,7 +117,7 @@ class OdometryFuser : public rclcpp::Node {
         geometry_msgs::msg::TransformStamped imu_mounting_transform =
             tf_buffer_.lookupTransform(imu_data_.header.frame_id, base_link_frame_, fused_time_);
         fromMsg(imu_mounting_transform.transform, imu_mounting_offset);
-      } catch (tf2::TransformException &ex) {
+      } catch (tf2::TransformException& ex) {
         RCLCPP_ERROR(this->get_logger(), "Not able to fuse IMU data with odometry due to a tf problem: %s", ex.what());
       }
 
@@ -148,8 +148,8 @@ class OdometryFuser : public rclcpp::Node {
 
   void supportCallback(const biped_interfaces::msg::Phase::SharedPtr msg) { support_state_cache_.add(msg); }
 
-  void imuCallback(const sensor_msgs::msg::Imu::SharedPtr &imu_msg,
-                   const nav_msgs::msg::Odometry::SharedPtr &motion_odom_msg) {
+  void imuCallback(const sensor_msgs::msg::Imu::SharedPtr& imu_msg,
+                   const nav_msgs::msg::Odometry::SharedPtr& motion_odom_msg) {
     imu_data_ = *imu_msg;
     odom_data_ = *motion_odom_msg;
     // Use the time of the imu as a baseline to do transforms and stuff because it is more timecritical than the walking
@@ -253,7 +253,7 @@ class OdometryFuser : public rclcpp::Node {
           support_frame = l_sole_frame_;
         rotation_point = tf_buffer_.lookupTransform(base_link_frame_, support_frame, fused_time_);
         fromMsg(rotation_point.transform, rotation_point_tf);
-      } catch (tf2::TransformException &ex) {
+      } catch (tf2::TransformException& ex) {
         RCLCPP_ERROR(this->get_logger(), "%s", ex.what());
       }
     } else if (current_support_state == biped_interfaces::msg::Phase::DOUBLE_STANCE) {
@@ -280,7 +280,7 @@ class OdometryFuser : public rclcpp::Node {
 
         rotation_point_tf = base_to_l_sole_tf * l_to_center_tf;
         rotation_point_tf.setRotation(zero_rotation);
-      } catch (tf2::TransformException &ex) {
+      } catch (tf2::TransformException& ex) {
         RCLCPP_ERROR(this->get_logger(), "%s", ex.what());
       }
     } else {
@@ -291,7 +291,7 @@ class OdometryFuser : public rclcpp::Node {
   }
 };
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<OdometryFuser>();
   rclcpp::experimental::executors::EventsExecutor exec;
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt
index 5c6b32eba..a3205b295 100644
--- a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt
@@ -4,23 +4,17 @@ project(RobocupProtocol)
 # We need protobuf to generate the messages
 find_package(Protobuf REQUIRED)
 
-function(COMPILE_PROTO
-         proto_file
-         output_dir
-         return_var)
+function(COMPILE_PROTO proto_file output_dir return_var)
   # Get the file without the extension
   get_filename_component(file_we ${proto_file} NAME_WE)
 
   # Run the protocol buffer compiler on the builtin protocol buffers
-  add_custom_command(OUTPUT "${output_dir}/${file_we}.pb.cc"
-                            "${output_dir}/${file_we}.pb.h"
-                     COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
-                             ARGS
-                             --cpp_out=${output_dir}
-                             -I${CMAKE_CURRENT_SOURCE_DIR}
-                             ${proto_file}
-                     DEPENDS ${proto_file}
-                     COMMENT "Compiling protocol buffer ${proto_file}")
+  add_custom_command(
+    OUTPUT "${output_dir}/${file_we}.pb.cc" "${output_dir}/${file_we}.pb.h"
+    COMMAND ${PROTOBUF_PROTOC_EXECUTABLE} ARGS --cpp_out=${output_dir}
+            -I${CMAKE_CURRENT_SOURCE_DIR} ${proto_file}
+    DEPENDS ${proto_file}
+    COMMENT "Compiling protocol buffer ${proto_file}")
 
   set_source_files_properties(
     "${output_dir}/${file_we}.pb"
@@ -30,16 +24,16 @@ function(COMPILE_PROTO
     "${output_dir}/${file_we}.cpp"
     "${output_dir}/${file_we}.py.cpp"
     "${output_dir}/${file_we}.h"
-    PROPERTIES
-    GENERATED
-    TRUE
-    # Prevent Effective C++ and unused parameter error checks being performed on
-    # generated files.
-    COMPILE_FLAGS "-Wno-unused-parameter -Wno-error=unused-parameter -Wno-error"
-    )
-
-  set(${return_var} "${output_dir}/${file_we}.pb.cc"
-                    "${output_dir}/${file_we}.pb.h" PARENT_SCOPE)
+    PROPERTIES GENERATED TRUE
+               # Prevent Effective C++ and unused parameter error checks being
+               # performed on
+               # generated files.
+               COMPILE_FLAGS
+               "-Wno-unused-parameter -Wno-error=unused-parameter -Wno-error")
+
+  set(${return_var}
+      "${output_dir}/${file_we}.pb.cc" "${output_dir}/${file_we}.pb.h"
+      PARENT_SCOPE)
 endfunction(COMPILE_PROTO)
 
 # Build our protobuf classes
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp
index e6e32fc11..e8a130da1 100644
--- a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp
@@ -1,4 +1,5 @@
 #include <google/protobuf/timestamp.pb.h>
+
 #include <chrono>
 #include <cmath>
 #include <fstream>
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp
index 722a2d093..b720bf30c 100644
--- a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp
@@ -1,4 +1,5 @@
 #include <google/protobuf/timestamp.pb.h>
+
 #include <chrono>
 #include <cmath>
 #include <fstream>
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp
index 7de6ee7e1..6ac5242a0 100644
--- a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp
@@ -1,4 +1,5 @@
 #include <google/protobuf/timestamp.pb.h>
+
 #include <chrono>
 #include <cmath>
 #include <fstream>
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp
index 33ad72cf2..256bcffbb 100644
--- a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp
@@ -1,4 +1,5 @@
 #include <google/protobuf/timestamp.pb.h>
+
 #include <chrono>
 #include <cmath>
 #include <fstream>
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp
index 49219264d..0342c4d1f 100644
--- a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp
@@ -3,6 +3,7 @@
 
 #include <google/protobuf/timestamp.pb.h>
 #include <google/protobuf/util/json_util.h>
+
 #include <chrono>
 #include <iostream>
 #include <string>
diff --git a/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
index 0a129ba00..caacbd1ff 100644
--- a/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
+++ b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
@@ -68,13 +68,12 @@ def configure(cls, config: dict) -> None:
 
         conda_prefix = os.environ.get("CONDA_PREFIX", "")
         if not conda_prefix:
-            raise ValueError("CONDA_PREFIX environment variable not set! We now expect YOEO models to be shared as conda packages.")
+            raise ValueError(
+                "CONDA_PREFIX environment variable not set! We now expect YOEO models to be shared as conda packages."
+            )
 
         # Assemble model package name and look at its share directory
-        model_path = os.path.join(
-            conda_prefix,
-            "share",
-            "bitbots_model_" + config["yoeo_model_path"])
+        model_path = os.path.join(conda_prefix, "share", "bitbots_model_" + config["yoeo_model_path"])
 
         cls._verify_required_neural_network_files_exist(framework, model_path)
 

From 8fb1fbf75f8884c00ae5e0e8c53522e398ca0393 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 20:53:44 +0100
Subject: [PATCH 60/90] Use dedicated ci env

---
 .github/workflows/ci.yml | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 079e8c643..ebadc2b1b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -33,10 +33,12 @@ jobs:
         uses: prefix-dev/setup-pixi@v0.9.3
         with:
           pixi-version: v0.59.0
-          cache: false  # Our deps exceed the cache size limit :(
+          cache: true
+          environments: >-
+            ci
 
       - name: Build
-        run: pixi run build
+        run: pixi run -e ci build
 
       - name: Test
-        run: pixi run test --parallel-workers 1
+        run: pixi run -e ci test --parallel-workers 1

From 34429364549407cab517a50b2431525f0fb9308b Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 22:46:36 +0100
Subject: [PATCH 61/90] Add correct env variables

---
 .github/workflows/ci.yml |    8 +-
 pixi.lock                | 1277 ++++++++------------------------------
 pixi.toml                |   16 +-
 3 files changed, 257 insertions(+), 1044 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ebadc2b1b..8f0661458 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -33,12 +33,10 @@ jobs:
         uses: prefix-dev/setup-pixi@v0.9.3
         with:
           pixi-version: v0.59.0
-          cache: true
-          environments: >-
-            ci
+          cache: false  # Disable caching to avoid issues with large pytorch packages
 
       - name: Build
-        run: pixi run -e ci build
+        run: pixi run build
 
       - name: Test
-        run: pixi run -e ci test --parallel-workers 1
+        run: pixi run test --parallel-workers 1
diff --git a/pixi.lock b/pixi.lock
index 9a077c94c..c6c3a4ee3 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,1024 +1,5 @@
 version: 6
 environments:
-  ci:
-    channels:
-    - url: https://conda.anaconda.org/robostack-jazzy/
-    - url: https://conda.anaconda.org/conda-forge/
-    - url: https://data.bit-bots.de/conda/
-    - url: https://data.bit-bots.de/model_packaging/output/
-    indexes:
-    - https://pypi.org/simple
-    packages:
-      linux-64:
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/noarch/adwaita-icon-theme-49.0-unix_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/aiohappyeyeballs-2.6.1-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.13.2-py312h27b7581_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/aiosignal-1.4.0-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/alabaster-1.0.0-pyhd8ed1ab_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.14-hb9d3cd8_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.6.3-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-3.0.1-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-atk-2.38.0-h0630a04_3.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.2-h39aace5_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-25.4.0-pyhcf101f3_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/babel-2.17.0-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/backports.zstd-1.2.0-py312h90b7ffd_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/bcrypt-5.0.0-py312h868fb18_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.8-pyhd8ed1ab_0.conda
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+  requires_python: '>=3.6'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/openexr-3.3.5-h09fa569_0.conda
   sha256: db6bac8013542227eda2153b7473b10faef11fd2bae57591d1f729993109e152
   md5: f46ae82586acba0872546bd79261fafc
@@ -9967,6 +9103,36 @@ packages:
   name: phonemes2ids
   version: 1.2.2
   sha256: 8e3e9e0723215c7187b56276bb053688a43851d8deb9948432e793262551c2ac
+- pypi: https://files.pythonhosted.org/packages/e4/c9/06dd4a38974e24f932ff5f98ea3c546ce3f8c995d3f0985f8e5ba48bba19/pillow-11.3.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+  name: pillow
+  version: 11.3.0
+  sha256: 676b2815362456b5b3216b4fd5bd89d362100dc6f4945154ff172e206a22c024
+  requires_dist:
+  - furo ; extra == 'docs'
+  - olefile ; extra == 'docs'
+  - sphinx>=8.2 ; extra == 'docs'
+  - sphinx-autobuild ; extra == 'docs'
+  - sphinx-copybutton ; extra == 'docs'
+  - sphinx-inline-tabs ; extra == 'docs'
+  - sphinxext-opengraph ; extra == 'docs'
+  - olefile ; extra == 'fpx'
+  - olefile ; extra == 'mic'
+  - pyarrow ; extra == 'test-arrow'
+  - check-manifest ; extra == 'tests'
+  - coverage>=7.4.2 ; extra == 'tests'
+  - defusedxml ; extra == 'tests'
+  - markdown2 ; extra == 'tests'
+  - olefile ; extra == 'tests'
+  - packaging ; extra == 'tests'
+  - pyroma ; extra == 'tests'
+  - pytest ; extra == 'tests'
+  - pytest-cov ; extra == 'tests'
+  - pytest-timeout ; extra == 'tests'
+  - pytest-xdist ; extra == 'tests'
+  - trove-classifiers>=2024.10.12 ; extra == 'tests'
+  - typing-extensions ; python_full_version < '3.10' and extra == 'typing'
+  - defusedxml ; extra == 'xmp'
+  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/pillow-11.3.0-py312h7b42cdd_3.conda
   sha256: ad4a22899819a2bb86550d1fc3833a44e073aac80ea61529676b5e73220fcc2b
   md5: 1d7f05c3f8bb4e98d02fca45f0920b23
@@ -10442,6 +9608,14 @@ packages:
   - pkg:pypi/pynacl?source=hash-mapping
   size: 1157715
   timestamp: 1764063700229
+- pypi: https://files.pythonhosted.org/packages/10/5e/1aa9a93198c6b64513c9d7752de7422c06402de6600a8767da1524f9570b/pyparsing-3.2.5-py3-none-any.whl
+  name: pyparsing
+  version: 3.2.5
+  sha256: e38a4f02064cf41fe6593d328d0512495ad1f3d8a91c4f73fc401b3079a59a5e
+  requires_dist:
+  - railroad-diagrams ; extra == 'diagrams'
+  - jinja2 ; extra == 'diagrams'
+  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.2.5-pyhcf101f3_0.conda
   sha256: 6814b61b94e95ffc45ec539a6424d8447895fef75b0fec7e1be31f5beee883fb
   md5: 6c8979be6d7a17692793114fa26916e8
@@ -20655,6 +19829,50 @@ packages:
   - pytest-faulthandler ; extra == 'test'
   - pytest-doctestplus ; extra == 'test'
   requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/79/2e/415119c9ab3e62249e18c2b082c07aff907a273741b3f8160414b0e9193c/scipy-1.16.3-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
+  name: scipy
+  version: 1.16.3
+  sha256: 72d1717fd3b5e6ec747327ce9bda32d5463f472c9dce9f54499e81fbd50245a1
+  requires_dist:
+  - numpy>=1.25.2,<2.6
+  - pytest>=8.0.0 ; extra == 'test'
+  - pytest-cov ; extra == 'test'
+  - pytest-timeout ; extra == 'test'
+  - pytest-xdist ; extra == 'test'
+  - asv ; extra == 'test'
+  - mpmath ; extra == 'test'
+  - gmpy2 ; extra == 'test'
+  - threadpoolctl ; extra == 'test'
+  - scikit-umfpack ; extra == 'test'
+  - pooch ; extra == 'test'
+  - hypothesis>=6.30 ; extra == 'test'
+  - array-api-strict>=2.3.1 ; extra == 'test'
+  - cython ; extra == 'test'
+  - meson ; extra == 'test'
+  - ninja ; sys_platform != 'emscripten' and extra == 'test'
+  - sphinx>=5.0.0,<8.2.0 ; extra == 'doc'
+  - intersphinx-registry ; extra == 'doc'
+  - pydata-sphinx-theme>=0.15.2 ; extra == 'doc'
+  - sphinx-copybutton ; extra == 'doc'
+  - sphinx-design>=0.4.0 ; extra == 'doc'
+  - matplotlib>=3.5 ; extra == 'doc'
+  - numpydoc ; extra == 'doc'
+  - jupytext ; extra == 'doc'
+  - myst-nb>=1.2.0 ; extra == 'doc'
+  - pooch ; extra == 'doc'
+  - jupyterlite-sphinx>=0.19.1 ; extra == 'doc'
+  - jupyterlite-pyodide-kernel ; extra == 'doc'
+  - linkify-it-py ; extra == 'doc'
+  - mypy==1.10.0 ; extra == 'dev'
+  - typing-extensions ; extra == 'dev'
+  - types-psutil ; extra == 'dev'
+  - pycodestyle ; extra == 'dev'
+  - ruff>=0.0.292 ; extra == 'dev'
+  - cython-lint>=0.12.2 ; extra == 'dev'
+  - rich-click ; extra == 'dev'
+  - doit>=0.36.0 ; extra == 'dev'
+  - pydevtool ; extra == 'dev'
+  requires_python: '>=3.11'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/scipy-1.16.3-py312h7a1785b_1.conda
   sha256: dcb7080ccb113d760c94a2f5dd32239452793fe9c9cff743ffec27fa128e4801
   md5: c6e0e1f1d9ac014a980574cfe8caa25f
@@ -21177,15 +20395,6 @@ packages:
   - pytest>=7.1.0 ; extra == 'dev'
   - hypothesis>=6.70.0 ; extra == 'dev'
   requires_python: '>=3.8'
-- pypi: https://files.pythonhosted.org/packages/a2/09/77d55d46fd61b4a135c444fc97158ef34a095e5681d0a6c10b75bf356191/sympy-1.14.0-py3-none-any.whl
-  name: sympy
-  version: 1.14.0
-  sha256: e091cc3e99d2141a0ba2847328f5479b05d94a6635cb96148ccb3f34671bd8f5
-  requires_dist:
-  - mpmath>=1.1.0,<1.4
-  - pytest>=7.1.0 ; extra == 'dev'
-  - hypothesis>=6.70.0 ; extra == 'dev'
-  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/9d/9a/6c68aad2ccfce6e2eeebbf5bb709d0240592eb51ff142ec4c8fbf3c2460a/syrupy-5.0.0-py3-none-any.whl
   name: syrupy
   version: 5.0.0
diff --git a/pixi.toml b/pixi.toml
index b4e8c07e3..7c92e24c0 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -186,19 +186,25 @@ syrupy = ">=5.0.0, <6"
 exhale = ">=0.3.7, <0.4"
 mycroft-mimic3-tts = ">=0.2.4, <0.3"
 pyttsx3 = ">=2.99, <3"
+yoeo = { git = "https://github.com/bit-bots/YOEO" }
 
 [feature.robot.pypi-dependencies]
 # These are only needed on the robot
 pyamdgpuinfo = ">=2.1.7, <3"
 
-[feature.pytorch.pypi-dependencies]
-yoeo = { git = "https://github.com/bit-bots/YOEO" }
+
+[feature.ros.activation.env]
+ROS_DOMAIN_ID = "24"
+ROS_AUTOMATIC_DISCOVERY_RANGE = "LOCALHOST"
+RCUTILS_COLORIZED_OUTPUT = "1"
+RMW_IMPLEMENTATION = "rmw_cyclonedds_cpp"
+COLCON_LOG_LEVEL = "30"
+PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
 
 [feature.ros.activation]
 scripts = ["install/setup.sh"]
 
 [environments]
-default = ["ros", "format", "pytorch"]  # Full development environment (excluding robot-only deps)
+default = ["ros", "format"]  # Full development environment (excluding robot-only deps)
 format = ["format"]  # Format only environment
-robot = ["ros", "robot", "pytorch"]  # Robot environment with additional robot-only dependencies
-ci = ["ros"]  # CI does not need format or full pytorch to save time and space
+robot = ["ros", "format", "robot"]  # Robot environment with additional robot-only dependencies

From b8e5e8fd95438c32956b9303103f07357b43fdf8 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 22:48:05 +0100
Subject: [PATCH 62/90] Migrate dev container

---
 .devcontainer/Dockerfile        | 29 +++++-------------------
 .devcontainer/devcontainer.json |  2 +-
 .devcontainer/zshrc             | 40 ++-------------------------------
 3 files changed, 8 insertions(+), 63 deletions(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 851c412cd..4f0643e3c 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,4 +1,4 @@
-FROM ros:jazzy
+FROM ubuntu:24.04
 
 ARG user=bitbots
 ARG uid=1000
@@ -51,25 +51,10 @@ ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
-# Setup and prioritize packages.bit-bots.de repository
+# Update and upgrade all packages
 RUN apt update -y \
   && apt upgrade -y --allow-downgrades
 
-# Additional robotics related packages
-RUN apt-get install -y \
-  python3-rosdep \
-  python3-vcstool \
-  python3-virtualenv \
-  ros-jazzy-camera-calibration \
-  ros-jazzy-desktop \
-  ros-jazzy-joint-state-publisher-gui \
-  ros-jazzy-plotjuggler \
-  ros-jazzy-plotjuggler-msgs \
-  ros-jazzy-plotjuggler-ros \
-  ros-jazzy-rmw-cyclonedds-cpp \
-  ros-jazzy-rqt-robot-monitor \
-  ros-jazzy-soccer-vision-3d-rviz-markers
-
 # Set zsh as default shell
 SHELL ["/bin/zsh", "-c"]
 
@@ -85,13 +70,6 @@ RUN groupdel users \
 
 USER $user
 
-# Install pip colcon extensions / patches as user
-RUN python3 -m pip install --user --break-system-packages \
-    git+https://github.com/ruffsl/colcon-clean \
-    git+https://github.com/timonegk/colcon-core.git@colors \
-    git+https://github.com/timonegk/colcon-notification.git@colors \
-    git+https://github.com/timonegk/colcon-output.git@colors
-
 # Install oh-my-zsh for pretty terminal
 RUN sh -c "$(wget -O- https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" && \
   git clone https://github.com/zsh-users/zsh-autosuggestions "${ZSH_CUSTOM:-$HOME/.oh-my-zsh/custom}/plugins/zsh-autosuggestions"
@@ -102,5 +80,8 @@ COPY --chown=$user:$user zshrc /home/$user/.zshrc
 # This is required for sharing Xauthority
 ENV QT_X11_NO_MITSHM=1
 
+# Install pixi
+RUN curl -fsSL https://pixi.sh/install.sh | sh
+
 # Switch to the workspace directory
 WORKDIR /home/$user/bitbots_main
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 6f67f3e8f..97fad5005 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -59,5 +59,5 @@
     "seccomp=unconfined"
   ],
 
-  "postCreateCommand": "git config --global --add safe.directory '*'"
+  "postCreateCommand": "git config --global --add safe.directory '*' && $HOME/.pixi/bin/pixi install"
 }
diff --git a/.devcontainer/zshrc b/.devcontainer/zshrc
index 145740517..5f7b70047 100644
--- a/.devcontainer/zshrc
+++ b/.devcontainer/zshrc
@@ -1,5 +1,5 @@
 # If you come from bash you might have to change your $PATH.
-export PATH=$HOME/bin:/usr/local/bin:$HOME/.local/bin:$PATH
+export PATH=$HOME/bin:/usr/local/bin:$HOME/.local/bin:$HOME/.pixi/bin:$PATH
 
 # Set the default shell to zsh when running zsh
 export SHELL="$(which zsh)"
@@ -48,48 +48,12 @@ bindkey "^H" backward-kill-word
 bindkey "^[[1;5C" forward-word
 bindkey "^[[1;5D" backward-word
 
-
 # Settings for the prompt to show that we are in a docker container
 export PROMPT="%K{black} 🐋 %K{blue}%F{black} %~ %f%k%F{blue}%f "  # Prefix the prompt with DOCKER
 
-# >>> bit-bots initialize >>>
-
-# Ignore some deprecation warnings
-export PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-
-# Limit ROS 2 communication to localhost (can be overridden when needed)
-export ROS_DOMAIN_ID=24
-export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
-
-# Set the default colcon workspace
-export COLCON_WS="$HOME/bitbots_main"
-
-# Set the default log level for colcon
-export COLCON_LOG_LEVEL=30
-
-# Define a log layout
-export RCUTILS_COLORIZED_OUTPUT=1
-export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
-
-# Set the default Middleware
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-# Load our ros plugin script containing useful functions and aliases for ROS 2 development
-if [[ -f $COLCON_WS/scripts/ros.plugin.sh ]]; then
-  source $COLCON_WS/scripts/ros.plugin.sh
-fi
-
-# <<< bit-bots initialize <<<
-
-# Set default editor
-export VISUAL="vim"
-
 # Some user instructions
 echo "Hello there! Welcome to the Bit-Bots ROS 2 development environment!"
 echo "If you just (re)build this container a few manual steps are nessessary:"
 echo "Create a ssh key with 'ssh-keygen -q -f $HOME/.ssh/id_rsa -N \"\" &&  cat $HOME/.ssh/id_rsa.pub'."
 echo "Copy the commands output and add it to your GitHub account ('https://github.com/settings/keys') (ctrl+click to open in browser)."
-echo "Now you can install the rest of the workspace and compile everything with 'just install && just build'."
-echo "To update an existing workspace you can use 'just update'."
-echo "To compile all packages in the workspace use 'just build'. If you want to compile only a specific package use 'just build <package_name>'."
-echo "Run 'xhost local:root' in a terminal on the host machine to enable GUI applications (e.g. rviz2) in the container. This needs to be done after every restart of the host machine."
+echo "Now you can install the rest of the workspace and compile everything with 'pixi run build'."

From 00fb576f5edd4a9a974455cf6386226d87428e92 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 22:50:13 +0100
Subject: [PATCH 63/90] Migrate setup script

---
 scripts/ros.plugin.sh |  68 ------------------------
 scripts/setup.sh      | 121 +++++-------------------------------------
 2 files changed, 13 insertions(+), 176 deletions(-)
 delete mode 100644 scripts/ros.plugin.sh

diff --git a/scripts/ros.plugin.sh b/scripts/ros.plugin.sh
deleted file mode 100644
index 8fc577f51..000000000
--- a/scripts/ros.plugin.sh
+++ /dev/null
@@ -1,68 +0,0 @@
-### Aliases and functions for ROS 2 and colcon usage. Usage for either
-### Ubuntu 22.04/24.04 or in rosdocked/dev docker container
-
-shell="$(basename "$SHELL")"
-ros_releases=(iron jazzy rolling)
-distro="$ROS_DISTRO"
-
-rid() {
-  export ROS_DOMAIN_ID="$1"
-  echo "ROS_DOMAIN_ID set to $ROS_DOMAIN_ID"
-}
-
-# Create a function to update the argcomplete so tab completion works.
-# This needs to be called every time we source something ROS 2 related.
-# Previous loading of bashcompinit is required.
-update_ros2_argcomplete() {
-  eval "$(register-python-argcomplete colcon)"
-  eval "$(register-python-argcomplete ros2)"
-}
-
-# Source the ROS 2 setup files if jazzy is installed
-if [[ -n "$distro" ]]; then
-  source "/opt/ros/$distro/setup.$shell" &> /dev/null
-else
-  for release in "${ros_releases[@]}"; do
-    if [[ -d "/opt/ros/$release" ]]; then
-      source "/opt/ros/$release/setup.$shell" &> /dev/null
-      distro="$release"
-      break
-    fi
-  done
-fi
-
-# Update the tab completion
-update_ros2_argcomplete
-
-# ros aliases
-alias rr='ros2 run'
-alias rl='ros2 launch'
-
-alias rte='ros2 topic echo'
-alias rtl='ros2 topic list'
-alias rth='ros2 topic hz'
-alias rtp='ros2 topic pub'
-
-alias rpl='ros2 param list'
-alias rpg='ros2 param get'
-
-# colcon aliases
-alias cdc='cd $COLCON_WS'
-
-alias cba='cdc && colcon build --symlink-install --continue-on-error'
-alias cbs='cdc && colcon build --symlink-install --packages-select'
-alias cb='cdc && colcon build --symlink-install --continue-on-error --packages-up-to'
-alias cc='cdc && colcon clean packages --packages-select'
-alias cca='cdc && colcon clean packages'
-alias ct='cdc && colcon test --event-handlers console_direct+ --return-code-on-test-failure'
-
-alias sr="source /opt/ros/$distro/setup.$shell && update_ros2_argcomplete"
-alias sc="source \$COLCON_WS/install/setup.$shell && update_ros2_argcomplete"
-alias sa='sr && sc'
-
-# deploy_robots tool aliases
-DEPLOY_ROBOTS="$COLCON_WS/scripts/deploy_robots.py"
-alias dp='$DEPLOY_ROBOTS --sync --build --print-bit-bot'
-alias dpfull='dp --install --configure'
-alias dpclean='dp --clean'
-alias dplo='dp --skip-local-repo-check'
diff --git a/scripts/setup.sh b/scripts/setup.sh
index 209d8a2b1..6993aeded 100755
--- a/scripts/setup.sh
+++ b/scripts/setup.sh
@@ -4,45 +4,7 @@ set -eEuo pipefail
 # static/global variables
 DIR="$(dirname "$(readlink -f "$0")")"
 BRANCH="${1:-main}"
-ROS_DISTRO=${ROS_DISTRO:-"jazzy"}
-COLCON_WS="${COLCON_WS:-"$HOME/bitbots_main"}"
 REPO_URL="git@github.com:bit-bots/bitbots_main.git"
-SHELL_CONFIG="$(cat <<EOF
-
-# >>> bit-bots initialize >>>
-
-# Add python pip bins to PATH
-export PATH="\$HOME/.local/bin:\$PATH"
-
-# Ignore some deprecation warnings
-export PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-
-# Limit ROS 2 communication to localhost (can be overridden when needed)
-export ROS_DOMAIN_ID=24
-export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
-
-# Set the default colcon workspace
-export COLCON_WS="\$HOME/bitbots_main"
-
-# Set the default log level for colcon
-export COLCON_LOG_LEVEL=30
-
-# Define a log layout
-export RCUTILS_COLORIZED_OUTPUT=1
-export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
-
-# Set the default Middleware
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-# Load our ros plugin script containing useful functions and aliases for ROS 2 development
-if [[ -f \$COLCON_WS/scripts/ros.plugin.sh ]]; then
-  source \$COLCON_WS/scripts/ros.plugin.sh
-fi
-
-# <<< bit-bots initialize <<<
-
-EOF
-)"
 
 ask_question() {
     while true; do
@@ -56,34 +18,8 @@ ask_question() {
     done
 }
 
-setup_ros() {
-    if (( has_sudo )); then
-        echo "Setting up ROS 2..."
-
-        if [[ ! -f /etc/apt/sources.list.d/ros2.list ]]; then
-            echo "Adding ROS 2 repository..."
-            sudo apt install -y curl lsb-release
-            sudo sh -c "curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key > /usr/share/keyrings/ros-archive-keyring.gpg"
-            sudo sh -c "echo 'deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main' > /etc/apt/sources.list.d/ros2.list"
-        fi
-
-        sudo apt update && sudo apt install -y \
-            just \
-            clang-format \
-            cppcheck \
-            python3-colcon-clean \
-            python3-colcon-common-extensions \
-            python3-pip \
-            python3-rosdep \
-            python3-vcstool \
-            "ros-${ROS_DISTRO}-desktop-full" \
-            "ros-${ROS_DISTRO}-plotjuggler-ros" \
-            "ros-${ROS_DISTRO}-rmw-cyclonedds-cpp" \
-            "ros-${ROS_DISTRO}-rqt-robot-monitor" \
-            "ros-${ROS_DISTRO}-rqt-runtime-monitor"
-    else
-        echo "Please install ROS 2 manually!"
-    fi
+setup_pixi() {
+    curl -fsSL https://pixi.sh/install.sh | sh
 }
 
 setup_repo() {
@@ -103,51 +39,21 @@ setup_repo() {
     fi
 
     echo "Installing dependencies..."
-    if (( has_sudo )); then
-        just install
-    else
-        echo "Cannot use rosdep as it requires sudo."
-        just install-no-root
-    fi
+    $HOME/.pixi/bin/pixi install
 }
 
-setup_colcon() {
-    echo "Installing/Updating colcon extensions..."
-
-    # Install/Update colcon extensions / patches
-    python3 -m pip install --upgrade --user --break-system-packages \
-      git+https://github.com/timonegk/colcon-core.git@colors \
-      git+https://github.com/timonegk/colcon-notification.git@colors \
-      git+https://github.com/timonegk/colcon-output.git@colors
+setup_host() {
+    echo "Setting up system dependencies not covered by pixi. This may require sudo rights. For non-Ubuntu systems, please install the required packages manually."
+    if (( has_sudo )); then
+        $meta_dir/scripts/make_basler.sh
+        $meta_dir/scripts/make_webots.sh
+    fi
 }
 
 build_repository() {
-    echo "Running full colcon build for bitbots_main repository..."
-    cd "$COLCON_WS"
-
+    echo "Running full colcon build..."
     set +u
-    source "/opt/ros/${ROS_DISTRO}/setup.bash"
-
-    just build
-}
-
-setup_shell_aliases() {
-    if ask_question "Do you want to setup/update the Bit-Bots ROS 2 and colcon shell configuration?"; then
-        local shell_config_file
-
-        if [[ "$SHELL" =~ "bash" ]]; then
-            shell_config_file="$HOME/.bashrc"
-        elif [[ "$SHELL" =~ "zsh" ]]; then
-            shell_config_file="$HOME/.zshrc"
-        else
-            echo "Your shell is not supported!"
-            exit 1
-        fi
-
-        if ! grep -q ">>> bit-bots initialize >>>" "$shell_config_file"; then
-            echo "$SHELL_CONFIG" >> "$shell_config_file"
-        fi
-    fi
+    $HOME/.pixi/bin/pixi run build
 }
 
 has_sudo=0
@@ -155,7 +61,7 @@ if ask_question "Do you have sudo rights?"; then
     has_sudo=1
 fi
 if (( ! has_sudo )); then
-    echo "Because, you don't have sudo rights, ensure all necessary ROS 2 packages are installed."
+    echo "Because, you don't have sudo rights, no host dependencies will be installed."
 fi
 
 in_repo=1
@@ -166,6 +72,5 @@ fi
 
 setup_ros
 setup_repo
-setup_colcon
-setup_shell_aliases
+setup_host
 build_repository

From 8257f89aa0bbba58b5a3522368cdd8a88233d5f0 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 22:57:02 +0100
Subject: [PATCH 64/90] Remove just

---
 .devcontainer/Dockerfile |  1 -
 Justfile                 | 29 -----------------------------
 2 files changed, 30 deletions(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 4f0643e3c..7fa62b96a 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -20,7 +20,6 @@ RUN apt-get update -y \
     iputils-ping \
     ipython3 \
     jq \
-    just \
     less \
     libncurses5-dev \
     locales \
diff --git a/Justfile b/Justfile
index a3b2577a2..04d657fb9 100644
--- a/Justfile
+++ b/Justfile
@@ -28,32 +28,3 @@ install-pre-commit:
 install-git-filters:
     # Install git filters
     git config filter.removeFullHomePath.clean "sed '/\/\(home\|root\).*\(install\|build\)/d'"
-
-# Pull all auxiliary files (like neural network weights) from the http server
-pull-files:
-    wget --no-verbose --show-progress --timeout=15 --tries=2 --recursive --timestamping --no-parent --no-host-directories --directory-prefix={{REPO}}/src/bitbots_vision --reject "index.html*" "https://data.bit-bots.de/models/"
-    wget --no-verbose --show-progress --timeout=15 --tries=2 --recursive --timestamping --no-parent --no-host-directories --directory-prefix={{REPO}}/src/bitbots_motion/bitbots_rl_motion --reject "index.html*" "https://data.bit-bots.de/rl_walk_models/"
-
-# Build related targets
-
-# Build a specific package or all packages
-build *packages:
-    colcon build --symlink-install --continue-on-error {{ if packages != "" {"--packages-select " + packages} else {""} }}
-
-# Clean all build artifacts or only those of specific packages
-clean *packages:
-	if [ "{{packages}}" != "" ]; then \
-		colcon clean packages --packages-select {{packages}}; \
-	else \
-		rm -rf install build log; \
-	fi
-
-# Run tests of all packages or a specific package
-test *packages:
-    colcon test --event-handlers console_direct+ --return-code-on-test-failure {{ if packages != "" {"--packages-select " + packages} else {""} }}
-
-# Development related targets
-
-# Deploy the code to a robot
-deploy *args:
-    scripts/deploy_robots.py {{args}}

From 9f598e1a00a9c11122ef19142adc8eb17574a8ad Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 23:20:36 +0100
Subject: [PATCH 65/90] Make linter happy

---
 .pre-commit-config.yaml                                   | 4 ++++
 .../src/wolfgang_hardware_interface.cpp                   | 6 +++---
 src/bitbots_misc/bitbots_utils/src/utils.cpp              | 2 +-
 src/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp | 8 ++++----
 4 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 8f6e20745..fae0d6a30 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -14,6 +14,7 @@ repos:
         args:
           - "-i"
       - id: cppcheck
+        exclude: &exclude_robocup_protocol ^src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/
         args:
           - "--inline-suppr"
           - "--suppress=missingIncludeSystem"
@@ -21,11 +22,13 @@ repos:
           - "--suppress=unusedFunction"
           - "--suppress=unusedStructMember"
           - "--suppress=useStlAlgorithm"
+          - "--check-level=exhaustive"
   - repo: https://github.com/cheshirekow/cmake-format-precommit
     rev: v0.6.13
     hooks:
       - id: cmake-format
       - id: cmake-lint
+        exclude: *exclude_robocup_protocol
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v5.0.0
     hooks:
@@ -33,4 +36,5 @@ repos:
       - id: check-toml
       - id: check-xml
       - id: check-yaml
+        exclude: *exclude_robocup_protocol
       - id: detect-private-key
diff --git a/src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
index e732e4524..f0fcc5d87 100644
--- a/src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
@@ -89,10 +89,10 @@ bool WolfgangHardwareInterface::create_interfaces(std::vector<std::pair<std::str
       for (std::pair<std::string, int>& device : dxl_devices) {
         // RCLCPP_INFO_STREAM(nh_->get_logger(), device.first);
         std::string name = device.first;
-        int id = device.second;
         if (std::find(pinged.begin(), pinged.end(), device.first) != pinged.end()) {
           // we already found this and don't have to search again
         } else {
+          int id = device.second;
           int model_number_specified;
           nh_->get_parameter("device_info." + name + ".model_number", model_number_specified);
           // some devices provide more than one type of interface, e.g. the IMU provides additionally buttons and LEDs
@@ -220,8 +220,8 @@ bool WolfgangHardwareInterface::create_interfaces(std::vector<std::pair<std::str
   }
 }
 
-void threaded_init(const std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces, rclcpp::Node::SharedPtr& nh,
-                   int& success) {
+void threaded_init(const std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces,
+                   const rclcpp::Node::SharedPtr& nh, int& success) {
   success = std::all_of(port_interfaces.begin(), port_interfaces.end(),
                         [](std::shared_ptr<HardwareInterface> interface) -> bool { return interface->init(); });
 }
diff --git a/src/bitbots_misc/bitbots_utils/src/utils.cpp b/src/bitbots_misc/bitbots_utils/src/utils.cpp
index ed249ba2e..b951ed29c 100644
--- a/src/bitbots_misc/bitbots_utils/src/utils.cpp
+++ b/src/bitbots_misc/bitbots_utils/src/utils.cpp
@@ -36,7 +36,7 @@ void wait_for_tf(const rclcpp::Logger& logger, std::shared_ptr<rclcpp::Clock> cl
       }
 
       // Check if we can transform from the given root frame to all given frames
-      if (!std::all_of(frames.begin(), frames.end(), [tf_buffer, root_frame, check_interval](const std::string frame) {
+      if (!std::all_of(frames.begin(), frames.end(), [tf_buffer, root_frame, check_interval](const std::string& frame) {
             return tf_buffer->canTransform(root_frame, frame, rclcpp::Time(0), check_interval);
           })) {
         // Here it is fine not to wait as the canTransform function already includes a timeout
diff --git a/src/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp b/src/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
index f9e4d9873..55ece4a20 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
@@ -405,10 +405,6 @@ void WalkNode::imuCb(const sensor_msgs::msg::Imu::SharedPtr msg) {
   current_trunk_fused_pitch_ = imu_fused.fusedPitch;
   current_trunk_fused_roll_ = imu_fused.fusedRoll;
 
-  // get angular velocities
-  double roll_vel = msg->angular_velocity.x;
-  double pitch_vel = msg->angular_velocity.y;
-
   // Calculate ema (exponential moving average) of y (sideways) acceleration in a time-independet manner
   if (last_imu_measurement_time_) {
     auto time_delta = rclcpp::Time(msg->header.stamp) - last_imu_measurement_time_.value();
@@ -427,6 +423,10 @@ void WalkNode::imuCb(const sensor_msgs::msg::Imu::SharedPtr msg) {
     // Get the sub struct of the imu stability stop config
     auto params = config_.node.stability_stop.imu;
 
+    // Get angular velocities
+    double roll_vel = msg->angular_velocity.x;
+    double pitch_vel = msg->angular_velocity.y;
+
     // Check if we have to stop the walk
     double pitch_delta = pitch - wanted_pitch;
     if (abs(roll) > params.roll.threshold or abs(pitch_delta) > params.pitch.threshold or

From d799619ac2b0f7231d7675f1f2a7782ea3341258 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 23:23:53 +0100
Subject: [PATCH 66/90] Try to constrain environment

---
 .github/workflows/pre-commit.yml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index 2fed11817..1e76cb3bc 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -15,8 +15,7 @@ jobs:
         with:
           pixi-version: v0.59.0
           cache: true
-          environments: >-
-            format
+          environment: format
 
       - name: Run pre-commit
-        run: pixi run format
+        run: pixi run -e format format

From 4450b9690fcf0a5e91cf9054df9151c212c51716 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 23:26:20 +0100
Subject: [PATCH 67/90] Try another constraint

---
 .github/workflows/pre-commit.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index 1e76cb3bc..38d2e94ee 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -15,7 +15,7 @@ jobs:
         with:
           pixi-version: v0.59.0
           cache: true
-          environment: format
+          environments: format
 
       - name: Run pre-commit
         run: pixi run -e format format

From 3f1bb5ec51152ede8389c83f9430f4cf8f72008e Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 23:34:12 +0100
Subject: [PATCH 68/90] Fix pypi deps feature

---
 pixi.toml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/pixi.toml b/pixi.toml
index 7c92e24c0..7b2c9548e 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -181,7 +181,8 @@ clang-format = ">=21.1.0,<22"
 cppcheck = ">=2.18.3,<3"
 pre-commit = ">=4.4.0,<5"
 
-[pypi-dependencies]
+[feature.ros.pypi-dependencies]
+# These are are pypi dependencies needed for our ROS 2 packages
 syrupy = ">=5.0.0, <6"
 exhale = ">=0.3.7, <0.4"
 mycroft-mimic3-tts = ">=0.2.4, <0.3"

From 6094ba831c55e286ff3922bfdf511fbfab34a56e Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 7 Dec 2025 23:34:12 +0100
Subject: [PATCH 69/90] Fix pypi deps feature

---
 pixi.lock | 657 ------------------------------------------------------
 pixi.toml |   4 +-
 2 files changed, 2 insertions(+), 659 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index c6c3a4ee3..65bdc2dcf 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1064,8 +1064,6 @@ environments:
     - url: https://conda.anaconda.org/conda-forge/
     - url: https://data.bit-bots.de/conda/
     - url: https://data.bit-bots.de/model_packaging/output/
-    indexes:
-    - https://pypi.org/simple
     packages:
       linux-64:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
@@ -1123,131 +1121,6 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.1-hb9d3cd8_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h280c20c_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
-      - pypi: https://files.pythonhosted.org/packages/8f/aa/ba0014cc4659328dc818a28827be78e6d97312ab0cb98105a770924dc11e/absl_py-2.3.1-py3-none-any.whl
-      - pypi: https://files.pythonhosted.org/packages/bc/8a/340a1555ae33d7354dbca4faa54948d76d89a27ceef032c8c3bc661d003e/aiofiles-25.1.0-py3-none-any.whl
-      - pypi: https://files.pythonhosted.org/packages/7e/b3/6b4067be973ae96ba0d615946e314c5ae35f9f993eca561b356540bb0c2b/alabaster-1.0.0-py3-none-any.whl
-      - pypi: https://files.pythonhosted.org/packages/b7/b8/3fe70c75fe32afc4bb507f75563d39bc5642255d1d94f1f23604725780bf/babel-2.17.0-py3-none-any.whl
-      - pypi: https://files.pythonhosted.org/packages/1a/39/47f9197bdd44df24d67ac8893641e16f386c984a0619ef2ee4c51fbbc019/beautifulsoup4-4.14.3-py3-none-any.whl
-      - pypi: https://files.pythonhosted.org/packages/10/cb/f2ad4230dc2eb1a74edf38f1a38b9b52277f75bef262d8908e60d957e13c/blinker-1.9.0-py3-none-any.whl
-      - pypi: https://files.pythonhosted.org/packages/2c/bc/d67ef1e11ed6e6343c135bf605aa9d5734ff0cc77eb42a2a41f182abc9d9/breathe-4.36.0-py3-none-any.whl
-      - pypi: https://files.pythonhosted.org/packages/70/7d/9bc192684cea499815ff478dfcdc13835ddf401365057044fb721ec6bddb/certifi-2025.11.12-py3-none-any.whl
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-- pypi: https://files.pythonhosted.org/packages/c8/78/3565d011c61f5a43488987ee32b6f3f656e7f107ac2782dd57bdd7d91d9a/snowballstemmer-3.0.1-py3-none-any.whl
-  name: snowballstemmer
-  version: 3.0.1
-  sha256: 6cd7b3897da8d6c9ffb968a6781fa6532dce9c3618a4b127d920dab764a19064
-  requires_python: '!=3.0.*,!=3.1.*,!=3.2.*'
 - conda: https://conda.anaconda.org/conda-forge/noarch/snowballstemmer-3.0.1-pyhd8ed1ab_0.conda
   sha256: 17007a4cfbc564dc3e7310dcbe4932c6ecb21593d4fec3c68610720f19e73fb2
   md5: 755cf22df8693aa0d1aec1c123fa5863
@@ -20115,29 +19558,6 @@ packages:
   purls: []
   size: 195618
   timestamp: 1751348678073
-- pypi: https://files.pythonhosted.org/packages/c6/3f/4bbd76424c393caead2e1eb89777f575dee5c8653e2d4b6afd7a564f5974/sphinx-9.0.4-py3-none-any.whl
-  name: sphinx
-  version: 9.0.4
-  sha256: 5bebc595a5e943ea248b99c13814c1c5e10b3ece718976824ffa7959ff95fffb
-  requires_dist:
-  - sphinxcontrib-applehelp>=1.0.7
-  - sphinxcontrib-devhelp>=1.0.6
-  - sphinxcontrib-htmlhelp>=2.0.6
-  - sphinxcontrib-jsmath>=1.0.1
-  - sphinxcontrib-qthelp>=1.0.6
-  - sphinxcontrib-serializinghtml>=1.1.9
-  - jinja2>=3.1
-  - pygments>=2.17
-  - docutils>=0.20,<0.23
-  - snowballstemmer>=2.2
-  - babel>=2.13
-  - alabaster>=0.7.14
-  - imagesize>=1.3
-  - requests>=2.30.0
-  - roman-numerals>=1.0.0
-  - packaging>=23.0
-  - colorama>=0.4.6 ; sys_platform == 'win32'
-  requires_python: '>=3.11'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinx-8.2.3-pyhd8ed1ab_0.conda
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   md5: f7af826063ed569bb13f7207d6f949b0
@@ -20191,17 +19611,6 @@ packages:
   - pkg:pypi/sphinx-rtd-theme?source=hash-mapping
   size: 4629955
   timestamp: 1757836585728
-- pypi: https://files.pythonhosted.org/packages/5d/85/9ebeae2f76e9e77b952f4b274c27238156eae7979c5421fba91a28f4970d/sphinxcontrib_applehelp-2.0.0-py3-none-any.whl
-  name: sphinxcontrib-applehelp
-  version: 2.0.0
-  sha256: 4cd3f0ec4ac5dd9c17ec65e9ab272c9b867ea77425228e68ecf08d6b28ddbdb5
-  requires_dist:
-  - ruff==0.5.5 ; extra == 'lint'
-  - mypy ; extra == 'lint'
-  - types-docutils ; extra == 'lint'
-  - sphinx>=5 ; extra == 'standalone'
-  - pytest ; extra == 'test'
-  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-applehelp-2.0.0-pyhd8ed1ab_1.conda
   sha256: d7433a344a9ad32a680b881c81b0034bc61618d12c39dd6e3309abeffa9577ba
   md5: 16e3f039c0aa6446513e94ab18a8784b
@@ -20214,17 +19623,6 @@ packages:
   - pkg:pypi/sphinxcontrib-applehelp?source=hash-mapping
   size: 29752
   timestamp: 1733754216334
-- pypi: https://files.pythonhosted.org/packages/35/7a/987e583882f985fe4d7323774889ec58049171828b58c2217e7f79cdf44e/sphinxcontrib_devhelp-2.0.0-py3-none-any.whl
-  name: sphinxcontrib-devhelp
-  version: 2.0.0
-  sha256: aefb8b83854e4b0998877524d1029fd3e6879210422ee3780459e28a1f03a8a2
-  requires_dist:
-  - ruff==0.5.5 ; extra == 'lint'
-  - mypy ; extra == 'lint'
-  - types-docutils ; extra == 'lint'
-  - sphinx>=5 ; extra == 'standalone'
-  - pytest ; extra == 'test'
-  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-devhelp-2.0.0-pyhd8ed1ab_1.conda
   sha256: 55d5076005d20b84b20bee7844e686b7e60eb9f683af04492e598a622b12d53d
   md5: 910f28a05c178feba832f842155cbfff
@@ -20237,18 +19635,6 @@ packages:
   - pkg:pypi/sphinxcontrib-devhelp?source=hash-mapping
   size: 24536
   timestamp: 1733754232002
-- pypi: https://files.pythonhosted.org/packages/0a/7b/18a8c0bcec9182c05a0b3ec2a776bba4ead82750a55ff798e8d406dae604/sphinxcontrib_htmlhelp-2.1.0-py3-none-any.whl
-  name: sphinxcontrib-htmlhelp
-  version: 2.1.0
-  sha256: 166759820b47002d22914d64a075ce08f4c46818e17cfc9470a9786b759b19f8
-  requires_dist:
-  - ruff==0.5.5 ; extra == 'lint'
-  - mypy ; extra == 'lint'
-  - types-docutils ; extra == 'lint'
-  - sphinx>=5 ; extra == 'standalone'
-  - pytest ; extra == 'test'
-  - html5lib ; extra == 'test'
-  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-htmlhelp-2.1.0-pyhd8ed1ab_1.conda
   sha256: c1492c0262ccf16694bdcd3bb62aa4627878ea8782d5cd3876614ffeb62b3996
   md5: e9fb3fe8a5b758b4aff187d434f94f03
@@ -20272,15 +19658,6 @@ packages:
   - pkg:pypi/sphinxcontrib-jquery?source=hash-mapping
   size: 112964
   timestamp: 1734344603903
-- pypi: https://files.pythonhosted.org/packages/c2/42/4c8646762ee83602e3fb3fbe774c2fac12f317deb0b5dbeeedd2d3ba4b77/sphinxcontrib_jsmath-1.0.1-py2.py3-none-any.whl
-  name: sphinxcontrib-jsmath
-  version: 1.0.1
-  sha256: 2ec2eaebfb78f3f2078e73666b1415417a116cc848b72e5172e596c871103178
-  requires_dist:
-  - pytest ; extra == 'test'
-  - flake8 ; extra == 'test'
-  - mypy ; extra == 'test'
-  requires_python: '>=3.5'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-jsmath-1.0.1-pyhd8ed1ab_1.conda
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   md5: fa839b5ff59e192f411ccc7dae6588bb
@@ -20292,18 +19669,6 @@ packages:
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   size: 10462
   timestamp: 1733753857224
-- pypi: https://files.pythonhosted.org/packages/27/83/859ecdd180cacc13b1f7e857abf8582a64552ea7a061057a6c716e790fce/sphinxcontrib_qthelp-2.0.0-py3-none-any.whl
-  name: sphinxcontrib-qthelp
-  version: 2.0.0
-  sha256: b18a828cdba941ccd6ee8445dbe72ffa3ef8cbe7505d8cd1fa0d42d3f2d5f3eb
-  requires_dist:
-  - ruff==0.5.5 ; extra == 'lint'
-  - mypy ; extra == 'lint'
-  - types-docutils ; extra == 'lint'
-  - sphinx>=5 ; extra == 'standalone'
-  - pytest ; extra == 'test'
-  - defusedxml>=0.7.1 ; extra == 'test'
-  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-qthelp-2.0.0-pyhd8ed1ab_1.conda
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   md5: 00534ebcc0375929b45c3039b5ba7636
@@ -20316,17 +19681,6 @@ packages:
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   size: 26959
   timestamp: 1733753505008
-- pypi: https://files.pythonhosted.org/packages/52/a7/d2782e4e3f77c8450f727ba74a8f12756d5ba823d81b941f1b04da9d033a/sphinxcontrib_serializinghtml-2.0.0-py3-none-any.whl
-  name: sphinxcontrib-serializinghtml
-  version: 2.0.0
-  sha256: 6e2cb0eef194e10c27ec0023bfeb25badbbb5868244cf5bc5bdc04e4464bf331
-  requires_dist:
-  - ruff==0.5.5 ; extra == 'lint'
-  - mypy ; extra == 'lint'
-  - types-docutils ; extra == 'lint'
-  - sphinx>=5 ; extra == 'standalone'
-  - pytest ; extra == 'test'
-  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/sphinxcontrib-serializinghtml-1.1.10-pyhd8ed1ab_1.conda
   sha256: 64d89ecc0264347486971a94487cb8d7c65bfc0176750cf7502b8a272f4ab557
   md5: 3bc61f7161d28137797e038263c04c54
@@ -20835,17 +20189,6 @@ packages:
   purls: []
   size: 19201
   timestamp: 1726152409175
-- pypi: https://files.pythonhosted.org/packages/56/1a/9ffe814d317c5224166b23e7c47f606d6e473712a2fad0f704ea9b99f246/urllib3-2.6.0-py3-none-any.whl
-  name: urllib3
-  version: 2.6.0
-  sha256: c90f7a39f716c572c4e3e58509581ebd83f9b59cced005b7db7ad2d22b0db99f
-  requires_dist:
-  - brotli>=1.2.0 ; platform_python_implementation == 'CPython' and extra == 'brotli'
-  - brotlicffi>=1.2.0.0 ; platform_python_implementation != 'CPython' and extra == 'brotli'
-  - h2>=4,<5 ; extra == 'h2'
-  - pysocks>=1.5.6,!=1.5.7,<2.0 ; extra == 'socks'
-  - backports-zstd>=1.0.0 ; python_full_version < '3.14' and extra == 'zstd'
-  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.5.0-pyhd8ed1ab_0.conda
   sha256: 4fb9789154bd666ca74e428d973df81087a697dbb987775bc3198d2215f240f8
   md5: 436c165519e140cb08d246a4472a9d6a
diff --git a/pixi.toml b/pixi.toml
index 7c92e24c0..edfad2095 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -181,7 +181,8 @@ clang-format = ">=21.1.0,<22"
 cppcheck = ">=2.18.3,<3"
 pre-commit = ">=4.4.0,<5"
 
-[pypi-dependencies]
+[feature.ros.pypi-dependencies]
+# These are are pypi dependencies needed for our ROS 2 packages
 syrupy = ">=5.0.0, <6"
 exhale = ">=0.3.7, <0.4"
 mycroft-mimic3-tts = ">=0.2.4, <0.3"
@@ -192,7 +193,6 @@ yoeo = { git = "https://github.com/bit-bots/YOEO" }
 # These are only needed on the robot
 pyamdgpuinfo = ">=2.1.7, <3"
 
-
 [feature.ros.activation.env]
 ROS_DOMAIN_ID = "24"
 ROS_AUTOMATIC_DISCOVERY_RANGE = "LOCALHOST"

From b2c63f4f6da8a17a1dc3b5b3c1202c0dfc578200 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Wed, 10 Dec 2025 20:53:39 +0100
Subject: [PATCH 70/90] Fix typo

---
 .../bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py
index 728a56811..4ec541313 100644
--- a/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py
+++ b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py
@@ -14,7 +14,7 @@ def __init__(self, blackboard, dsd, parameters):
 
         if "target" not in parameters.keys():
             self.blackboard.node.get_logger().error(
-                'The parameter "target" could not be used to decide whether map information is accesible'
+                'The parameter "target" could not be used to decide whether map information is accessible'
             )
         else:
             self.target = BallGoalType(parameters["target"])

From b037e7c387f4cd8a7c56cd3c3631152db9ff433a Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Wed, 10 Dec 2025 20:54:30 +0100
Subject: [PATCH 71/90] Increase bitbots vendor prio and add missing pkg

---
 pixi.lock | 1656 +++++++++++++++++++----------------------------------
 pixi.toml |    3 +-
 2 files changed, 576 insertions(+), 1083 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 65bdc2dcf..0eaeebf9d 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -2,10 +2,10 @@ version: 6
 environments:
   default:
     channels:
-    - url: https://conda.anaconda.org/robostack-jazzy/
-    - url: https://conda.anaconda.org/conda-forge/
     - url: https://data.bit-bots.de/conda/
     - url: https://data.bit-bots.de/model_packaging/output/
+    - url: https://conda.anaconda.org/robostack-jazzy/
+    - url: https://conda.anaconda.org/conda-forge/
     indexes:
     - https://pypi.org/simple
     packages:
@@ -26,10 +26,11 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.2-h39aace5_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-25.4.0-pyh71513ae_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-25.4.0-pyhcf101f3_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/babel-2.17.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/backports.zstd-1.2.0-py312h90b7ffd_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bcrypt-5.0.0-py312h868fb18_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.6-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.8-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.4-h5888daf_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-default_h4852527_104.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-default_hfdba357_104.conda
@@ -45,7 +46,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcbe3ca9_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_8.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.5-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.6-hb03c661_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.11.0-h4d9bdce_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2025.11.12-hbd8a1cb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.4-h3394656_0.conda
@@ -57,7 +58,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21-21.1.0-default_h99862b1_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21.1.0-default_h99862b1_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.6.0-h54a6638_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.3.1-pyh707e725_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.3.1-pyh8f84b5b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.29.6-hcafd917_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-argcomplete-0.3.3-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-bash-0.5.0-pyhd8ed1ab_1.conda
@@ -70,7 +71,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-library-path-0.2.1-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-metadata-0.2.5-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-output-0.2.13-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-information-0.4.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-information-0.4.0-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-selection-0.2.10-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-parallel-executor-0.4.0-pyhe01879c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-pkg-config-0.1.0-py_0.tar.bz2
@@ -83,15 +84,15 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/coloredlogs-15.0.1-pyhd8ed1ab_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.11.0-ha770c72_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-he8ccf15_14.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-he8ccf15_16.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.3-py312hd9148b4_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/coverage-7.12.0-py312h8a5da7c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/coverage-7.13.0-py312h8a5da7c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.18.3-py312h014360a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cppzmq-4.11.0-hbe92c44_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-46.0.3-py312hee9fe19_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-46.0.3-py312ha4b625e_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.11.0-hfcd1e18_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhcf101f3_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.28-hd9c7081_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.16.2-h3c4dab8_0.conda
@@ -136,16 +137,16 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.14.1-ha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fribidi-1.0.16-hb03c661_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/frozenlist-1.7.0-py312h447239a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-14.3.0-h0dff253_14.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-14.3.0-h442bea5_14.conda
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rcpputils-2.11.2-np126py312h3bd2861_10.conda
   sha256: 3592b3549328122ceac5d8d5c9a85e1032cbfae81c40342b5a8dc6d708535680
   md5: ab6f98127dddc09649e150499d0d0f11
@@ -15588,22 +15141,22 @@ packages:
   license: BSD-3-Clause
   size: 22935
   timestamp: 1759141203305
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-environment-4.2.1-np126py312h3bd2861_10.conda
-  sha256: afbf2503171aafa5a5caeb707793ac49c6ec04b18bbfec0bf3be28f7e74cc58a
-  md5: 1a0a37bef17a78e62502248d0333bb6f
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ros-environment-4.2.1-np126py312h3bd2861_10.conda
+  sha256: 9fd27e7265e13597251a7b4a775fa8438d90d90425d4f743402965a0f7d5527c
+  md5: 4ad0ae2b8f30a924cc5b69203a7872da
   depends:
   - python
   - ros2-distro-mutex 0.11.* jazzy_*
-  - __glibc >=2.17,<3.0.a0
   - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
   - libgcc >=14
-  - numpy >=1.26.4,<2.0a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 21196
-  timestamp: 1759133897929
+  size: 21452
+  timestamp: 1763924750505
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-workspace-1.0.3-np126py312h3bd2861_10.conda
   sha256: a6cdeb4918d9886db96dd14a436c863426ac804c37520fba2270671c3d188ff6
   md5: ac5ee1d92135d01d66cf9b10047fac93
@@ -17979,6 +17532,26 @@ packages:
   license: BSD-3-Clause
   size: 233642
   timestamp: 1763892800762
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-3d-rviz-markers-1.0.0-np126py312h3bd2861_10.conda
+  sha256: 84811bf52cff00238f1096ef2d650f22331c737962c4aad83158d23a4f4fd926
+  md5: 87d067e244d43bffc92dba8001ceb609
+  depends:
+  - python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-soccer-vision-3d-msgs
+  - ros-jazzy-soccer-vision-attribute-msgs
+  - ros-jazzy-visualization-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 215412
+  timestamp: 1765393262383
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-attribute-msgs-1.0.0-np126py312h3bd2861_10.conda
   sha256: 3666bc340ccac49e320957c2f5dc4942c94fe93422728f93f89a32eae570833b
   md5: ea5c222d984676f3065e031451ae22c4
@@ -19165,9 +18738,9 @@ packages:
   license: BSD-3-Clause
   size: 23744
   timestamp: 1759134513579
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-distro-mutex-0.11.0-jazzy_10.conda
-  sha256: 7fcc5b58a9c7dda98bd4f13cfd5aa9d548d0564064d1375e153ab329ea04a7e8
-  md5: 0f3a0a48488540478bc8bdb536522b59
+- conda: https://data.bit-bots.de/conda/linux-64/ros2-distro-mutex-0.11.0-jazzy_10.conda
+  sha256: e97863b6071dc8b4bc6f16187489053314e86bea69bc74fb4c2ed0eee2ddb0a5
+  md5: 61ae32251dfacc71fa2f2b89c676046e
   constrains:
   - libboost 1.86.*
   - libboost-devel 1.86.*
@@ -19177,8 +18750,8 @@ packages:
   - libxml2 2.13.*
   - vtk 9.4.2.*
   license: BSD-3-Clause
-  size: 2353
-  timestamp: 1759133819339
+  size: 2379
+  timestamp: 1763924750062
 - conda: https://conda.anaconda.org/conda-forge/noarch/rosdistro-1.0.1-pyhd8ed1ab_0.conda
   sha256: bff3b2fe7afe35125669ffcb7d6153db78070a753e1e4ac3b3d8d198eb6d6982
   md5: b7ed380a9088b543e06a4f73985ed03a
@@ -19232,21 +18805,6 @@ packages:
   purls: []
   size: 13072528
   timestamp: 1759906533500
-- conda: https://conda.anaconda.org/conda-forge/linux-64/ruff-0.14.7-h813ae00_0.conda
-  noarch: python
-  sha256: 6cac2a69751717d7a9d713d2037a4afb3bca29cb4d18a4eb3a38a50cc7c2797f
-  md5: e6923235c29720871fe86e6014ff0a2f
-  depends:
-  - python
-  - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
-  constrains:
-  - __glibc >=2.17
-  license: MIT
-  purls:
-  - pkg:pypi/ruff?source=compressed-mapping
-  size: 11392356
-  timestamp: 1764368499705
 - conda: https://conda.anaconda.org/conda-forge/linux-64/ruff-0.14.8-h813ae00_0.conda
   noarch: python
   sha256: 4adf379daccb73f03297a6966d1200f6ea65e6a1513d749e7f782e32267fe2bb
@@ -19448,6 +19006,15 @@ packages:
   - pkg:pypi/setuptools?source=hash-mapping
   size: 462324
   timestamp: 1692383535614
+- conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-80.9.0-pyhff2d567_0.conda
+  sha256: 972560fcf9657058e3e1f97186cc94389144b46dbdf58c807ce62e83f977e863
+  md5: 4de79c071274a53dcaf2a8c749d1499e
+  depends:
+  - python >=3.9
+  license: MIT
+  license_family: MIT
+  size: 748788
+  timestamp: 1748804951958
 - pypi: https://files.pythonhosted.org/packages/b9/37/e781683abac55dde9771e086b790e554811a71ed0b2b8a1e789b7430dd44/shapely-2.1.2-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
   name: shapely
   version: 2.1.2
@@ -19894,17 +19461,6 @@ packages:
   - pkg:pypi/toml?source=hash-mapping
   size: 24017
   timestamp: 1764486833072
-- conda: https://conda.anaconda.org/conda-forge/noarch/toml-0.10.2-pyhd8ed1ab_2.conda
-  sha256: 5fe40fb250890a1f81be8c5ad0ba94b41ad614ce51e19098110f635dd9400f82
-  md5: 00d80af3a7bf27729484e786a68aafff
-  depends:
-  - python >=3.10
-  license: MIT
-  license_family: MIT
-  purls:
-  - pkg:pypi/toml?source=compressed-mapping
-  size: 22702
-  timestamp: 1763034696970
 - conda: https://conda.anaconda.org/conda-forge/noarch/tomli-2.3.0-pyhcf101f3_0.conda
   sha256: cb77c660b646c00a48ef942a9e1721ee46e90230c7c570cdeb5a893b5cce9bff
   md5: d2732eb636c264dc9aa4cbee404b1a53
@@ -20189,24 +19745,9 @@ packages:
   purls: []
   size: 19201
   timestamp: 1726152409175
-- conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.5.0-pyhd8ed1ab_0.conda
-  sha256: 4fb9789154bd666ca74e428d973df81087a697dbb987775bc3198d2215f240f8
-  md5: 436c165519e140cb08d246a4472a9d6a
-  depends:
-  - brotli-python >=1.0.9
-  - h2 >=4,<5
-  - pysocks >=1.5.6,<2.0,!=1.5.7
-  - python >=3.9
-  - zstandard >=0.18.0
-  license: MIT
-  license_family: MIT
-  purls:
-  - pkg:pypi/urllib3?source=hash-mapping
-  size: 101735
-  timestamp: 1750271478254
-- conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.0-pyhd8ed1ab_0.conda
-  sha256: 2b95dee46e9e7cfaaecb9cc7f3de70d4ce77a2a1aee4538da4bd1ab7a45c7f9f
-  md5: de7372f43e63ff0876b4023b79b55e95
+- conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.1-pyhd8ed1ab_0.conda
+  sha256: a66fc716c9dc6eb048c40381b0d1c5842a1d74bba7ce3d16d80fc0a7232d8644
+  md5: fb84f0f6ee8a0ad67213cd1bea98bf5b
   depends:
   - backports.zstd >=1.0.0
   - brotli-python >=1.2.0
@@ -20217,8 +19758,8 @@ packages:
   license_family: MIT
   purls:
   - pkg:pypi/urllib3?source=compressed-mapping
-  size: 102983
-  timestamp: 1764955468239
+  size: 102817
+  timestamp: 1765212810619
 - conda: https://conda.anaconda.org/conda-forge/linux-64/utfcpp-4.0.8-ha770c72_0.conda
   sha256: bbfbfc43bc028ec8acc5c9c2bb9a52c7652140cef91fdb6219a52d91d773a474
   md5: a480ee3eb9c95364a229673a28384899
@@ -20367,14 +19908,6 @@ packages:
   - pkg:pypi/wcwidth?source=hash-mapping
   size: 33670
   timestamp: 1758622418893
-- pypi: https://files.pythonhosted.org/packages/52/24/ab44c871b0f07f491e5d2ad12c9bd7358e527510618cb1b803a88e986db1/werkzeug-3.1.3-py3-none-any.whl
-  name: werkzeug
-  version: 3.1.3
-  sha256: 54b78bf3716d19a65be4fceccc0d1d7b89e608834989dfae50ea87564639213e
-  requires_dist:
-  - markupsafe>=2.1.1
-  - watchdog>=2.3 ; extra == 'watchdog'
-  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/2f/f9/9e082990c2585c744734f85bec79b5dae5df9c974ffee58fe421652c8e91/werkzeug-3.1.4-py3-none-any.whl
   name: werkzeug
   version: 3.1.4
@@ -20951,17 +20484,6 @@ packages:
   - pkg:pypi/zipp?source=compressed-mapping
   size: 24194
   timestamp: 1764460141901
-- conda: https://conda.anaconda.org/conda-forge/noarch/zipp-3.23.0-pyhd8ed1ab_0.conda
-  sha256: 7560d21e1b021fd40b65bfb72f67945a3fcb83d78ad7ccf37b8b3165ec3b68ad
-  md5: df5e78d904988eb55042c0c97446079f
-  depends:
-  - python >=3.9
-  license: MIT
-  license_family: MIT
-  purls:
-  - pkg:pypi/zipp?source=hash-mapping
-  size: 22963
-  timestamp: 1749421737203
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.3.1-hb9d3cd8_2.conda
   sha256: 5d7c0e5f0005f74112a34a7425179f4eb6e73c92f5d109e6af4ddeca407c92ab
   md5: c9f075ab2f33b3bbee9e62d4ad0a6cd8
@@ -20974,23 +20496,6 @@ packages:
   purls: []
   size: 92286
   timestamp: 1727963153079
-- conda: https://conda.anaconda.org/conda-forge/linux-64/zstandard-0.25.0-py312h5253ce2_1.conda
-  sha256: c2bcb8aa930d6ea3c9c7a64fc4fab58ad7bcac483a9a45de294f67d2f447f413
-  md5: 02738ff9855946075cbd1b5274399a41
-  depends:
-  - python
-  - cffi >=1.11
-  - zstd >=1.5.7,<1.5.8.0a0
-  - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
-  - zstd >=1.5.7,<1.6.0a0
-  - python_abi 3.12.* *_cp312
-  license: BSD-3-Clause
-  license_family: BSD
-  purls:
-  - pkg:pypi/zstandard?source=compressed-mapping
-  size: 467133
-  timestamp: 1762512686069
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
   sha256: 68f0206ca6e98fea941e5717cec780ed2873ffabc0e1ed34428c061e2c6268c7
   md5: 4a13eeac0b5c8e5b8ab496e6c4ddd829
@@ -21002,19 +20507,6 @@ packages:
   purls: []
   size: 601375
   timestamp: 1764777111296
-- conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb8e6e7a_2.conda
-  sha256: a4166e3d8ff4e35932510aaff7aa90772f84b4d07e9f6f83c614cba7ceefe0eb
-  md5: 6432cb5d4ac0046c3ac0a8a0f95842f9
-  depends:
-  - __glibc >=2.17,<3.0.a0
-  - libgcc >=13
-  - libstdcxx >=13
-  - libzlib >=1.3.1,<2.0a0
-  license: BSD-3-Clause
-  license_family: BSD
-  purls: []
-  size: 567578
-  timestamp: 1742433379869
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zziplib-0.13.69-he45264a_2.conda
   sha256: a7c3ba25f384c7eb30c4f4c2d390f62714e0b4946d315aa852749f927b4b03ff
   md5: 6d2d107e0fb8bc381acd4e9c68dbeae7
diff --git a/pixi.toml b/pixi.toml
index edfad2095..93e6e2f6c 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -1,6 +1,6 @@
 [workspace]
 authors = ["Florian Vahl <7vahl@informatik.uni-hamburg.de>"]
-channels = ["robostack-jazzy", "conda-forge", "https://data.bit-bots.de/conda/", "https://data.bit-bots.de/model_packaging/output/"]
+channels = ["https://data.bit-bots.de/conda/", "https://data.bit-bots.de/model_packaging/output/", "robostack-jazzy", "conda-forge"]
 name = "bitbots_main"
 platforms = ["linux-64"]
 preview = ["pixi-build"]
@@ -20,6 +20,7 @@ python = "==3.12"
 
 # Patches
 readline = ">=8.2.999"  # This is needed because we want to install an empty readline package from our models channel that leads to the system version being used. Otherwise we might have a missmatch between bash (often accessed globally ignoring the env) and readline (provided by the env)  breaking everything.
+ros-jazzy-soccer-vision-3d-rviz-markers = ">=1.0.0,<2"
 
 [feature.ros.dependencies]
 # Misc dependencies for our ROS 2 packages

From dbfd9504e26e74146f397e4a93f72860719c278a Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Wed, 10 Dec 2025 20:59:59 +0100
Subject: [PATCH 72/90] Ignore settings by default

---
 .gitattributes | 1 -
 .gitignore     | 6 ++++++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/.gitattributes b/.gitattributes
index d59f833dd..887a2c18f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,3 +1,2 @@
-.vscode/settings.json filter=removeFullHomePath
 # SCM syntax highlighting & preventing 3-way merges
 pixi.lock merge=binary linguist-language=YAML linguist-generated=true
diff --git a/.gitignore b/.gitignore
index 0ae41e8a5..f16555db2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -204,6 +204,10 @@ bitbots_docs_internal
 # VS Code ROS extension
 .vscode/browse.vc.*
 
+# Do not commit VS Code settings by default because the ROS extension adds absolute paths to the config
+# Only commit it if you want to share your settings with others and also have removed the absolute paths!
+.vscode/settings.json
+
 # Neural Network Model Path
 /src/bitbots_vision/models/
 /src/bitbots_motion/bitbots_rl_motion/rl_walk_models/
@@ -242,3 +246,5 @@ doku/*
 
 CMakeFiles/
 CMakeCache.txt
+
+

From 8082d2f6b1c74998409a0805e4abadc1e6aaacb4 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Wed, 10 Dec 2025 21:00:43 +0100
Subject: [PATCH 73/90] Remove just file

---
 Justfile | 30 ------------------------------
 1 file changed, 30 deletions(-)
 delete mode 100644 Justfile

diff --git a/Justfile b/Justfile
deleted file mode 100644
index 04d657fb9..000000000
--- a/Justfile
+++ /dev/null
@@ -1,30 +0,0 @@
-# Justfile
-
-# Set shell
-set shell := ["bash", "-uc"]
-
-# Variables
-HTTPS := ""
-REPO := `pwd`
-CI := ""
-
-# Setup / Update related targets
-
-# Install the proprietary Basler Camera SDK
-install-basler:
-    scripts/make_basler.sh {{ if CI != "" {"--ci"} else {""} }}
-
-# Install Webots Simulation environment
-install-webots:
-	scripts/make_webots.sh {{ if CI != "" {"--ci"} else {""} }}
-
-
-# Sets up pre-commit hooks that check code formatting etc. before each commit
-install-pre-commit:
-    pre-commit install
-
-# This is needed as the ROS vscode extension adds absolute paths to some files and we do not want to commit those.
-# Install git filters to remove absolute paths from files before committing them.
-install-git-filters:
-    # Install git filters
-    git config filter.removeFullHomePath.clean "sed '/\/\(home\|root\).*\(install\|build\)/d'"

From 022088347e78f37b87c41c71350f795781375204 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Wed, 10 Dec 2025 21:30:03 +0100
Subject: [PATCH 74/90] Commit ROS autocomplete with relative paths

---
 .gitignore                    |  4 --
 .vscode/c_cpp_properties.json |  8 +---
 .vscode/settings.json         | 86 ++++++++++++++++++++++++++++++++++-
 3 files changed, 85 insertions(+), 13 deletions(-)

diff --git a/.gitignore b/.gitignore
index f16555db2..bdadc991f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -204,10 +204,6 @@ bitbots_docs_internal
 # VS Code ROS extension
 .vscode/browse.vc.*
 
-# Do not commit VS Code settings by default because the ROS extension adds absolute paths to the config
-# Only commit it if you want to share your settings with others and also have removed the absolute paths!
-.vscode/settings.json
-
 # Neural Network Model Path
 /src/bitbots_vision/models/
 /src/bitbots_motion/bitbots_rl_motion/rl_walk_models/
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index c2e26c80b..6c1fbabfe 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -8,17 +8,11 @@
             // Set include paths so the editor can find the c++ header files for the auto completion
             // The Bit-Bots specific environment variable COLCON_WS is utilized here and needs to be set
             "includePath": [
-                "${env:COLCON_WS}/install/*/include/**",
-                "${env:COLCON_WS}/build/**/include/**",
-                "${env:COLCON_WS}/build/**/rosidl_generator_cpp/**",
-                "/root/colcon_ws/install/*/include/**",
-                "/root/colcon_ws/build/**/include/**",
-                "/root/colcon_ws/build/**/rosidl_generator_cpp/**",
                 "${workspaceFolder}/install/*/include/**",
                 "${workspaceFolder}/build/**/include/**",
                 "${workspaceFolder}/build/**/rosidl_generator_cpp/**",
                 "${workspaceFolder}/**/include/**",
-                "/opt/ros/${env:ROS_DISTRO}/include/**",
+                "${workspaceFolder}/.pixi/envs/default/include/**",
                 "/usr/include/**",
                 "/opt/pylon/include/**"
             ],
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 0cc4dc999..6f2e285de 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -222,10 +222,92 @@
     "ROS2.distro": "jazzy",
     "search.useIgnoreFiles": false,
     "python.autoComplete.extraPaths": [
-        "/opt/ros/jazzy/lib/python3.12/site-packages"
+        "build/system_monitor",
+        "install/system_monitor/lib/python3.12/site-packages",
+        "build/bitbots_robocup_api",
+        "install/bitbots_robocup_api/lib/python3.12/site-packages",
+        "install/bitbots_pybullet_sim/lib/python3.12/site-packages",
+        "install/bitbots_webots_sim/lib/python3.12/site-packages",
+        "build/bitbots_vision",
+        "install/bitbots_vision/lib/python3.12/site-packages",
+        "build/bitbots_team_data_sim_rqt",
+        "install/bitbots_team_data_sim_rqt/lib/python3.12/site-packages",
+        "install/bitbots_team_communication/lib/python3.12/site-packages",
+        "install/bitbots_quintic_walk/lib/python3.12/site-packages",
+        "build/bitbots_localization_handler",
+        "install/bitbots_localization_handler/lib/python3.12/site-packages",
+        "install/bitbots_localization/lib/python3.12/site-packages",
+        "install/bitbots_parameter_blackboard/lib/python3.12/site-packages",
+        "build/bitbots_animation_rqt",
+        "install/bitbots_animation_rqt/lib/python3.12/site-packages",
+        "install/bitbots_hcm/lib/python3.12/site-packages",
+        "install/bitbots_dynup/lib/python3.12/site-packages",
+        "install/bitbots_dynamic_kick/lib/python3.12/site-packages",
+        "build/bitbots_body_behavior",
+        "install/bitbots_body_behavior/lib/python3.12/site-packages",
+        "install/bitbots_blackboard/lib/python3.12/site-packages",
+        "build/bitbots_animation_server",
+        "install/bitbots_animation_server/lib/python3.12/site-packages",
+        "install/bitbots_utils/lib/python3.12/site-packages",
+        "build/bitbots_tts",
+        "install/bitbots_tts/lib/python3.12/site-packages",
+        "build/bitbots_teleop",
+        "install/bitbots_teleop/lib/python3.12/site-packages",
+        "install/bitbots_splines/lib/python3.12/site-packages",
+        "build/bitbots_robot_filter",
+        "install/bitbots_robot_filter/lib/python3.12/site-packages",
+        "build/bitbots_path_planning",
+        "install/bitbots_path_planning/lib/python3.12/site-packages",
+        "install/bitbots_msgs/lib/python3.12/site-packages",
+        "install/bitbots_moveit_bindings/lib/python3.12/site-packages",
+        "build/bitbots_ball_filter",
+        "install/bitbots_ball_filter/lib/python3.12/site-packages",
+        ".pixi/envs/default/lib/python/site-packages",
+        ".pixi/envs/default/lib/python3.12/site-packages",
     ],
     "python.analysis.extraPaths": [
-        "/opt/ros/jazzy/lib/python3.12/site-packages"
+        "build/system_monitor",
+        "install/system_monitor/lib/python3.12/site-packages",
+        "build/bitbots_robocup_api",
+        "install/bitbots_robocup_api/lib/python3.12/site-packages",
+        "install/bitbots_pybullet_sim/lib/python3.12/site-packages",
+        "install/bitbots_webots_sim/lib/python3.12/site-packages",
+        "build/bitbots_vision",
+        "install/bitbots_vision/lib/python3.12/site-packages",
+        "build/bitbots_team_data_sim_rqt",
+        "install/bitbots_team_data_sim_rqt/lib/python3.12/site-packages",
+        "install/bitbots_team_communication/lib/python3.12/site-packages",
+        "install/bitbots_quintic_walk/lib/python3.12/site-packages",
+        "build/bitbots_localization_handler",
+        "install/bitbots_localization_handler/lib/python3.12/site-packages",
+        "install/bitbots_localization/lib/python3.12/site-packages",
+        "install/bitbots_parameter_blackboard/lib/python3.12/site-packages",
+        "build/bitbots_animation_rqt",
+        "install/bitbots_animation_rqt/lib/python3.12/site-packages",
+        "install/bitbots_hcm/lib/python3.12/site-packages",
+        "install/bitbots_dynup/lib/python3.12/site-packages",
+        "install/bitbots_dynamic_kick/lib/python3.12/site-packages",
+        "build/bitbots_body_behavior",
+        "install/bitbots_body_behavior/lib/python3.12/site-packages",
+        "install/bitbots_blackboard/lib/python3.12/site-packages",
+        "build/bitbots_animation_server",
+        "install/bitbots_animation_server/lib/python3.12/site-packages",
+        "install/bitbots_utils/lib/python3.12/site-packages",
+        "build/bitbots_tts",
+        "install/bitbots_tts/lib/python3.12/site-packages",
+        "build/bitbots_teleop",
+        "install/bitbots_teleop/lib/python3.12/site-packages",
+        "install/bitbots_splines/lib/python3.12/site-packages",
+        "build/bitbots_robot_filter",
+        "install/bitbots_robot_filter/lib/python3.12/site-packages",
+        "build/bitbots_path_planning",
+        "install/bitbots_path_planning/lib/python3.12/site-packages",
+        "install/bitbots_msgs/lib/python3.12/site-packages",
+        "install/bitbots_moveit_bindings/lib/python3.12/site-packages",
+        "build/bitbots_ball_filter",
+        "install/bitbots_ball_filter/lib/python3.12/site-packages",
+        ".pixi/envs/default/lib/python/site-packages",
+        ".pixi/envs/default/lib/python3.12/site-packages",
     ],
     "cmake.configureOnOpen": false,
     "editor.formatOnSave": true,

From 47dedd1bc055ace462a3d9302505bbf337c70f5a Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Wed, 10 Dec 2025 21:55:58 +0100
Subject: [PATCH 75/90] Add basic documentation

---
 README.md | 24 +++++++++++++-----------
 1 file changed, 13 insertions(+), 11 deletions(-)

diff --git a/README.md b/README.md
index 684b06eb2..a7b8b0e73 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,7 @@
 [![ROS Version Jazzy](https://img.shields.io/badge/ROS%20Version-Jazzy-00b8ff)](https://docs.ros.org/en/jazzy/index.html)
 
 This git repository contains all RoboCup-related code and documentation from the Hamburg Bit-Bots team.
-All code is written as individual ROS 2 packages targeting Ubuntu.
+All code is written as individual ROS 2 packages.
 
 <p align="center">
   <img width="30%" src="logo.png" alt="Bit-Bots Logo" />
@@ -13,33 +13,35 @@ All code is written as individual ROS 2 packages targeting Ubuntu.
 
 ## Installation
 
+The workspace is managed using the [pixi](https://pixi.sh) package manager. This allows us to have reproducible builds and easy user space dependency management similar to tools like `uv` or `cargo`. This also means that no system wide ROS installation or superuser privileges are required to install or run the code.
+
 Full step-by-step instructions for installing the Bit-Bots software stack and ROS 2 can be found in our documentation [here](https://doku.bit-bots.de/meta/manual/tutorials/install_software_ros2.html).
 
 
-Run the following command to install all dependencies and clone all necessary repositories. Make sure you have [just](https://just.systems/) and correct ROS 2 version installed.
+Run the following command inside this repository to build the workspace. All dependencies will be installed automatically. Make sure you have [pixi](https://pixi.sh) installed. A few optional proprietary dependencies will be needed for full functionality, see the documentation for details.
 
 ``` shell
-just install
+pixi run build
 ```
 
-## Building
+## Using the workspace
 
-To build the code, run
+To activate the workspace run the following command in the terminal you want to use:
 
 ``` shell
-just build
+pixi shell
 ```
 
-and source the setup file with
+alternatively, you can run individual commands inside the workspace without activating the shell:
 
 ``` shell
-. install/setup.sh
+pixi run <command>
 ```
 
-To see all available recipes, run
+To see some predefined tasks, run
 
 ``` shell
-just -l
+pixi run -v
 ```
 
 ## Run auto formatting
@@ -47,7 +49,7 @@ just -l
 To format all code in the repository, run
 
 ``` shell
-just format
+pixi run format
 ```
 
 ## More documentation

From ad16c7dc0d701748cfb8bbed6da6c605cd7125f8 Mon Sep 17 00:00:00 2001
From: Florian Vahl <florian@flova.de>
Date: Sat, 13 Dec 2025 21:17:13 +0100
Subject: [PATCH 76/90] Fix hash

---
 pixi.lock | 630 +++++++++++++++++++++++++++---------------------------
 1 file changed, 315 insertions(+), 315 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 0eaeebf9d..ef308b5bb 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -129,7 +129,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fontconfig-2.15.0-h7e30c49_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-hc364b38_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/fonttools-4.61.0-py312h8a5da7c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fonttools-4.61.1-py312h8a5da7c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/foonathan-memory-0.7.3-h5888daf_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fortran-compiler-1.11.0-h9bea470_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/freeglut-3.2.2-ha6d2627_3.conda
@@ -197,7 +197,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/jsoncpp-1.9.6-hf42df4d_1.conda
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-4.18.0-he073ed8_8.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-4.18.0-he073ed8_9.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.3-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/kiwisolver-1.4.9-py312h0a2e395_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
@@ -332,7 +332,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/libuuid-2.41.2-h5347b49_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.51.0-hb03c661_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libva-2.22.0-h4f16b4b_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libva-2.23.0-he1eb515_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libvorbis-1.3.7-h54a6638_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libvpx-1.14.1-hac33072_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libvulkan-loader-1.4.328.1-h5279c79_0.conda
@@ -359,7 +359,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/msgpack-python-1.1.2-py312hd9148b4_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/multidict-6.6.3-py312h178313f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/multidict-6.7.0-py312h8a5da7c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/munkres-1.1.4-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/mypy-1.19.0-py312h4c3975b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.1.0-pyha770c72_0.conda
@@ -461,7 +461,7 @@ environments:
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       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-auto-2.5.4-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-copyright-0.17.3-np126py312h3bd2861_10.conda
-      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ament-cmake-core-2.5.4-np126py312h3bd2861_10.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-core-2.5.4-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-cppcheck-0.17.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-cpplint-0.17.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-definitions-2.5.4-np126py312h3bd2861_10.conda
@@ -499,7 +499,7 @@ environments:
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       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-lint-common-0.17.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-mypy-0.17.3-np126py312h3bd2861_10.conda
-      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ament-package-0.16.4-np126py312h3bd2861_10.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-package-0.16.4-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-pep257-0.17.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-uncrustify-0.17.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-xmllint-0.17.3-np126py312h3bd2861_10.conda
@@ -713,7 +713,7 @@ environments:
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       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-base-0.11.0-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-core-0.11.0-np126py312h3bd2861_10.conda
-      - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ros-environment-4.2.1-np126py312h3bd2861_10.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-environment-4.2.1-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-workspace-1.0.3-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2-control-test-assets-4.37.0-np126py312h3bd2861_10.conda
       - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ros2-numpy-2.0.9-np126py312h3bd2861_10.conda
@@ -875,7 +875,7 @@ environments:
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-      - conda: https://data.bit-bots.de/conda/linux-64/ros2-distro-mutex-0.11.0-jazzy_10.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-distro-mutex-0.11.0-jazzy_10.conda
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+      - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.28-h4ee821c_9.conda
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   license: BSD-3-Clause
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pcl-conversions-2.6.2-np126py312h3bd2861_10.conda
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-  - numpy >=1.26.4,<2.0a0
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   - libgcc >=14
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   - numpy >=1.26.4,<2.0a0
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   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
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   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 56088
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 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ros2-python-extension-1.0.0-np126py312h3bd2861_10.conda
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-  - libgcc >=14
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   - python_abi 3.12.* *_cp312
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-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   license: BSD-3-Clause
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   - python_abi 3.12.* *_cp312
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   - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
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-  - qt-main >=5.15.15,<5.16.0a0
   - libgl >=1.7.0,<2.0a0
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+  - python_abi 3.12.* *_cp312
+  - qt-main >=5.15.15,<5.16.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
   license: BSD-3-Clause
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   - python_abi 3.12.* *_cp312
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   - ros-jazzy-vision-msgs
   - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
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   license: BSD-3-Clause
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 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-2d-msgs-1.0.0-np126py312h3bd2861_10.conda
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   - ros2-distro-mutex 0.11.* jazzy_*
-  - libstdcxx >=14
-  - libgcc >=14
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   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
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 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-3d-msgs-1.0.0-np126py312h3bd2861_10.conda
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   - ros2-distro-mutex >=0.11.0,<0.12.0a0
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+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
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 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-3d-rviz-markers-1.0.0-np126py312h3bd2861_10.conda
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   - python_abi 3.12.* *_cp312
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   - python_abi 3.12.* *_cp312
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   - vtk 9.4.2.*
   license: BSD-3-Clause
-  size: 2379
-  timestamp: 1763924750062
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-  md5: 1bad93f0aa428d618875ef3a588a889e
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+  md5: 13dc3adbc692664cd3beabd216434749
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-  - kernel-headers_linux-64 4.18.0 he073ed8_8
+  - kernel-headers_linux-64 4.18.0 he073ed8_9
   - tzdata
   license: LGPL-2.0-or-later AND LGPL-2.0-or-later WITH exceptions AND GPL-2.0-or-later
   license_family: GPL
   purls: []
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-  timestamp: 1752669140965
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+- pypi: https://files.pythonhosted.org/packages/d5/5c/e444e1b024a519e488326525f0c154396c6b16baff17e00623f2c21dfc42/tifffile-2025.12.12-py3-none-any.whl
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-  version: 2025.10.16
-  sha256: 41463d979c1c262b0a5cdef2a7f95f0388a072ad82d899458b154a48609d759c
+  version: 2025.12.12
+  sha256: e3e3f1290ec6741ca248a5b5a997125209b5c2962f6bd9aef01ea9352c25d0ee
   requires_dist:
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-  - imagecodecs>=2024.12.30 ; extra == 'codecs'
+  - imagecodecs>=2025.11.11 ; extra == 'codecs'
   - defusedxml ; extra == 'xml'
   - lxml ; extra == 'xml'
   - zarr>=3.1.3 ; extra == 'zarr'
   - fsspec ; extra == 'zarr'
   - kerchunk ; extra == 'zarr'
   - matplotlib ; extra == 'plot'
-  - imagecodecs>=2024.12.30 ; extra == 'all'
+  - imagecodecs>=2025.11.11 ; extra == 'all'
   - matplotlib ; extra == 'all'
   - defusedxml ; extra == 'all'
   - lxml ; extra == 'all'
@@ -19517,9 +19517,9 @@ packages:
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   - scipy ; extra == 'scipy'
   requires_python: '>=3.8'
-- conda: https://conda.anaconda.org/conda-forge/linux-64/tornado-6.5.2-py312h4c3975b_2.conda
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-  md5: 2f03dbd34c9706d67b7c9ee815cc89ef
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+  md5: e03a4bf52d2170d64c816b2a52972097
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   - libgcc >=14
@@ -19528,9 +19528,9 @@ packages:
   license: Apache-2.0
   license_family: Apache
   purls:
-  - pkg:pypi/tornado?source=hash-mapping
-  size: 851236
-  timestamp: 1762506907752
+  - pkg:pypi/tornado?source=compressed-mapping
+  size: 850918
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-  version: '2025.2'
-  sha256: 1a403fada01ff9221ca8044d701868fa132215d84beb92242d9acd2147f667a8
+  version: '2025.3'
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-  size: 122968
-  timestamp: 1742727099393
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From dcca4db42323adff7c5978dfae0d6358294da8e3 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 14 Dec 2025 15:17:45 +0100
Subject: [PATCH 77/90] Add webots

---
 pixi.lock | 333 +++++++++++++++++++-----------------------------------
 pixi.toml |   5 +-
 2 files changed, 117 insertions(+), 221 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index ef308b5bb..8e1c3cd2a 100644
--- a/pixi.lock
+++ b/pixi.lock
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.8-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.9-pyhd8ed1ab_0.conda
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+      - conda: https://data.bit-bots.de/model_packaging/output/linux-64/webots-2022b-hb0f4dca_3.conda
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/snowballstemmer-3.0.1-pyhd8ed1ab_0.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_ha0e22de_103.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/tomli-2.3.0-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/typing_extensions-4.15.0-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025b-h8577fbf_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ukkonen-1.0.1-py312hd9148b4_6.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/uncrustify-0.81.0-h5888daf_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/virtualenv-20.35.4-pyhd8ed1ab_0.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.1-hb9d3cd8_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h280c20c_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-cpp-0.8.0-h3f2d84a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/zipp-3.23.0-pyhcf101f3_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
   robot:
     channels:
@@ -1323,7 +1154,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/babel-2.17.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/backports.zstd-1.2.0-py312h90b7ffd_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bcrypt-5.0.0-py312h868fb18_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.8-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.9-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.4-h5888daf_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-default_h4852527_104.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-default_hfdba357_104.conda
@@ -2172,7 +2003,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/noarch/rospkg-1.6.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ruby-3.4.7-hd8161a3_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ruff-0.14.8-h813ae00_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ruff-0.14.9-h813ae00_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/scipy-1.16.3-py312h7a1785b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdformat14-14.8.0-h5bb51b8_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdformat14-python-14.8.0-py312h22a3d64_2.conda
@@ -2230,6 +2061,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/noarch/wayland-protocols-1.46-hd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/wcwidth-0.2.14-pyhd8ed1ab_0.conda
+      - conda: https://data.bit-bots.de/model_packaging/output/linux-64/webots-2022b-hb0f4dca_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wrapt-1.17.3-py312h4c3975b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/wslink-2.5.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/x264-1!164.3095-h166bdaf_2.tar.bz2
@@ -2623,17 +2455,17 @@ packages:
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   size: 292835
   timestamp: 1762497719397
-- conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.8-pyhd8ed1ab_0.conda
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-  md5: fa521d163c540f38b939e4f85e4b1b0b
+- conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.9-pyhd8ed1ab_0.conda
+  sha256: 29f6670a04b299d6dc871f6bcc881282cd276d46fb970771c858d0cade5e3924
+  md5: c69efc0c283c897a3d79868454b823a8
   depends:
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   license: MIT
   license_family: MIT
   purls:
   - pkg:pypi/beartype?source=hash-mapping
-  size: 1059011
-  timestamp: 1764741590508
+  size: 1063520
+  timestamp: 1765715830980
 - pypi: https://files.pythonhosted.org/packages/1a/39/47f9197bdd44df24d67ac8893641e16f386c984a0619ef2ee4c51fbbc019/beautifulsoup4-4.14.3-py3-none-any.whl
   name: beautifulsoup4
   version: 4.14.3
@@ -2992,6 +2824,20 @@ packages:
   purls: []
   size: 24665
   timestamp: 1757383552190
+- conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21.1.7-default_h99862b1_1.conda
+  sha256: f372c99ee86649b8bdb851b314512e64dd44cf604caff8ce65cfe34ac258ca3f
+  md5: 146fa402fa674283f516031bb4ff4b15
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - clang-format-21 21.1.7 default_h99862b1_1
+  - libclang-cpp21.1 >=21.1.7,<21.2.0a0
+  - libgcc >=14
+  - libllvm21 >=21.1.7,<21.2.0a0
+  - libstdcxx >=14
+  license: Apache-2.0 WITH LLVM-exception
+  license_family: Apache
+  size: 27448
+  timestamp: 1764816889489
 - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21-21.1.0-default_h99862b1_1.conda
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@@ -3006,6 +2852,19 @@ packages:
   purls: []
   size: 67486
   timestamp: 1757383493919
+- conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21-21.1.7-default_h99862b1_1.conda
+  sha256: 0b3eeee7762df4ff2a3dad22628fa144c21dfc62f7ea64b10c6ddedb193f4747
+  md5: 17d9aac42f05a8c6ee8e6e940f31a4de
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libclang-cpp21.1 >=21.1.7,<21.2.0a0
+  - libgcc >=14
+  - libllvm21 >=21.1.7,<21.2.0a0
+  - libstdcxx >=14
+  license: Apache-2.0 WITH LLVM-exception
+  license_family: Apache
+  size: 70253
+  timestamp: 1764816805597
 - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.6.0-h54a6638_0.conda
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   md5: ddf9fed4661bace13f33f08fe38a5f45
@@ -3052,26 +2911,6 @@ packages:
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   size: 19042008
   timestamp: 1718668981413
-- conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.2.1-hc85cc9f_0.conda
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-  - bzip2 >=1.0.8,<2.0a0
-  - libcurl >=8.17.0,<9.0a0
-  - libexpat >=2.7.3,<3.0a0
-  - libgcc >=14
-  - liblzma >=5.8.1,<6.0a0
-  - libstdcxx >=14
-  - libuv >=1.51.0,<2.0a0
-  - libzlib >=1.3.1,<2.0a0
-  - ncurses >=6.5,<7.0a0
-  - rhash >=1.4.6,<2.0a0
-  - zstd >=1.5.7,<1.6.0a0
-  license: BSD-3-Clause
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@@ -3661,14 +3500,6 @@ packages:
   - pkg:pypi/docutils?source=hash-mapping
   size: 402700
   timestamp: 1733217860944
-- conda: https://conda.anaconda.org/conda-forge/noarch/docutils-0.22.3-pyhd8ed1ab_0.conda
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-  md5: abbe8c85619c87c4f4f61b44173434af
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-  license: CC-PDDC AND BSD-3-Clause AND BSD-2-Clause AND ZPL-2.1
-  size: 436965
-  timestamp: 1762425841874
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   md5: bfd56492d8346d669010eccafe0ba058
@@ -5808,6 +5639,18 @@ packages:
   purls: []
   size: 21131028
   timestamp: 1757383135034
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libclang-cpp21.1-21.1.7-default_h99862b1_1.conda
+  sha256: ce8b8464b1230dd93d2b5a2646d2c80639774c9e781097f041581c07b83d4795
+  md5: d3042ebdaacc689fd1daa701885fc96c
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libllvm21 >=21.1.7,<21.2.0a0
+  - libstdcxx >=14
+  license: Apache-2.0 WITH LLVM-exception
+  license_family: Apache
+  size: 21055642
+  timestamp: 1764816319608
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libclang13-21.1.0-default_h746c552_1.conda
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@@ -6384,6 +6227,21 @@ packages:
   purls: []
   size: 44363060
   timestamp: 1756291822911
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm21-21.1.7-hf7376ad_0.conda
+  sha256: afe5c5cfc90dc8b5b394e21cf02188394e36766119ad5d78a1d8619d011bbfb1
+  md5: 27dc1a582b442f24979f2a28641fe478
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - libxml2
+  - libxml2-16 >=2.14.6
+  - libzlib >=1.3.1,<2.0a0
+  - zstd >=1.5.7,<1.6.0a0
+  license: Apache-2.0 WITH LLVM-exception
+  license_family: Apache
+  size: 44320825
+  timestamp: 1764711528746
 - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.1-hb9d3cd8_2.conda
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@@ -7278,6 +7136,38 @@ packages:
   purls: []
   size: 697033
   timestamp: 1761766011241
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libxml2-2.15.1-h031cc0b_0.conda
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+  md5: a67cd8f7b0369bbf2c40411f05a62f3b
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libiconv >=1.18,<2.0a0
+  - liblzma >=5.8.1,<6.0a0
+  - libxml2-16 2.15.1 hf2a90c1_0
+  - libzlib >=1.3.1,<2.0a0
+  constrains:
+  - icu <0.0a0
+  license: MIT
+  license_family: MIT
+  size: 45292
+  timestamp: 1761015784683
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libxml2-16-2.15.1-hf2a90c1_0.conda
+  sha256: f5220ff49efc31431279859049199b9250e79f98c1dee1da12feb74bda2d9cf1
+  md5: 23720d17346b21efb08d68c2255c8431
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libiconv >=1.18,<2.0a0
+  - liblzma >=5.8.1,<6.0a0
+  - libzlib >=1.3.1,<2.0a0
+  constrains:
+  - libxml2 2.15.1
+  - icu <0.0a0
+  license: MIT
+  license_family: MIT
+  size: 554734
+  timestamp: 1761015772672
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libxslt-1.1.43-h7a3aeb2_0.conda
   sha256: 35ddfc0335a18677dd70995fa99b8f594da3beb05c11289c87b6de5b930b47a3
   md5: 31059dc620fa57d787e3899ed0421e6d
@@ -18805,10 +18695,10 @@ packages:
   purls: []
   size: 13072528
   timestamp: 1759906533500
-- conda: https://conda.anaconda.org/conda-forge/linux-64/ruff-0.14.8-h813ae00_0.conda
+- conda: https://conda.anaconda.org/conda-forge/linux-64/ruff-0.14.9-h813ae00_0.conda
   noarch: python
-  sha256: 4adf379daccb73f03297a6966d1200f6ea65e6a1513d749e7f782e32267fe2bb
-  md5: 295ce05c06920527a581a5e148a4eec6
+  sha256: 575e6067b80541ff3f0369d9093f26dcb63ccbdc500816b3109d12a705024d3a
+  md5: f3e2be0f48c8a464acef6827284cbaf3
   depends:
   - python
   - __glibc >=2.17,<3.0.a0
@@ -18816,11 +18706,10 @@ packages:
   constrains:
   - __glibc >=2.17
   license: MIT
-  license_family: MIT
   purls:
   - pkg:pypi/ruff?source=hash-mapping
-  size: 11340280
-  timestamp: 1764866215629
+  size: 11425716
+  timestamp: 1765717119196
 - pypi: https://files.pythonhosted.org/packages/6b/b5/b75527c0f9532dd8a93e8e7cd8e62e547b9f207d4c11e24f0006e8646b36/scikit_image-0.25.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
   name: scikit-image
   version: 0.25.2
@@ -19908,6 +19797,12 @@ packages:
   - pkg:pypi/wcwidth?source=hash-mapping
   size: 33670
   timestamp: 1758622418893
+- conda: https://data.bit-bots.de/model_packaging/output/linux-64/webots-2022b-hb0f4dca_3.conda
+  sha256: 1519ec5cb902d031b3386ef214b4a057033273039b4cc43941029e42935aef9b
+  md5: dfb99f6ce07885ae95b58eee903ecc5b
+  license: Apache-2.0
+  size: 172089806
+  timestamp: 1765721135276
 - pypi: https://files.pythonhosted.org/packages/2f/f9/9e082990c2585c744734f85bec79b5dae5df9c974ffee58fe421652c8e91/werkzeug-3.1.4-py3-none-any.whl
   name: werkzeug
   version: 3.1.4
diff --git a/pixi.toml b/pixi.toml
index 93e6e2f6c..2d54160f2 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -19,8 +19,7 @@ deploy = "scripts/deploy_robots.py"
 python = "==3.12"
 
 # Patches
-readline = ">=8.2.999"  # This is needed because we want to install an empty readline package from our models channel that leads to the system version being used. Otherwise we might have a missmatch between bash (often accessed globally ignoring the env) and readline (provided by the env)  breaking everything.
-ros-jazzy-soccer-vision-3d-rviz-markers = ">=1.0.0,<2"
+readline = ">=8.2.999"  # This is needed because we want to install an empty readline package from our models channel that leads to the system version being used. Otherwise we might have a mismatch between bash (often accessed globally ignoring the env) and readline (provided by the env)  breaking everything.
 
 [feature.ros.dependencies]
 # Misc dependencies for our ROS 2 packages
@@ -63,6 +62,7 @@ sysroot_linux-64 = ">=2.28,<3"
 transforms3d = ">=0.4.2,<0.5"
 ipython = ">=9.7.0,<10"
 yaml-cpp = ">=0.8.0,<0.9"
+webots = ">=2022b,<2023a"
 
 # Official ROS 2 packages
 colcon-common-extensions = ">=0.3.0,<0.4"
@@ -138,6 +138,7 @@ ros-jazzy-xacro = ">=2.1.1,<3"
 # Bit-Bots vendor packages
 ros-jazzy-imu-complementary-filter = ">=2.1.5,<3"
 ros-jazzy-pybind11-vendor = ">=3.1.3,<4"
+ros-jazzy-soccer-vision-3d-rviz-markers = ">=1.0.0,<2"
 ros-jazzy-soccer-vision-3d-msgs = ">=1.0.0,<2"
 ros-jazzy-soccer-vision-attribute-msgs = ">=1.0.0,<2"
 ros-jazzy-rviz-imu-plugin = ">=2.1.5,<3"

From 59a9eff4fbfceec7978370cdf5be22729baaa5ee Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 14 Dec 2025 15:57:55 +0100
Subject: [PATCH 78/90] Fix conda webots

---
 pixi.lock | 93 +++++++++++++++++++++++++++----------------------------
 pixi.toml |  7 ++++-
 2 files changed, 52 insertions(+), 48 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 8e1c3cd2a..6587b03c2 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -3,7 +3,7 @@ environments:
   default:
     channels:
     - url: https://data.bit-bots.de/conda/
-    - url: https://data.bit-bots.de/model_packaging/output/
+    - url: https://data.bit-bots.de/conda-misc/output/
     - url: https://conda.anaconda.org/robostack-jazzy/
     - url: https://conda.anaconda.org/conda-forge/
     indexes:
@@ -35,9 +35,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-default_h4852527_104.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-default_hfdba357_104.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45-default_h4852527_104.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.1-h4616a5c_0.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_0.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.1-h4616a5c_2.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_2.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-hed03a55_1.conda
@@ -448,7 +448,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/qt6-main-6.9.2-h5bd77bc_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rapidjson-1.1.0.post20240409-h3f2d84a_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rav1e-0.7.1-h8fae777_3.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/readline-8.2.9999-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.2.9999-h4616a5c_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/requests-2.32.5-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.6-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/rich-14.2.0-pyhcf101f3_0.conda
@@ -927,7 +927,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom-4.0.1-hae71d53_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom-py-1.2.1-py312h200335b_6.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-1.1.2-h84d6215_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/utfcpp-4.0.8-ha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/virtualenv-20.35.4-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/vtk-9.4.2-hf9009d3_4.conda
@@ -937,7 +937,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wayland-1.24.0-h3e06ad9_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/wayland-protocols-1.46-hd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/wcwidth-0.2.14-pyhd8ed1ab_0.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/linux-64/webots-2022b-hb0f4dca_3.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/linux-64/webots-2022b-hb0f4dca_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wrapt-1.17.3-py312h4c3975b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/wslink-2.5.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/x264-1!164.3095-h166bdaf_2.tar.bz2
@@ -1064,7 +1064,7 @@ environments:
   format:
     channels:
     - url: https://data.bit-bots.de/conda/
-    - url: https://data.bit-bots.de/model_packaging/output/
+    - url: https://data.bit-bots.de/conda-misc/output/
     - url: https://conda.anaconda.org/robostack-jazzy/
     - url: https://conda.anaconda.org/conda-forge/
     packages:
@@ -1111,7 +1111,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.0-hab00c5b_0_cpython.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-8_cp312.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pyyaml-6.0.3-py312h8a5da7c_0.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/readline-8.2.9999-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.2.9999-h4616a5c_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-80.9.0-pyhff2d567_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml2-11.0.0-h3f2d84a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_ha0e22de_103.conda
@@ -1127,7 +1127,7 @@ environments:
   robot:
     channels:
     - url: https://data.bit-bots.de/conda/
-    - url: https://data.bit-bots.de/model_packaging/output/
+    - url: https://data.bit-bots.de/conda-misc/output/
     - url: https://conda.anaconda.org/robostack-jazzy/
     - url: https://conda.anaconda.org/conda-forge/
     indexes:
@@ -1159,9 +1159,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-default_h4852527_104.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-default_hfdba357_104.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45-default_h4852527_104.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.1-h4616a5c_0.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_0.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.1-h4616a5c_2.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_2.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-hed03a55_1.conda
@@ -1572,7 +1572,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/qt6-main-6.9.2-h5bd77bc_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rapidjson-1.1.0.post20240409-h3f2d84a_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rav1e-0.7.1-h8fae777_3.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/noarch/readline-8.2.9999-h4616a5c_0.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.2.9999-h4616a5c_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/requests-2.32.5-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.6-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/rich-14.2.0-pyhcf101f3_0.conda
@@ -2051,7 +2051,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom-4.0.1-hae71d53_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom-py-1.2.1-py312h200335b_6.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-1.1.2-h84d6215_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/utfcpp-4.0.8-ha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/virtualenv-20.35.4-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/vtk-9.4.2-hf9009d3_4.conda
@@ -2061,7 +2061,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wayland-1.24.0-h3e06ad9_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/wayland-protocols-1.46-hd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/wcwidth-0.2.14-pyhd8ed1ab_0.conda
-      - conda: https://data.bit-bots.de/model_packaging/output/linux-64/webots-2022b-hb0f4dca_3.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/linux-64/webots-2022b-hb0f4dca_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wrapt-1.17.3-py312h4c3975b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/wslink-2.5.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/x264-1!164.3095-h166bdaf_2.tar.bz2
@@ -2523,24 +2523,24 @@ packages:
   purls: []
   size: 36180
   timestamp: 1764007883258
-- conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.1-h4616a5c_0.conda
-  sha256: dd273a5c1e4256d2aaf59d66baa4530f4a7df828b689d4e056a15433c53f17ae
-  md5: d731bf398ac069ce2dd97a6061aa7b4d
+- conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2021_12_06_flo_torso21_yoeo_7-1.0.1-h4616a5c_2.conda
+  sha256: 8a0f1816263ac215af757058fb11d825dc01d3286fe86ceac254e8173053899a
+  md5: 8432320046dd788791336325220c8026
   license: MIT
-  size: 27253666
-  timestamp: 1764378517256
-- conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_0.conda
-  sha256: 52fe9c2fb6585b92f36290face8abd9ce9c8b1d8f8f5eb842616ebf62fbcc286
-  md5: 64af621be88fb228ff02f611ab7ac91b
+  size: 27253667
+  timestamp: 1765723527934
+- conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_2.conda
+  sha256: e3f8f4b678ac44207856a0af6ac18991068d7b79e3ffc04fb309a76c19a83fa1
+  md5: dc4c52e1094a5c41c22ce2ddce7c68f5
   license: MIT
-  size: 77978905
-  timestamp: 1764378517255
-- conda: https://data.bit-bots.de/model_packaging/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_0.conda
-  sha256: 89be0ffb2cdd41d433ba2717196b7d3de84e34732b4ce280cc6bc5d6c82b7792
-  md5: 0b9488c7b39f5c91f724df95b7a2ac8c
+  size: 77978904
+  timestamp: 1765723527934
+- conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_2.conda
+  sha256: 9fb7cf4e3285ae5a098a0f540a5367083c32cfb35e2c687b7684234e1172bcbb
+  md5: d214f45eb9dc7ee210eff2e8ea3df023
   license: MIT
-  size: 51676315
-  timestamp: 1764378517255
+  size: 51676317
+  timestamp: 1765723527933
 - conda: src/bitbots_navigation/bitbots_rust_nav
   name: bitbots_rust_nav
   version: 0.1.0
@@ -9147,12 +9147,11 @@ packages:
   purls: []
   size: 5176669
   timestamp: 1746622023242
-- conda: https://data.bit-bots.de/model_packaging/output/noarch/readline-8.2.9999-h4616a5c_0.conda
-  sha256: 9afc087ebd4e9576ea49736138281a601ba02569ae98f564f436caa134c0c3c7
-  md5: b3d8f6fdb0120c801b92c2f777fd9724
-  license: MIT
-  size: 1038
-  timestamp: 1764378517250
+- conda: https://data.bit-bots.de/conda-misc/output/noarch/readline-8.2.9999-h4616a5c_3.conda
+  sha256: a4117ce5fbd5796524598d7d3eebf38a40b928073305395ac67c6dc2b0b09315
+  md5: bfe8ff7926064ecc8830dd46b8a9a101
+  size: 1076
+  timestamp: 1765723527937
 - pypi: https://files.pythonhosted.org/packages/84/bd/9ce9f629fcb714ffc2c3faf62b6766ecb7a585e1e885eb699bcf130a5209/regex-2025.11.3-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
   name: regex
   version: 2025.11.3
@@ -19634,9 +19633,9 @@ packages:
   purls: []
   size: 19201
   timestamp: 1726152409175
-- conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.1-pyhd8ed1ab_0.conda
-  sha256: a66fc716c9dc6eb048c40381b0d1c5842a1d74bba7ce3d16d80fc0a7232d8644
-  md5: fb84f0f6ee8a0ad67213cd1bea98bf5b
+- conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.2-pyhd8ed1ab_0.conda
+  sha256: f4302a80ee9b76279ad061df05003abc2a29cc89751ffab2fd2919b43455dac0
+  md5: 4949ca7b83065cfe94ebe320aece8c72
   depends:
   - backports.zstd >=1.0.0
   - brotli-python >=1.2.0
@@ -19647,8 +19646,8 @@ packages:
   license_family: MIT
   purls:
   - pkg:pypi/urllib3?source=compressed-mapping
-  size: 102817
-  timestamp: 1765212810619
+  size: 102842
+  timestamp: 1765719817255
 - conda: https://conda.anaconda.org/conda-forge/linux-64/utfcpp-4.0.8-ha770c72_0.conda
   sha256: bbfbfc43bc028ec8acc5c9c2bb9a52c7652140cef91fdb6219a52d91d773a474
   md5: a480ee3eb9c95364a229673a28384899
@@ -19797,12 +19796,12 @@ packages:
   - pkg:pypi/wcwidth?source=hash-mapping
   size: 33670
   timestamp: 1758622418893
-- conda: https://data.bit-bots.de/model_packaging/output/linux-64/webots-2022b-hb0f4dca_3.conda
-  sha256: 1519ec5cb902d031b3386ef214b4a057033273039b4cc43941029e42935aef9b
-  md5: dfb99f6ce07885ae95b58eee903ecc5b
+- conda: https://data.bit-bots.de/conda-misc/output/linux-64/webots-2022b-hb0f4dca_4.conda
+  sha256: 0c6b64edc23156a19a5065b3a12ad3cf54550b6184caf1fb3d41c64fcc9758d4
+  md5: 9abb0c08f0109888d29259ea6fc2a41a
   license: Apache-2.0
-  size: 172089806
-  timestamp: 1765721135276
+  size: 172089694
+  timestamp: 1765723527936
 - pypi: https://files.pythonhosted.org/packages/2f/f9/9e082990c2585c744734f85bec79b5dae5df9c974ffee58fe421652c8e91/werkzeug-3.1.4-py3-none-any.whl
   name: werkzeug
   version: 3.1.4
diff --git a/pixi.toml b/pixi.toml
index 2d54160f2..2f39c5351 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -1,6 +1,11 @@
 [workspace]
 authors = ["Florian Vahl <7vahl@informatik.uni-hamburg.de>"]
-channels = ["https://data.bit-bots.de/conda/", "https://data.bit-bots.de/model_packaging/output/", "robostack-jazzy", "conda-forge"]
+channels = [
+    "https://data.bit-bots.de/conda/",  # For self hosted ROS / robostack packages
+    "https://data.bit-bots.de/conda-misc/output/",  # For self hosted misc (non-ROS, neural network weights, ...) packages
+    "robostack-jazzy",  # Robostack jazzy channel for ROS packages
+    "conda-forge"  # General conda-forge channel
+]
 name = "bitbots_main"
 platforms = ["linux-64"]
 preview = ["pixi-build"]

From 9a7d684c73882452175ffb16465212f004d27844 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 14 Dec 2025 16:14:28 +0100
Subject: [PATCH 79/90] Remove webots install script

---
 scripts/make_webots.sh | 31 -------------------------------
 scripts/setup.sh       |  1 -
 2 files changed, 32 deletions(-)
 delete mode 100755 scripts/make_webots.sh

diff --git a/scripts/make_webots.sh b/scripts/make_webots.sh
deleted file mode 100755
index 635054bd9..000000000
--- a/scripts/make_webots.sh
+++ /dev/null
@@ -1,31 +0,0 @@
-#!/bin/bash
-set -eEo pipefail
-
-WEBOTS_VERSION="2022b"
-WEBOTS_DOWNLOAD_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb"
-
-check_internet_connection () {
-    # Check if we have an internet connection, except in the ci as azure does not support ping by design
-    if [[ $1 != "--ci" ]] && ! ping -q -c 1 -W 1 google.com > /dev/null; then
-        echo "No internet connection. Please check your internet connection to install the webots simulator."
-        exit 1
-    fi
-}
-
-# Check if the correct webots simulator WEBOTS_VERSION is installed (apt)
-if apt list webots --installed | grep -q "$WEBOTS_VERSION"; then
-    echo "Webots simulator release $WEBOTS_VERSION is already installed."
-else
-    echo "Webots simulator release $WEBOTS_VERSION is not installed. Installing..."
-    # Check if we have an internet connection
-    check_internet_connection "$1"
-    # Check if the url exist
-    if ! curl --output /dev/null --silent --head --fail "$WEBOTS_DOWNLOAD_URL"; then
-        echo "Webots download url does not exist. Please check the url and update the 'WEBOTS_DOWNLOAD_URL' variable in the 'make_webots.sh' script."
-        exit 1
-    fi
-    # Download the webots simulator dep package to temp folder
-    wget --no-verbose --show-progress "$WEBOTS_DOWNLOAD_URL" -O "/tmp/webots_${WEBOTS_VERSION}.deb"
-    # Install the webots simulator
-    sudo apt-get install "/tmp/webots_${WEBOTS_VERSION}.deb" -y
-fi
diff --git a/scripts/setup.sh b/scripts/setup.sh
index 6993aeded..90fed54d7 100755
--- a/scripts/setup.sh
+++ b/scripts/setup.sh
@@ -46,7 +46,6 @@ setup_host() {
     echo "Setting up system dependencies not covered by pixi. This may require sudo rights. For non-Ubuntu systems, please install the required packages manually."
     if (( has_sudo )); then
         $meta_dir/scripts/make_basler.sh
-        $meta_dir/scripts/make_webots.sh
     fi
 }
 

From a4d208a57f7643ab72b6474a832013e0a2dabd51 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 14 Dec 2025 16:16:42 +0100
Subject: [PATCH 80/90] Set webots home correctly

---
 pixi.toml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/pixi.toml b/pixi.toml
index 2f39c5351..44957713a 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -207,6 +207,7 @@ RCUTILS_COLORIZED_OUTPUT = "1"
 RMW_IMPLEMENTATION = "rmw_cyclonedds_cpp"
 COLCON_LOG_LEVEL = "30"
 PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
+WEBOTS_HOME = "$CONDA_PREFIX/share/webots"
 
 [feature.ros.activation]
 scripts = ["install/setup.sh"]

From 55aad78fed63501624ec0de9c0e799a70b66e1f1 Mon Sep 17 00:00:00 2001
From: Florian Vahl <florian@flova.de>
Date: Sun, 28 Dec 2025 12:04:55 +0100
Subject: [PATCH 81/90] Use onnx by default

Signed-off-by: Florian Vahl <florian@flova.de>
---
 pixi.lock                                     | 599 +-----------------
 pixi.toml                                     |   3 +-
 .../config/visionparams_sim.yaml              |   2 +-
 3 files changed, 21 insertions(+), 583 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 6587b03c2..28fd48d75 100644
--- a/pixi.lock
+++ b/pixi.lock
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-- pypi: https://files.pythonhosted.org/packages/c4/fb/ea621e0a19733e01fe4005d46087d383693c0f4a8f824b47d8d4122c87e0/terminaltables-3.1.10-py2.py3-none-any.whl
-  name: terminaltables
-  version: 3.1.10
-  sha256: e4fdc4179c9e4aab5f674d80f09d76fa436b96fdc698a8505e0a36bf0804a874
-  requires_python: '>=2.6'
-- pypi: https://files.pythonhosted.org/packages/d5/5c/e444e1b024a519e488326525f0c154396c6b16baff17e00623f2c21dfc42/tifffile-2025.12.12-py3-none-any.whl
-  name: tifffile
-  version: 2025.12.12
-  sha256: e3e3f1290ec6741ca248a5b5a997125209b5c2962f6bd9aef01ea9352c25d0ee
-  requires_dist:
-  - numpy
-  - imagecodecs>=2025.11.11 ; extra == 'codecs'
-  - defusedxml ; extra == 'xml'
-  - lxml ; extra == 'xml'
-  - zarr>=3.1.3 ; extra == 'zarr'
-  - fsspec ; extra == 'zarr'
-  - kerchunk ; extra == 'zarr'
-  - matplotlib ; extra == 'plot'
-  - imagecodecs>=2025.11.11 ; extra == 'all'
-  - matplotlib ; extra == 'all'
-  - defusedxml ; extra == 'all'
-  - lxml ; extra == 'all'
-  - zarr>=3.1.3 ; extra == 'all'
-  - fsspec ; extra == 'all'
-  - kerchunk ; extra == 'all'
-  - cmapfile ; extra == 'test'
-  - czifile ; extra == 'test'
-  - dask ; extra == 'test'
-  - defusedxml ; extra == 'test'
-  - fsspec ; extra == 'test'
-  - imagecodecs ; extra == 'test'
-  - kerchunk ; extra == 'test'
-  - lfdfiles ; extra == 'test'
-  - lxml ; extra == 'test'
-  - ndtiff ; extra == 'test'
-  - oiffile ; extra == 'test'
-  - psdtags ; extra == 'test'
-  - pytest ; extra == 'test'
-  - requests ; extra == 'test'
-  - roifile ; extra == 'test'
-  - xarray ; extra == 'test'
-  - zarr>=3.1.3 ; extra == 'test'
-  requires_python: '>=3.11'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml2-11.0.0-h3f2d84a_0.conda
   sha256: 3ae98c2ca54928b2c72dbb4bd8ea229d3c865ad39367d377908294d9fb1e6f2c
   md5: aeb0b91014ac8c5d468e32b7a5ce8ac2
@@ -19361,50 +18879,6 @@ packages:
   - pkg:pypi/tomli?source=compressed-mapping
   size: 20973
   timestamp: 1760014679845
-- pypi: https://files.pythonhosted.org/packages/8b/5c/36c114d120bfe10f9323ed35061bc5878cc74f3f594003854b0ea298942f/torch-2.5.1-cp312-cp312-manylinux1_x86_64.whl
-  name: torch
-  version: 2.5.1
-  sha256: ed231a4b3a5952177fafb661213d690a72caaad97d5824dd4fc17ab9e15cec03
-  requires_dist:
-  - filelock
-  - typing-extensions>=4.8.0
-  - networkx
-  - jinja2
-  - fsspec
-  - nvidia-cuda-nvrtc-cu12==12.4.127 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-cuda-runtime-cu12==12.4.127 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-cuda-cupti-cu12==12.4.127 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-cudnn-cu12==9.1.0.70 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-cublas-cu12==12.4.5.8 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-cufft-cu12==11.2.1.3 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-curand-cu12==10.3.5.147 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-cusolver-cu12==11.6.1.9 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-cusparse-cu12==12.3.1.170 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-nccl-cu12==2.21.5 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-nvtx-cu12==12.4.127 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - nvidia-nvjitlink-cu12==12.4.127 ; platform_machine == 'x86_64' and sys_platform == 'linux'
-  - triton==3.1.0 ; python_full_version < '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'
-  - sympy==1.12.1 ; python_full_version == '3.8.*'
-  - setuptools ; python_full_version >= '3.12'
-  - sympy==1.13.1 ; python_full_version >= '3.9'
-  - opt-einsum>=3.3 ; extra == 'opt-einsum'
-  - optree>=0.12.0 ; extra == 'optree'
-  requires_python: '>=3.8.0'
-- pypi: https://files.pythonhosted.org/packages/7d/18/1474d06f721b86e6a9b9d7392ad68bed711a02f3b61ac43f13c719db50a6/torchsummary-1.5.1-py3-none-any.whl
-  name: torchsummary
-  version: 1.5.1
-  sha256: 10f41d1743fb918f83293f13183f532ab1bb8f6639a1b89e5f8592ec1919a976
-- pypi: https://files.pythonhosted.org/packages/d4/75/00a852275ade58d3dc474530f7a7b6bc999a817148f0eb59d4fde12eb955/torchvision-0.20.1-cp312-cp312-manylinux1_x86_64.whl
-  name: torchvision
-  version: 0.20.1
-  sha256: 17cd78adddf81dac57d7dccc9277a4d686425b1c55715f308769770cb26cad5c
-  requires_dist:
-  - numpy
-  - torch==2.5.1
-  - pillow>=5.3.0,!=8.3.*
-  - gdown>=4.7.3 ; extra == 'gdown'
-  - scipy ; extra == 'scipy'
-  requires_python: '>=3.8'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/tornado-6.5.3-py312h4c3975b_0.conda
   sha256: bed440cad040f0fe76266f9a527feecbaf00385b68a96532aa69614fe5153f8e
   md5: e03a4bf52d2170d64c816b2a52972097
@@ -19458,24 +18932,6 @@ packages:
   - pkg:pypi/transforms3d?source=hash-mapping
   size: 2690384
   timestamp: 1734511238605
-- pypi: https://files.pythonhosted.org/packages/78/eb/65f5ba83c2a123f6498a3097746607e5b2f16add29e36765305e4ac7fdd8/triton-3.1.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
-  name: triton
-  version: 3.1.0
-  sha256: c8182f42fd8080a7d39d666814fa36c5e30cc00ea7eeeb1a2983dbb4c99a0fdc
-  requires_dist:
-  - filelock
-  - cmake>=3.20 ; extra == 'build'
-  - lit ; extra == 'build'
-  - autopep8 ; extra == 'tests'
-  - flake8 ; extra == 'tests'
-  - isort ; extra == 'tests'
-  - numpy ; extra == 'tests'
-  - pytest ; extra == 'tests'
-  - scipy>=1.7.1 ; extra == 'tests'
-  - llnl-hatchet ; extra == 'tests'
-  - matplotlib ; extra == 'tutorials'
-  - pandas ; extra == 'tutorials'
-  - tabulate ; extra == 'tutorials'
 - conda: https://conda.anaconda.org/conda-forge/noarch/typeguard-4.4.4-pyhd8ed1ab_0.conda
   sha256: 591e03a61b4966a61b15a99f91d462840b6e77bf707ecb48690b24649fee921a
   md5: 8b2613dbfd4e2bc9080b2779b53fc210
@@ -20334,23 +19790,6 @@ packages:
   - pkg:pypi/yarl?source=hash-mapping
   size: 151549
   timestamp: 1761337128623
-- pypi: git+https://github.com/bit-bots/YOEO#6a3ce221e0106aecb1b190146fb453daefdfb758
-  name: yoeo
-  version: 1.6.1
-  requires_dist:
-  - imgaug>=0.4.0,<0.5.0
-  - matplotlib>=3.3.3,<4.0.0
-  - numpy>=1.26,<2.0
-  - opencv-python>=4.10.0.84,<5.0.0.0
-  - pillow>=11.0.0,<12.0.0
-  - pyyaml>=6.0.2,<7.0.0
-  - tensorboard>=2.18.0,<3.0.0
-  - terminaltables>=3.1.10,<4.0.0
-  - torch>=2.5.1,<3.0.0
-  - torchsummary>=1.5.1,<2.0.0
-  - torchvision>=0.20.1,<0.21.0
-  - tqdm>=4.67.0,<5.0.0
-  requires_python: '>=3.10,<4.0'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zeromq-4.3.5-h387f397_9.conda
   sha256: 47cfe31255b91b4a6fa0e9dbaf26baa60ac97e033402dbc8b90ba5fee5ffe184
   md5: 8035e5b54c08429354d5d64027041cad
diff --git a/pixi.toml b/pixi.toml
index 44957713a..637aed06d 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -172,7 +172,6 @@ ros-jazzy-dynamixel-workbench-toolbox = ">=0.1.8,<0.2"
 ros-jazzy-better-launch = ">=1.0.3,<2"
 
 # Neural network models / data packages
-bitbots_model_2021_12_06_flo_torso21_yoeo_7 = ">=1.0.0,<2"
 bitbots_model_2023_04_04_philipp_yoeox_with_team_colors = ">=1.0.0,<2"
 bitbots_model_2022_10_07_flo_torso21_yoeox = ">=1.0.0,<2"
 
@@ -194,7 +193,7 @@ syrupy = ">=5.0.0, <6"
 exhale = ">=0.3.7, <0.4"
 mycroft-mimic3-tts = ">=0.2.4, <0.3"
 pyttsx3 = ">=2.99, <3"
-yoeo = { git = "https://github.com/bit-bots/YOEO" }
+onnxruntime-gpu = ">=1.23.2, <2"
 
 [feature.robot.pypi-dependencies]
 # These are only needed on the robot
diff --git a/src/bitbots_vision/config/visionparams_sim.yaml b/src/bitbots_vision/config/visionparams_sim.yaml
index 016b4ec89..9fefa9f33 100644
--- a/src/bitbots_vision/config/visionparams_sim.yaml
+++ b/src/bitbots_vision/config/visionparams_sim.yaml
@@ -20,7 +20,7 @@ bitbots_vision:
     yoeo_model_path: '2022_10_07_flo_torso21_yoeox'
     yoeo_nms_threshold: 0.4  # Non-maximum suppression threshold
     yoeo_conf_threshold: 0.5  # YOEO confidence threshold
-    yoeo_framework: 'pytorch'  # The neural network framework that should be used ['openvino', 'onnx', 'pytorch', 'tvm']
+    yoeo_framework: 'onnx'  # The neural network framework that should be used ['openvino', 'onnx', 'pytorch', 'tvm']
 
     ball_candidate_rating_threshold: 0.5 # A threshold for the minimum candidate rating
     ball_candidate_max_count: 1 # The maximum number of balls that should be published

From c38973c0d52b35888502f5d6d5a0a00a0f64ea23 Mon Sep 17 00:00:00 2001
From: Florian Vahl <florian@flova.de>
Date: Sun, 28 Dec 2025 12:47:43 +0100
Subject: [PATCH 82/90] Use webgpu for local development

Signed-off-by: Florian Vahl <florian@flova.de>
---
 pixi.lock                                       | 17 ++++++-----------
 pixi.toml                                       |  2 +-
 .../vision_modules/yoeo/yoeo_handlers.py        |  2 +-
 3 files changed, 8 insertions(+), 13 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 28fd48d75..8b6eb8b2a 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1009,7 +1009,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/9e/c9/b2622292ea83fbb4ec318f5b9ab867d0a28ab43c5717bb85b0a5f6b3b0a4/networkx-3.6.1-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/d6/5b/545e9267a1cc080c8a1be2746113a063e34bcdd0f5173fd665a5c13cb234/num2words-0.5.14-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/ef/88/9cc25d2bafe6bc0d4d3c1db3ade98196d5b355c0b273e6a5dc09c5d5d0d5/onnxruntime-1.23.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
-      - pypi: https://files.pythonhosted.org/packages/6c/d9/b7140a4f1615195938c7e358c0804bb84271f0d6886b5cbf105c6cb58aae/onnxruntime_gpu-1.23.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/26/ff/e94fd3e90638b89dd231d33eac671cf265bcdc96b8e3fa9180744577e7b9/onnxruntime_webgpu-1.24.0.dev20251218001-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
       - pypi: https://files.pythonhosted.org/packages/e5/63/cd7d615331b328e287d8233ba9fdf191a9c2d11b6af0c7a59cfcec23de68/pandas-2.3.3-cp312-cp312-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl
       - pypi: https://files.pythonhosted.org/packages/72/2a/05a47a6c291414f5a66901f8d1f6ba68e8ec9fccb341d56fa0b31479d41d/panphon-0.22.2-py2.py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/27/6f/0cf0746d02a356103b7c3a065dbc188d8b5092e58bb363d74aa668ee1ad1/phonemes2ids-1.2.2.tar.gz
@@ -2103,7 +2103,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/9e/c9/b2622292ea83fbb4ec318f5b9ab867d0a28ab43c5717bb85b0a5f6b3b0a4/networkx-3.6.1-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/d6/5b/545e9267a1cc080c8a1be2746113a063e34bcdd0f5173fd665a5c13cb234/num2words-0.5.14-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/ef/88/9cc25d2bafe6bc0d4d3c1db3ade98196d5b355c0b273e6a5dc09c5d5d0d5/onnxruntime-1.23.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
-      - pypi: https://files.pythonhosted.org/packages/6c/d9/b7140a4f1615195938c7e358c0804bb84271f0d6886b5cbf105c6cb58aae/onnxruntime_gpu-1.23.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/26/ff/e94fd3e90638b89dd231d33eac671cf265bcdc96b8e3fa9180744577e7b9/onnxruntime_webgpu-1.24.0.dev20251218001-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
       - pypi: https://files.pythonhosted.org/packages/e5/63/cd7d615331b328e287d8233ba9fdf191a9c2d11b6af0c7a59cfcec23de68/pandas-2.3.3-cp312-cp312-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl
       - pypi: https://files.pythonhosted.org/packages/72/2a/05a47a6c291414f5a66901f8d1f6ba68e8ec9fccb341d56fa0b31479d41d/panphon-0.22.2-py2.py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/27/6f/0cf0746d02a356103b7c3a065dbc188d8b5092e58bb363d74aa668ee1ad1/phonemes2ids-1.2.2.tar.gz
@@ -7479,10 +7479,10 @@ packages:
   - protobuf
   - sympy
   requires_python: '>=3.10'
-- pypi: https://files.pythonhosted.org/packages/6c/d9/b7140a4f1615195938c7e358c0804bb84271f0d6886b5cbf105c6cb58aae/onnxruntime_gpu-1.23.2-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
-  name: onnxruntime-gpu
-  version: 1.23.2
-  sha256: 4f2d1f720685d729b5258ec1b36dee1de381b8898189908c98cbeecdb2f2b5c2
+- pypi: https://files.pythonhosted.org/packages/26/ff/e94fd3e90638b89dd231d33eac671cf265bcdc96b8e3fa9180744577e7b9/onnxruntime_webgpu-1.24.0.dev20251218001-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
+  name: onnxruntime-webgpu
+  version: 1.24.0.dev20251218001
+  sha256: ac2202d17a677f31ce15b54173605e1cc263ca435c3f56195ed01462bd6aef3f
   requires_dist:
   - coloredlogs
   - flatbuffers
@@ -7490,11 +7490,6 @@ packages:
   - packaging
   - protobuf
   - sympy
-  - nvidia-cuda-nvrtc-cu12~=12.0 ; extra == 'cuda'
-  - nvidia-cuda-runtime-cu12~=12.0 ; extra == 'cuda'
-  - nvidia-cufft-cu12~=11.0 ; extra == 'cuda'
-  - nvidia-curand-cu12~=10.0 ; extra == 'cuda'
-  - nvidia-cudnn-cu12~=9.0 ; extra == 'cudnn'
   requires_python: '>=3.10'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/opencl-headers-2025.06.13-h5888daf_0.conda
   sha256: 2b6ce54174ec19110e1b3c37455f7cd138d0e228a75727a9bba443427da30a36
diff --git a/pixi.toml b/pixi.toml
index 637aed06d..e6ebfd36a 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -193,7 +193,7 @@ syrupy = ">=5.0.0, <6"
 exhale = ">=0.3.7, <0.4"
 mycroft-mimic3-tts = ">=0.2.4, <0.3"
 pyttsx3 = ">=2.99, <3"
-onnxruntime-gpu = ">=1.23.2, <2"
+onnxruntime-webgpu = ">=1.24.0.dev20251218001, <2"
 
 [feature.robot.pypi-dependencies]
 # These are only needed on the robot
diff --git a/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
index 9409dc3ea..5e0b90c92 100644
--- a/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
+++ b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
@@ -229,7 +229,7 @@ def __init__(
             raise ImportError("Could not import onnxruntime. The selected handler requires this package.") from e
 
         logger.debug(f"Loading file...\n\t{onnx_path}")
-        self._inference_session = onnxruntime.InferenceSession(onnx_path)
+        self._inference_session = onnxruntime.InferenceSession(onnx_path, providers=["WebGpuExecutionProvider"])
         self._input_layer = self._inference_session.get_inputs()[0]
 
         self._img_preprocessor: utils.IImagePreProcessor = utils.DefaultImagePreProcessor(

From bd416fa4ebbc52b7b89e27cace7af47a530534ce Mon Sep 17 00:00:00 2001
From: Florian Vahl <florian@flova.de>
Date: Sun, 28 Dec 2025 16:15:50 +0100
Subject: [PATCH 83/90] Add better templating for tasks

Signed-off-by: Florian Vahl <florian@flova.de>
---
 .vscode/settings.json |  3 +++
 pixi.lock             | 25 +++++++++++++++++++++++++
 pixi.toml             | 24 ++++++++++++++++++++----
 3 files changed, 48 insertions(+), 4 deletions(-)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 6f2e285de..d8dc3e8eb 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -329,4 +329,7 @@
         "log": true,
         ".pixi": true,
     },
+    "[toml]": {
+        "editor.defaultFormatter": "tamasfe.even-better-toml"
+    },
 }
diff --git a/pixi.lock b/pixi.lock
index 8b6eb8b2a..5c6e41c94 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -596,6 +596,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-iceoryx-posh-2.0.6-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-geometry-4.1.0-np126py312h5cbfcd5_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-proc-5.0.11-np126py312h5cbfcd5_10.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-publisher-5.0.11-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-tools-0.33.7-np126py312h5cbfcd5_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-transport-5.1.7-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-transport-plugins-4.0.6-np126py312h3bd2861_10.conda
@@ -1690,6 +1691,7 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-iceoryx-posh-2.0.6-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-geometry-4.1.0-np126py312h5cbfcd5_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-proc-5.0.11-np126py312h5cbfcd5_10.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-publisher-5.0.11-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-tools-0.33.7-np126py312h5cbfcd5_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-transport-5.1.7-np126py312h3bd2861_10.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-transport-plugins-4.0.6-np126py312h3bd2861_10.conda
@@ -11874,6 +11876,29 @@ packages:
   license: BSD-3-Clause
   size: 367395
   timestamp: 1759139648233
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-publisher-5.0.11-np126py312h3bd2861_10.conda
+  sha256: 406ffccba5c55ff550fc95224b207ab4e5d43a1fa8a1cf89644221e69ed5c105
+  md5: b09522e4a4ca9b342e787d76139bccb5
+  depends:
+  - python
+  - ros-jazzy-camera-info-manager
+  - ros-jazzy-cv-bridge
+  - ros-jazzy-image-transport
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 204637
+  timestamp: 1759139297523
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-tools-0.33.7-np126py312h5cbfcd5_10.conda
   sha256: f43eb16626f4cdcc326bb804fd64cf40b8aca099f0a422c727b3c22988007c48
   md5: 11f059ae4f47bd6151a014ac0c77e6b8
diff --git a/pixi.toml b/pixi.toml
index e6ebfd36a..ebf780ebf 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -12,12 +12,27 @@ preview = ["pixi-build"]
 version = "0.1.0"
 
 [tasks]
-build = "colcon build --symlink-install --cmake-args -G Ninja"
-clean = "rm -rf build install log"
-test = "colcon test --event-handlers console_direct+ --return-code-on-test-failure"
+# Deploys the current environment
+deploy = "scripts/deploy_robots.py"
+# Runs code formatting and linting
 _format = "pre-commit run --all-files"
 format = [{ task = "_format", environment = "format" }]
-deploy = "scripts/deploy_robots.py"
+
+# Builds all ROS 2 packages or a specific one if given
+[tasks.build]
+cmd = "colcon build --symlink-install --cmake-args -G Ninja {{ '--packages-select ' + package if package }}"
+args = [{ arg = "package", default = "" }]
+
+# Cleans all build and install files or those of a specific package if given
+[tasks.clean]
+cmd = "rm -rf build/{{ package }} install/{{ package }} {{ 'log' if not package }}"
+args = [{ arg = "package", default = "" }]
+
+# Runs tests for all ROS 2 packages or a specific one if given
+[tasks.test]
+cmd = "colcon test --event-handlers console_direct+ --return-code-on-test-failure {{ '--packages-select ' + package if package }}"
+args = [{ arg = "package", default = "" }]
+
 
 [dependencies]
 # Base dependencies
@@ -95,6 +110,7 @@ ros-jazzy-generate-parameter-library = ">=0.5.0,<0.6"
 ros-jazzy-geometry-msgs = ">=5.3.6,<6"
 ros-jazzy-hardware-interface = ">=4.37.0,<5"
 ros-jazzy-image-proc = ">=5.0.11,<6"
+ros-jazzy-image-publisher = ">=5.0.11,<6"
 ros-jazzy-image-transport = ">=5.1.7,<6"
 ros-jazzy-joint-state-publisher = ">=2.4.0,<3"
 ros-jazzy-joint-state-publisher-gui = ">=2.4.0,<3"

From 3c8ea9595b42519298f65eff1ef840674a9308ba Mon Sep 17 00:00:00 2001
From: Florian Vahl <florian@flova.de>
Date: Sun, 28 Dec 2025 19:07:51 +0100
Subject: [PATCH 84/90] Fix issues with shorthand for package names in tasks

Signed-off-by: Florian Vahl <florian@flova.de>
---
 README.md |  4 ++--
 pixi.toml | 21 ++++++++-------------
 2 files changed, 10 insertions(+), 15 deletions(-)

diff --git a/README.md b/README.md
index a7b8b0e73..1742c4eda 100644
--- a/README.md
+++ b/README.md
@@ -38,10 +38,10 @@ alternatively, you can run individual commands inside the workspace without acti
 pixi run <command>
 ```
 
-To see some predefined tasks, run
+To see some predefined  / commands, run
 
 ``` shell
-pixi run -v
+pixi task list
 ```
 
 ## Run auto formatting
diff --git a/pixi.toml b/pixi.toml
index ebf780ebf..0c146a5f9 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -12,26 +12,21 @@ preview = ["pixi-build"]
 version = "0.1.0"
 
 [tasks]
-# Deploys the current environment
-deploy = "scripts/deploy_robots.py"
-# Runs code formatting and linting
-_format = "pre-commit run --all-files"
-format = [{ task = "_format", environment = "format" }]
+deploy = {cmd = "scripts/deploy_robots.py", description = "Deploys the current environment."}
+format = {cmd = "pre-commit run --all-files", description = "Runs code formatting and linting."}
 
-# Builds all ROS 2 packages or a specific one if given
 [tasks.build]
-cmd = "colcon build --symlink-install --cmake-args -G Ninja {{ '--packages-select ' + package if package }}"
-args = [{ arg = "package", default = "" }]
+cmd = "colcon build --symlink-install --cmake-args -G Ninja "
+description = "Builds all ROS 2 packages. Add --packages-select <package names> to build specific packages."
 
-# Cleans all build and install files or those of a specific package if given
 [tasks.clean]
-cmd = "rm -rf build/{{ package }} install/{{ package }} {{ 'log' if not package }}"
+cmd = "rm -rf 'build/{{ package }}' 'install/{{ package }}' {{ 'log' if not package }}"
 args = [{ arg = "package", default = "" }]
+description = "Cleans build and install files for all ROS 2 packages or a specific one if given."
 
-# Runs tests for all ROS 2 packages or a specific one if given
 [tasks.test]
-cmd = "colcon test --event-handlers console_direct+ --return-code-on-test-failure {{ '--packages-select ' + package if package }}"
-args = [{ arg = "package", default = "" }]
+cmd = "colcon test --event-handlers console_direct+ --return-code-on-test-failure "
+description = "Runs tests for all ROS 2 packages. Add --packages-select <package names> to test specific packages."
 
 
 [dependencies]

From 897bbda85fe05c268663c51a946086925aa6ed98 Mon Sep 17 00:00:00 2001
From: Florian Vahl <florian@flova.de>
Date: Sun, 28 Dec 2025 19:08:12 +0100
Subject: [PATCH 85/90] Remove redundant type declaration

Signed-off-by: Florian Vahl <florian@flova.de>
---
 src/bitbots_navigation/bitbots_rust_nav/src/obstacle.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/bitbots_navigation/bitbots_rust_nav/src/obstacle.rs b/src/bitbots_navigation/bitbots_rust_nav/src/obstacle.rs
index 8d8e6cd96..7f41a2cdc 100644
--- a/src/bitbots_navigation/bitbots_rust_nav/src/obstacle.rs
+++ b/src/bitbots_navigation/bitbots_rust_nav/src/obstacle.rs
@@ -41,7 +41,7 @@ impl RoundObstacle {
                 let radius = self.radius + offset;
                 Coord::from(self.center) + Coord::from((radius * angle.cos(), radius * angle.sin()))
             })
-            .collect::<Vec<Coord>>()
+            .collect()
     }
 }
 

From dd859415ede8e3567f841a5d577b61dbbbe7c2b7 Mon Sep 17 00:00:00 2001
From: Jan Gutsche <github@jaagut.de>
Date: Sun, 28 Dec 2025 21:50:47 +0100
Subject: [PATCH 86/90] deploy_tool: Adapt to pixi environment

---
 .rsyncignore                          |  22 +++
 .vscode/settings.json                 |   1 +
 README.md                             |  10 ++
 scripts/README.md                     |   3 +-
 scripts/deploy/deploy_robots.py       |  56 +++---
 scripts/deploy/misc.py                |  34 ++--
 scripts/deploy/tasks/__init__.py      |   2 -
 scripts/deploy/tasks/abstract_task.py |   3 +-
 scripts/deploy/tasks/build.py         |  31 +---
 scripts/deploy/tasks/check_repos.py   |  41 ++---
 scripts/deploy/tasks/configure.py     |  19 +-
 scripts/deploy/tasks/install.py       | 243 --------------------------
 scripts/deploy/tasks/launch.py        |  24 +--
 scripts/deploy/tasks/sync.py          | 203 ++-------------------
 sync_includes_wolfgang_nuc.yaml       |  78 ---------
 15 files changed, 136 insertions(+), 634 deletions(-)
 create mode 100644 .rsyncignore
 delete mode 100644 scripts/deploy/tasks/install.py
 delete mode 100644 sync_includes_wolfgang_nuc.yaml

diff --git a/.rsyncignore b/.rsyncignore
new file mode 100644
index 000000000..bf7570351
--- /dev/null
+++ b/.rsyncignore
@@ -0,0 +1,22 @@
+# Ignore files and directories for rsync synchronization
+
+# Don't sync the pixi virtual environment
+.pixi/
+
+# Ignore build, install, and log directories
+build/
+install/
+log/
+
+# Don't overwrite the configured game settings
+src/bitbots_misc/bitbots_parameter_blackboard/config/game_settings.yaml
+
+*.bag
+*.git
+*.github
+*.idea
+*.pyc
+*.vscode
+
+__pycache__
+
diff --git a/.vscode/settings.json b/.vscode/settings.json
index d8dc3e8eb..0778fcc8a 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -97,6 +97,7 @@
         "rosout",
         "roundrobin",
         "Rouxel",
+        "rsyncignore",
         "rtype",
         "rviz",
         "scipy",
diff --git a/README.md b/README.md
index a7b8b0e73..80c507390 100644
--- a/README.md
+++ b/README.md
@@ -44,6 +44,16 @@ To see some predefined tasks, run
 pixi run -v
 ```
 
+## Deploy to robots
+
+To deploy the software to a robot, run
+
+``` shell
+pixi run deploy <robot_ip|robot_name>
+```
+
+For more information on the deployment tooling, see [this documentation](scripts/README.md).
+
 ## Run auto formatting
 
 To format all code in the repository, run
diff --git a/scripts/README.md b/scripts/README.md
index f60b29e61..0222f6f7c 100644
--- a/scripts/README.md
+++ b/scripts/README.md
@@ -2,6 +2,8 @@
 
 This directory contains scripts that are very useful for development, testing and deployment.
 
+This tool is also callable via `pixi run deploy <arguments>`.
+
 ## `deploy_robots.py`
 
 Deploy, configure, and launch the Bit-Bots software remotely on a robot.
@@ -9,7 +11,6 @@ This tool can target all, multiple, or single robots at once, specified by their
 Five different tasks can be performed:
 
 1. Synchronize the local source code to the target workspace
-2. Install ROS 2 dependencies using `rosdep` on the target
 3. Configure game-settings and wifi on the target
 4. Build (compile) the workspace on the target
 5. Launch the teamplayer software on the target
diff --git a/scripts/deploy/deploy_robots.py b/scripts/deploy/deploy_robots.py
index fc656b0ac..54e9c0481 100644
--- a/scripts/deploy/deploy_robots.py
+++ b/scripts/deploy/deploy_robots.py
@@ -1,7 +1,6 @@
 import argparse
 import os
 import sys
-from typing import Optional
 
 from deploy.misc import (
     CONSOLE,
@@ -20,19 +19,16 @@
     Build,
     CheckReposTask,
     Configure,
-    Install,
     Launch,
     Sync,
 )
 from rich.prompt import Prompt
 
-# TODO: Install this script as a command line tool
-
 
 class DeployRobots:
     def __init__(self):
         self._bitbots_main_path = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-        print_debug(f"Bit-Bots meta path: {self._bitbots_main_path}")
+        print_debug(f"Bit-Bots main path: {self._bitbots_main_path}")
         os.chdir(self._bitbots_main_path)
 
         # Handle arguments
@@ -48,7 +44,7 @@ def __init__(self):
             print_bit_bot()
 
         self._tasks = self._register_tasks()
-        self._sudo_password: Optional[str] = self._optionally_ask_for_and_set_sudo_password()
+        self._sudo_password: str | None = self._optionally_ask_for_and_set_sudo_password()
 
         # Execute tasks on all given targets
         self.run_tasks()
@@ -56,7 +52,7 @@ def __init__(self):
     def _parse_arguments(self) -> argparse.Namespace:
         parser = ArgumentParserShowTargets(
             description="Deploy the Bit-Bots software on a robot. "
-            "This script provides 5 tasks: sync, install, configure, build, launch. "
+            "This script provides 4 tasks: sync, configure, build, launch. "
             "By default, it runs all tasks. You can select a subset of tasks by using the corresponding flags. "
             "For example, to only run the sync and build task, use the -sb."
         )
@@ -65,7 +61,8 @@ def _parse_arguments(self) -> argparse.Namespace:
         parser.add_argument(
             "targets",
             type=str,
-            help="The targets to deploy to. Multiple targets can be specified separated by commas. 'ALL' can be used to target all known robots.",
+            nargs="+",
+            help="The targets to deploy to. Multiple targets can be specified. 'ALL' can be used to target all known robots.",
         )
 
         parser.add_argument("--show-targets", action="store_true", help="Show all known targets and exit.")
@@ -79,17 +76,18 @@ def _parse_arguments(self) -> argparse.Namespace:
             help="Only synchronize (copy) files from you to the target machine.",
         )
         parser.add_argument(
-            "-i",
-            "--install",
-            dest="only_install",
+            "-c",
+            "--configure",
+            dest="only_configure",
             action="store_true",
-            help="Only install ROS dependencies on the targets.",
-        )
-        parser.add_argument(
-            "-c", "--configure", dest="only_configure", action="store_true", help="Only configure the target machines."
+            help="Only configure the target machines.",
         )
         parser.add_argument(
-            "-b", "--build", dest="only_build", action="store_true", help="Only build/compile on the target machines."
+            "-b",
+            "--build",
+            dest="only_build",
+            action="store_true",
+            help="Only build/compile on the target machines.",
         )
         parser.add_argument(
             "-l",
@@ -100,16 +98,12 @@ def _parse_arguments(self) -> argparse.Namespace:
         )
 
         # Optional arguments
-        parser.add_argument("-p", "--package", default="", help="Synchronize and build only the given ROS package.")
+        parser.add_argument("-p", "--package", default="", help="Build only the given ROS package.")
         parser.add_argument(
             "--clean",
-            action="store_true",
-            help="Clean complete workspace (source and install, ...) before syncing and building.",
-        )
-        parser.add_argument("--clean-src", action="store_true", help="Clean source directory before syncing.")
-        parser.add_argument(
             "--clean-build",
             action="store_true",
+            dest="clean_build",
             help="Clean workspace before building. If --package is given, clean only that package.",
         )
         parser.add_argument("--connection-timeout", default=10, help="Timeout to establish SSH connections in seconds.")
@@ -131,24 +125,19 @@ def _parse_arguments(self) -> argparse.Namespace:
 
         args = parser.parse_args()
 
-        if not (args.only_sync or args.only_install or args.only_configure or args.only_build or args.only_launch):
+        if not (args.only_sync or args.only_configure or args.only_build or args.only_launch):
             # By default all tasks are enabled
-            args.sync = args.install = args.configure = args.build = args.launch = True
+            args.sync = args.configure = args.build = args.launch = True
         else:
             # If any of the --only-* arguments is given, disable all tasks and enable only the given ones
             args.sync = args.only_sync
-            args.install = args.only_install
             args.configure = args.only_configure
             args.build = args.only_build
             args.launch = args.only_launch
 
-        if args.clean:
-            args.clean_src = True
-            args.clean_build = True
-
         return args
 
-    def _optionally_ask_for_and_set_sudo_password(self) -> Optional[str]:
+    def _optionally_ask_for_and_set_sudo_password(self) -> str | None:
         """
         Asks the user for the sudo password and returns it.
         Asks only, if tasks that require sudo are enabled.
@@ -181,14 +170,9 @@ def _register_tasks(self) -> list[AbstractTask]:
                 Sync(
                     self._bitbots_main_path,
                     self._args.workspace,
-                    self._args.package,
-                    self._args.clean_src,
                 )
             )
 
-        if self._args.install:
-            tasks.append(Install(self._args.workspace))
-
         if self._args.configure:
             tasks.append(Configure(self._args.workspace))
 
@@ -202,7 +186,7 @@ def _register_tasks(self) -> list[AbstractTask]:
             )
 
         if self._args.launch:
-            tasks.append(Launch("teamplayer"))
+            tasks.append(Launch(self._args.workspace, "teamplayer"))
 
         return tasks
 
diff --git a/scripts/deploy/misc.py b/scripts/deploy/misc.py
index 50ead7e49..2e8ca28b3 100644
--- a/scripts/deploy/misc.py
+++ b/scripts/deploy/misc.py
@@ -4,7 +4,7 @@
 import subprocess
 import sys
 from collections.abc import Iterable
-from typing import Any, Optional
+from typing import Any
 
 import yaml
 from fabric import Connection, GroupResult, ThreadingGroup
@@ -165,29 +165,29 @@ def _identify_ip(identifier: str) -> str | None:
                 print_debug(f"Robot name '{known_robot_name}' does not match '{identifier}'.")
 
 
-def _parse_targets(input_targets: str) -> list[str]:
+def _parse_targets(targets: list[str]) -> list[str]:
     """
     Parse target input into usable target IP addresses.
 
-    :param input_targets: The input string of targets as a comma separated string of either hostnames, robot names or IPs.
+    :param targets: Targets as a list of strings of either hostnames, robot names or IPs.
     :return: List of target IP addresses.
     """
     target_ips: list[str] = []
-    for input_target in input_targets.split(","):
+    for target in targets:
         try:
-            target_ip = _identify_ip(input_target)
+            target_ip = _identify_ip(target)
         except ValueError:
-            print_error(f"Could not determine IP address from input: '{input_target}'")
+            print_error(f"Could not determine IP address from input: '{target}'")
             sys.exit(1)
         if target_ip is None:
-            print_error(f"Could not determine IP address from input:' {input_target}'")
+            print_error(f"Could not determine IP address from input:' {target}'")
             sys.exit(1)
         target_ips.append(target_ip)
     return target_ips
 
 
 def _get_connections_from_targets(
-    target_ips: list[str], user: str, connection_timeout: Optional[int] = 10
+    target_ips: list[str], user: str, connection_timeout: int | None = 10
 ) -> ThreadingGroup:
     """
     Get connections to the given target IP addresses using the given username.
@@ -237,7 +237,7 @@ def _concat_exception_args(e: Exception) -> str:
     return connections
 
 
-def _get_connections_from_all_known_targets(user: str, connection_timeout: Optional[int] = 10) -> ThreadingGroup:
+def _get_connections_from_all_known_targets(user: str, connection_timeout: int | None = 10) -> ThreadingGroup:
     """
     Get connections to all known targets using the given username.
     NOTE: This still continues if not all connections could be established.
@@ -271,24 +271,22 @@ def _get_connections_from_all_known_targets(user: str, connection_timeout: Optio
     return ThreadingGroup.from_connections(open_connections)
 
 
-def get_connections_from_targets(
-    input_targets: str, user: str, connection_timeout: Optional[int] = 10
-) -> ThreadingGroup:
+def get_connections_from_targets(targets: list[str], user: str, connection_timeout: int | None = 10) -> ThreadingGroup:
     """
-    First parse the input targets, then get connections to the targets.
-    NOTE: If input_targets is 'ALL', all known targets will be used and failed connections will be ignored.
+    Parses the given targets, then creates connections to the parsed hosts.
+    NOTE: If targets is 'ALL', all known targets will be used and failed connections will be ignored.
 
-    :param input_targets: The input string of targets as a comma separated string of either hostnames, robot names or IPs. 'ALL' is a valid argument and will be expanded to all known targets.
+    :param targets: List of target strings (either hostnames, robot names or IPs, or 'ALL'). If 'ALL' is included, it will be expanded to all known targets.
     :param user: The username to connect with
     :param connection_timeout: Timeout for establishing the connection
     :return: The connections to the targets
     """
-    if input_targets == "ALL":
-        print_info(f"Connecting to all known targets: {KNOWN_TARGETS.keys()}")
+    if "ALL" in targets:
+        print_info(f"Connecting to targets: {KNOWN_TARGETS.keys()}")
         return _get_connections_from_all_known_targets(user=user, connection_timeout=connection_timeout)
 
     return _get_connections_from_targets(
-        target_ips=_parse_targets(input_targets), user=user, connection_timeout=connection_timeout
+        target_ips=_parse_targets(targets), user=user, connection_timeout=connection_timeout
     )
 
 
diff --git a/scripts/deploy/tasks/__init__.py b/scripts/deploy/tasks/__init__.py
index f67a23545..b077d0069 100644
--- a/scripts/deploy/tasks/__init__.py
+++ b/scripts/deploy/tasks/__init__.py
@@ -5,7 +5,6 @@
 from deploy.tasks.build import Build  # noqa: E402
 from deploy.tasks.check_repos import CheckReposTask  # noqa: E402
 from deploy.tasks.configure import Configure  # noqa: E402
-from deploy.tasks.install import Install  # noqa: E402
 from deploy.tasks.launch import Launch  # noqa: E402
 from deploy.tasks.sync import Sync  # noqa: E402
 
@@ -16,7 +15,6 @@
     "Build",
     "CheckReposTask",
     "Configure",
-    "Install",
     "Launch",
     "Sync",
 ]
diff --git a/scripts/deploy/tasks/abstract_task.py b/scripts/deploy/tasks/abstract_task.py
index 8e584c1ec..f1afd4bfc 100644
--- a/scripts/deploy/tasks/abstract_task.py
+++ b/scripts/deploy/tasks/abstract_task.py
@@ -1,5 +1,4 @@
 import abc
-from typing import Optional
 
 from deploy.misc import CONSOLE
 from fabric import Group, GroupResult
@@ -67,7 +66,7 @@ def _failed_hosts(self, results: GroupResult) -> list[str]:
 class AbstractTaskWhichRequiresSudo(AbstractTask):
     def __init__(self) -> None:
         super().__init__()
-        self._sudo_password: Optional[str] = None
+        self._sudo_password: str | None = None
 
     def set_sudo_password(self, sudo_password: str) -> None:
         self._sudo_password = sudo_password
diff --git a/scripts/deploy/tasks/build.py b/scripts/deploy/tasks/build.py
index 610d413d2..64bfbfa38 100644
--- a/scripts/deploy/tasks/build.py
+++ b/scripts/deploy/tasks/build.py
@@ -41,16 +41,10 @@ def _clean(self, connections: Group) -> GroupResult:
         :param connections: The connections to remote servers.
         :return: The results of the task.
         """
-        if self._package:
-            print_debug(f"Cleaning the following packages before building: {self._package}")
-            cmd_clean = f"colcon clean packages -y --packages-select {self._package}"
-        else:
-            print_debug("Cleaning ALL packages before building")
-            cmd_clean = (
-                f"rm -rf {self._remote_workspace}/build {self._remote_workspace}/install {self._remote_workspace}/log"
-            )
+        print_debug(f"Cleaning the following packages before building: {self._package}")
+        cmd_clean = f"cd {self._remote_workspace} && pixi run clean {self._package}"
 
-        print_debug(f"Calling {cmd_clean}")
+        print_debug(f"Calling '{cmd_clean}'")
         try:
             results = connections.run(cmd_clean, hide=hide_output())
             print_debug(f"Clean succeeded on the following hosts: {self._succeeded_hosts(results)}")
@@ -67,23 +61,10 @@ def _build(self, connections: Group) -> GroupResult:
         :param connections: The connections to remote servers.
         :return: The results of the task.
         """
-        if self._package:
-            print_debug(f"Building the following packages: {self._package}")
-            package_option = f"--packages-up-to {self._package}"
-        else:
-            print_debug("Building ALL packages")
-            package_option = ""
-        cmd = (
-            "sync;"
-            f"cd {self._remote_workspace};"
-            "source /opt/ros/jazzy/setup.zsh;"
-            "ISOLATED_CPUS=\"$(grep -oP 'isolcpus=\\K([\\d-]+)' /proc/cmdline)\";"  # type: ignore[reportInvalidStringEscapeSequence]
-            f"chrt -r 1 taskset -c ${{ISOLATED_CPUS:-0-15}} colcon build --symlink-install {package_option} --continue-on-error || exit 1;"
-            "sync;"
-        )
-        # TODO make output colored
+        print_debug("Building packages")
+        cmd = f"cd {self._remote_workspace} && pixi run build {self._package}"
 
-        print_debug(f"Calling {cmd}")
+        print_debug(f"Calling '{cmd}'")
         try:
             results = connections.run(cmd, hide=hide_output())
             print_debug(f"Build succeeded on the following hosts: {self._succeeded_hosts(results)}")
diff --git a/scripts/deploy/tasks/check_repos.py b/scripts/deploy/tasks/check_repos.py
index 3b37193e5..6d36f6857 100644
--- a/scripts/deploy/tasks/check_repos.py
+++ b/scripts/deploy/tasks/check_repos.py
@@ -12,7 +12,6 @@
 from invoke.exceptions import UnexpectedExit
 from rich.console import Group as RichGroup
 from rich.table import Table
-from yaml import safe_load
 
 
 class OurRepo(Repo):
@@ -21,7 +20,7 @@ def __init__(self, path: str, specified_branch: str) -> None:
         Custom class for a GIT-repository.
 
         :param path: The path to the repository.
-        :param specified_branch: The branch this repository should be in (e.g. as defined in the workspace.repo file).
+        :param specified_branch: The branch this repository should be in (e.g. 'main').
         """
         super().__init__(path)
         assert not self.bare, f"Repo {self}: Repository is bare. Is it a real GIT-repository?"
@@ -152,11 +151,11 @@ def __str__(self) -> str:
 class CheckReposTask(AbstractTask):
     def __init__(self, only_workspace_status: bool = False) -> None:
         """
-        Task to check the local repositories (bitbots_main and others as specified in workspace.repos file).
+        Task to check the local repository 'bitbots_main'.
         Displays the current commit status (with a friendly name) to compare with other people in a hurry.
         Also displays warnings and requires confirmation before proceeding when:
         - A repository is dirty (uncommitted changes).
-        - A repository is not on the specified branch.
+        - A repository is not on the 'main' branch.
         - A repository is ahead or behind of the remote repository.
 
         :param only_workspace_status: If True, only collect the workspace commit hashes and skip the local workspace check.
@@ -165,8 +164,11 @@ def __init__(self, only_workspace_status: bool = False) -> None:
         self._show_status = False
 
         self.main_repo_path: str = os.path.join(
-            os.path.dirname(__file__), "..", "..", ".."
-        )  # bitbots_main/scripts/deploy/tasks
+            os.path.dirname(__file__),
+            "..",
+            "..",
+            "..",
+        )  # src/scripts/deploy/tasks
 
         self.results_file: str = os.path.join(
             self.main_repo_path, "src/bitbots_misc/bitbots_utils/config/", "workspace_status.json"
@@ -175,26 +177,11 @@ def __init__(self, only_workspace_status: bool = False) -> None:
         self.only_workspace_status: bool = only_workspace_status
 
         self.main_repo: OurRepo = OurRepo(self.main_repo_path, "main")
-        self.repos: dict[str, OurRepo] = {"bitbots_main": self.main_repo, **self._get_workspace_repos()}
+        self.repos: dict[str, OurRepo] = {"bitbots_main": self.main_repo}
 
         self.commit_hashes: dict[str, str] = {}
         self.warnings: dict[str, list[str]] = {}
 
-    def _get_workspace_repos(self) -> dict[str, OurRepo]:
-        """
-        Get the paths of the workspace repositories.
-
-        :return: List of workspace repository paths.
-        """
-        result: dict[str, OurRepo] = {}
-        with open(os.path.join(self.main_repo_path, "workspace.repos")) as file:
-            workspace_repos: dict = safe_load(file)
-            for path, repo in workspace_repos["repositories"].items():
-                if repo["type"] == "git":
-                    our_repo = OurRepo(os.path.join(self.main_repo_path, path), repo.get("version", "main"))
-                    result[str(our_repo)] = our_repo
-        return result
-
     def _github_available(self, connection: Connection) -> bool:
         """
         Check if GitHub is available.
@@ -205,7 +192,7 @@ def _github_available(self, connection: Connection) -> bool:
         print_debug(f"Checking for internet connection to {github}")
 
         cmd = f"timeout --foreground {INTERNET_TIMEOUT:.2f} curl -sSLI {github}"
-        print_debug(f"Calling {cmd}")
+        print_debug(f"Calling '{cmd}'")
         available = False
         result: Result | None = None
         try:
@@ -214,7 +201,7 @@ def _github_available(self, connection: Connection) -> bool:
             pass
         if result is not None:
             available = result.ok
-        print_debug(f"Internet connection to github.com is {'' if available else 'NOT'} available.")
+        print_debug(f"Internet connection to github.com is{' ' if available else ' NOT '}available.")
         if not available:
             print_info("Internet connection is not available. We may skip some checks!")
         return available
@@ -333,6 +320,12 @@ def _get_workspace_hash(self, commit_hashes: dict[str, str]) -> str:
         :param commit_hashes: The commit hashes of the repositories.
         :return: The hash of the workspace.
         """
+        assert len(commit_hashes) > 0, "No commit hashes provided to generate workspace hash."
+
+        # If there is only one repository, return its commit hash directly
+        if len(commit_hashes) == 1:
+            return list(commit_hashes.values())[0]
+
         return md5("".join(commit_hashes.values()).encode()).hexdigest()
 
     def _get_friendly_name(self, hash: str) -> str:
diff --git a/scripts/deploy/tasks/configure.py b/scripts/deploy/tasks/configure.py
index 81d3ece3c..9ff26fed0 100644
--- a/scripts/deploy/tasks/configure.py
+++ b/scripts/deploy/tasks/configure.py
@@ -1,5 +1,4 @@
 import concurrent.futures
-from typing import Optional
 
 from deploy.misc import (
     CONSOLE,
@@ -62,7 +61,7 @@ def _configure_single(connection: Connection) -> Result:
             print_info(f"Configuring game settings on {connection.host}...")
             cmd = f"python3 {self._remote_workspace}/src/bitbots_misc/bitbots_parameter_blackboard/bitbots_parameter_blackboard/game_settings.py"
 
-            print_debug(f"Calling {cmd}")
+            print_debug(f"Calling '{cmd}'")
             results = connection.run(
                 cmd, hide=False, pty=True
             )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -93,7 +92,7 @@ def _configure_wifi(self, connections: Group) -> GroupResult:
         :return: The results of the task.
         """
 
-        def _configure_single(connection: Connection, answered_connection_id: str) -> Optional[Result]:
+        def _configure_single(connection: Connection, answered_connection_id: str) -> Result | None:
             """
             Configure the wifi on a single remote with user input.
 
@@ -109,7 +108,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                 print_debug(f"Disabling all other connections on {connection.host}")
                 # Get all wifi connection ids
                 get_ids_cmd = "nmcli --fields UUID,TYPE connection show | grep wifi | awk '{print $1}'"
-                print_debug(f"Calling {get_ids_cmd} on {connection.host}")
+                print_debug(f"Calling '{get_ids_cmd}' on: {connection.host}")
                 get_ids_result = connection.run(
                     get_ids_cmd, hide=hide_output()
                 )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -128,7 +127,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                     # Disable autoconnect
                     print_debug(f"Disabling autoconnect {connection_id} on {connection.host}")
                     cmd = f"nmcli connection modify {connection_id} connection.autoconnect FALSE"
-                    print_debug(f"Calling {cmd} on {connection.host}")
+                    print_debug(f"Calling '{cmd}' on: {connection.host}")
                     disable_autoconnect_result = connection.sudo(
                         cmd, hide=True, password=self._sudo_password
                     )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -141,7 +140,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                     # De-prioritize connection
                     print_debug(f"De-prioritizing connection {connection_id} on {connection.host}")
                     cmd = f"nmcli connection modify {connection_id} connection.autoconnect-priority 0"
-                    print_debug(f"Calling {cmd} on {connection.host}")
+                    print_debug(f"Calling '{cmd}' on: {connection.host}")
                     de_prioritize_result = connection.sudo(
                         cmd, hide=True, password=self._sudo_password
                     )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -152,7 +151,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                 # Enable the connection we want to use
                 print_debug(f"Enabling connection {answered_connection_id} on {connection.host}")
                 cmd = f"nmcli connection up {answered_connection_id}"
-                print_debug(f"Calling {cmd} on {connection.host}")
+                print_debug(f"Calling '{cmd}' on: {connection.host}")
                 enable_connection_result = connection.sudo(
                     cmd, hide=True, password=self._sudo_password
                 )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -163,7 +162,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                 # Enabling autoconnect for the connection we want to use
                 print_debug(f"Enabling autoconnect for connection {answered_connection_id} on {connection.host}")
                 cmd = f"nmcli connection modify {answered_connection_id} connection.autoconnect TRUE"
-                print_debug(f"Calling {cmd} on {connection.host}")
+                print_debug(f"Calling '{cmd}' on: {connection.host}")
                 enable_autoconnect_result = connection.sudo(
                     cmd, hide=True, password=self._sudo_password
                 )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -176,7 +175,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                 # Set priority for the connection we want to use
                 print_debug(f"Setting priority of connection {answered_connection_id} to 100 on {connection.host}")
                 cmd = f"nmcli connection modify {answered_connection_id} connection.autoconnect-priority 100"
-                print_debug(f"Calling {cmd} on {connection.host}")
+                print_debug(f"Calling '{cmd}' on: {connection.host}")
                 set_priority_result = connection.sudo(
                     cmd, hide=True, password=self._sudo_password
                 )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -193,7 +192,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
 
         # Show available wifi connections
         show_cmd = 'nmcli connection show | grep -E "^(NAME|.*wifi)"'  # Show all wifi connections and table header
-        print_debug(f"Calling {show_cmd} on {connection.host}")
+        print_debug(f"Calling '{show_cmd}' on: {connection.host}")
         show_result = connection.run(
             show_cmd, hide=False
         )  # TODO: Does this need a try block? Which exceptions can occur?
diff --git a/scripts/deploy/tasks/install.py b/scripts/deploy/tasks/install.py
deleted file mode 100644
index 2c9c5dac4..000000000
--- a/scripts/deploy/tasks/install.py
+++ /dev/null
@@ -1,243 +0,0 @@
-import concurrent.futures
-import os
-from typing import Optional
-
-from deploy.misc import Connection, get_connections_from_succeeded, hide_output, print_debug, print_error, print_warning
-from deploy.tasks import INTERNET_TIMEOUT
-from deploy.tasks.abstract_task import AbstractTaskWhichRequiresSudo
-from fabric import Group, GroupResult, Result
-from fabric.exceptions import GroupException
-
-
-class Install(AbstractTaskWhichRequiresSudo):
-    def __init__(self, remote_workspace: str) -> None:
-        """
-        Task to install and update all dependencies.
-
-        :param remote_workspace: Path to the remote workspace
-        """
-        super().__init__()
-
-        self._remote_workspace = remote_workspace
-
-    def _run(self, connections: Group) -> GroupResult:
-        """
-        Install and update all dependencies, if internet is available.
-
-        :param connections: The connections to remote servers.
-        :return: The results of the task.
-        """
-        internet_available_results = self._internet_available_on_target(connections)
-        if not internet_available_results.succeeded:
-            return internet_available_results
-
-        # Some hosts have an internet connection, make updates and installs
-        apt_upgrade_results = self._apt_upgrade(get_connections_from_succeeded(internet_available_results))
-        if not apt_upgrade_results.succeeded:
-            return apt_upgrade_results
-
-        basler_install_results = self._install_basler(get_connections_from_succeeded(apt_upgrade_results))
-        if not basler_install_results.succeeded:
-            return basler_install_results
-
-        rosdep_results = self._install_rosdeps(get_connections_from_succeeded(basler_install_results))
-        if not rosdep_results.succeeded:
-            return rosdep_results
-
-        pip_upgrade_results = self._pip_upgrade(get_connections_from_succeeded(rosdep_results))
-        return pip_upgrade_results
-
-    def _internet_available_on_target(self, connections: Group) -> GroupResult:
-        """
-        Check if the Target has an internet connection by pinging apt repos.
-
-        :param connections: The connections to remote servers.
-        :return: Results, with success if the Target has an internet connection
-        """
-        apt_mirror = "de.archive.ubuntu.com"
-        print_debug("Checking internet connections")
-
-        cmd = f"timeout --foreground {INTERNET_TIMEOUT} curl -sSLI {apt_mirror}"
-        print_debug(f"Calling {cmd}")
-        try:
-            results = connections.run(cmd, hide=hide_output())
-            print_debug(f"Internet is available on the following hosts: {self._succeeded_hosts(results)}")
-        except GroupException as e:
-            print_warning(
-                f"Internet is NOT available and skipping installs on the following hosts: {self._failed_hosts(e.result)}"
-            )
-            results = e.result
-        return results
-
-    def _apt_upgrade(self, connections: Group) -> GroupResult:
-        """
-        Upgrade all apt packages on the target.
-        Runs apt update and apt upgrade -y.
-
-        :param connections: The connections to remote servers.
-        :return: Results, with success if the upgrade succeeded on the target
-        """
-        print_debug("Updating apt")
-
-        cmd = "apt update"
-        print_debug(f"Calling {cmd}")
-        try:
-            update_results = connections.sudo(cmd, hide=hide_output(), password=self._sudo_password)
-            print_debug(f"Updated apt on the following hosts: {self._succeeded_hosts(update_results)}")
-        except GroupException as e:
-            print_error(f"Failed to update apt on the following hosts: {self._failed_hosts(e.result)}")
-            update_results = e.result
-
-        print_debug("Upgrading apt packages")
-
-        cmd = "apt upgrade -y"
-        print_debug(f"Calling {cmd}")
-        try:
-            upgrade_results = connections.sudo(cmd, hide=hide_output(), password=self._sudo_password)
-            print_debug(f"Upgraded apt packages on the following hosts: {self._succeeded_hosts(upgrade_results)}")
-        except GroupException as e:
-            print_error(f"Failed to upgrade apt packages on the following hosts: {self._failed_hosts(e.result)}")
-            upgrade_results = e.result
-        return update_results
-
-    def _install_basler(self, connections: Group) -> GroupResult:
-        """
-        Installs the basler camera drivers on the targets.
-
-        :param connections: The connections to remote servers.
-        :return: Results, with success if the install succeeded on the target
-        """
-        print_debug("Installing basler drivers")
-
-        cmd = f"{self._remote_workspace}/src/scripts/make_basler.sh --ci"
-        print_debug(f"Calling {cmd}")
-        try:
-            install_results = connections.sudo(cmd, hide=hide_output(), password=self._sudo_password)
-            print_debug(f"Installed basler drivers on the following hosts: {self._succeeded_hosts(install_results)}")
-        except GroupException as e:
-            print_error(f"Failed to install basler drivers on the following hosts: {self._failed_hosts(e.result)}")
-            install_results = e.result
-        return install_results
-
-    def _install_rosdeps(self, connections: Group) -> GroupResult:
-        """
-        Install ROS dependencies.
-        This is done by simulating a rosdep install to gather install commands (mostly sudo apt install ...).
-        Those returned commands are then executed on the remotes.
-
-        This "simulation" or dry-run is necessary, as the rosdep install command does not work correctly if directly invoked with sudo,
-        but it calls sudo commands internally, which necessitates user input on the remote.
-        The "sudo" functionality provided by fabric is not able to autofill in this case.
-
-        :param connections: The connections to remote servers.
-        :return: Results, with success if the install commands succeeded on the target
-        """
-        remote_src_path = os.path.join(self._remote_workspace, "src")
-        print_debug(f"Gathering rosdep install commands in {remote_src_path}")
-
-        cmd = f"rosdep update && rosdep install --rosdistro jazzy --simulate --default-yes --ignore-src --from-paths {remote_src_path}"
-        print_debug(f"Calling {cmd}")
-        try:
-            gather_results = connections.run(cmd, hide=hide_output())
-        except GroupException as e:
-            print_error("Failed to gather rosdeps install commands")
-            if not e.result.succeeded:
-                return e.result
-            gather_results = e.result
-
-        # Only continue with succeeded connections
-        connections = get_connections_from_succeeded(gather_results)
-
-        # Define function to multithread install commands on all hosts
-        def _install_commands_on_single_host(connection: Connection, result: Result) -> Optional[Result]:
-            """
-            Install all dependencies on a single host from pip and apt.
-
-            :param connection: The connection to the remote server.
-            :param Result: The result of the simulated rosdep install command.
-            :return: The result of the task.
-            """
-            # Parse rosdep output to get install commands from each succeeded connection
-            # The output should look like this:
-            # #[apt] Installation commands:
-            #   sudo -H apt-get install -y <package1>
-            #   sudo -H apt-get install -y <package2>
-            #   ...
-            lines = result.stdout.splitlines()
-            install_commands = []
-            for line in lines:
-                if line.startswith("  "):
-                    install_commands.append(line.strip())
-
-            if len(install_commands) == 0:
-                print_debug(f"Nothing to install for {connection.host}")
-                return Result(connection=connection, exited=0)  # Successful exit code
-
-            # Define command prefixes to search for
-            apt_command_prefix = "sudo -H apt-get install -y "
-            apt_packages: list[str] = []
-
-            install_result: Optional[Result] = (
-                None  # This collects the result of the last run install command, failed if exception occurred
-            )
-            for install_command in install_commands:
-                if install_command.startswith(apt_command_prefix):
-                    # Remove prefix from command, as we collect all apt commands into one
-                    apt_packages.append(install_command.replace(apt_command_prefix, "", 1).strip())
-                else:
-                    print_warning(
-                        f"Currently only the apt-get installer is supported. Stumbled over unknown installer in command and skipping it: '{install_command}' on {connection.host}"
-                    )
-
-            apt_install_command = f"apt-get install -y {' '.join(apt_packages)}"
-            print_debug(f"Running apt install command: {apt_install_command} on {connection.host}")
-            try:
-                install_result = connection.sudo(apt_install_command, hide=hide_output(), password=self._sudo_password)
-            except Exception:  # TODO: What exception can we expect here?
-                print_error(f"Failed install command on {connection.host}")
-                install_result = Result(connection=connection, exited=1, command=apt_install_command)
-            return install_result
-
-        # Collect results from all hosts
-        installs_results = GroupResult()
-
-        # Create a ThreadPoolExecutor to run the install commands on all hosts in parallel
-        with concurrent.futures.ThreadPoolExecutor(max_workers=len(gather_results.succeeded)) as executor:
-            futures = [
-                executor.submit(_install_commands_on_single_host, gather_connection, gather_result)
-                for gather_connection, gather_result in gather_results.items()
-            ]
-
-        for future in futures:
-            install_result = future.result()
-            if install_result is not None:
-                installs_results[install_result.connection] = install_result
-
-        # Re-Bifurcate results into succeeded and failed results
-        # This is necessary, as the GroupResult does this prematurely, before we could collect the results from all hosts
-        for key, value in installs_results.items():
-            if value.exited != 0:
-                installs_results.failed[key] = value
-            else:
-                installs_results.succeeded[key] = value
-
-        return installs_results
-
-    def _pip_upgrade(self, connections: Group) -> GroupResult:
-        """
-        Install and upgrade all pip robot requirements on the target.
-
-        :param connections: The connections to remote servers.
-        :return: Results, with success if the upgrade succeeded on the target
-        """
-        print_debug("Upgrading pip packages")
-
-        cmd = f"pip3 install --user --upgrade --break-system-packages -r {self._remote_workspace}/src/requirements/robot.txt"
-        print_debug(f"Calling {cmd}")
-        try:
-            upgrade_results = connections.run(cmd, hide=hide_output())
-            print_debug(f"Upgraded pip packages on the following hosts: {self._succeeded_hosts(upgrade_results)}")
-        except GroupException as e:
-            print_error(f"Failed to upgrade pip packages on the following hosts: {self._failed_hosts(e.result)}")
-            upgrade_results = e.result
-        return upgrade_results
diff --git a/scripts/deploy/tasks/launch.py b/scripts/deploy/tasks/launch.py
index bc270253e..a7151f39c 100644
--- a/scripts/deploy/tasks/launch.py
+++ b/scripts/deploy/tasks/launch.py
@@ -7,14 +7,16 @@
 
 
 class Launch(AbstractTask):
-    def __init__(self, tmux_session_name: str) -> None:
+    def __init__(self, remote_workspace: str, tmux_session_name: str) -> None:
         """
         Launch the teamplayer ROS software on a remote machine in a new tmux session.
 
+        :param remote_workspace: Path to the remote workspace to run colcon in
         :param tmux_session_name: Name of the fresh tmux session to launch the teamplayer in
         """
         super().__init__()
 
+        self._remote_workspace = remote_workspace
         self._tmux_session_name = tmux_session_name
 
     def _run(self, connections: Group) -> GroupResult:
@@ -32,8 +34,8 @@ def _run(self, connections: Group) -> GroupResult:
         node_running_results = self._check_nodes_already_running(connections)
         if not node_running_results.succeeded:
             return node_running_results
+        # Some hosts have no ROS 2 nodes already running, continuing
 
-        # Some nodes have no ROS 2 nodes already running, continuing
         # Check if tmux session is already running
         tmux_session_running_results = self._check_tmux_session_already_running(
             get_connections_from_succeeded(node_running_results)
@@ -53,14 +55,14 @@ def _check_nodes_already_running(self, connections: Group) -> GroupResult:
         :return: Results, with success if ROS 2 nodes are not already running
         """
         print_debug("Checking if ROS 2 nodes are already running")
-        cmd = "ros2 node list -c"
+        cmd = f"cd {self._remote_workspace} && pixi run ros2 node list -c"
 
-        print_debug(f"Calling {cmd}")
+        print_debug(f"Calling '{cmd}'")
         try:
             node_list_results = connections.run(cmd, hide=hide_output())
-            print_debug(f"Calling {cmd} succeeded on {self._succeeded_hosts(node_list_results)}")
+            print_debug(f"Calling '{cmd}' succeeded on: {self._succeeded_hosts(node_list_results)}")
         except GroupException as e:
-            print_error(f"Calling {cmd} failed on {self._failed_hosts(e.result)}")
+            print_error(f"Calling '{cmd}' failed on: {self._failed_hosts(e.result)}")
             if not e.result.succeeded:  # TODO: Does run immediately fail if one host fails? Do we even get here?
                 return e.result
             else:
@@ -104,12 +106,12 @@ def _check_tmux_session_already_running(self, connections: Group) -> GroupResult
         # The tmux ls command outputs names of all running tmux sessions.
         cmd = "test -S /tmp/tmux-1000/default && tmux ls -F '#S' ; true"
 
-        print_debug(f"Calling: {cmd}")
+        print_debug(f"Calling: '{cmd}'")
         try:
             tmux_ls_results = connections.run(cmd, hide=hide_output())
-            print_debug(f"Calling {cmd} succeeded on {self._succeeded_hosts(tmux_ls_results)}")
+            print_debug(f"Calling '{cmd}' succeeded on: {self._succeeded_hosts(tmux_ls_results)}")
         except GroupException as e:
-            print_error(f"Calling {cmd} failed on {self._failed_hosts(e.result)}")
+            print_error(f"Calling '{cmd}' failed on: {self._failed_hosts(e.result)}")
             if not e.result.succeeded:
                 return e.result
             else:
@@ -150,9 +152,9 @@ def _check_tmux_session_already_running(self, connections: Group) -> GroupResult
     def _launch_teamplayer(self, connections: Group) -> GroupResult:
         print_debug("Launching teamplayer")
         # Create tmux session
-        cmd = f"tmux new-session -d -s {self._tmux_session_name} && tmux send-keys -t {self._tmux_session_name} 'ros2 launch bitbots_bringup teamplayer.launch record:=true tts:=false' Enter"
+        cmd = f"tmux new-session -d -s {self._tmux_session_name} && tmux send-keys -t {self._tmux_session_name} 'cd {self._remote_workspace} && pixi run ros2 launch bitbots_bringup teamplayer.launch record:=true tts:=false' Enter"
 
-        print_debug(f"Calling {cmd}")
+        print_debug(f"Calling '{cmd}'")
         try:
             results = connections.run(cmd, hide=hide_output())
             # Print commands to connect to teamplayer tmux session
diff --git a/scripts/deploy/tasks/sync.py b/scripts/deploy/tasks/sync.py
index a875d3f18..3f97bf0ec 100644
--- a/scripts/deploy/tasks/sync.py
+++ b/scripts/deploy/tasks/sync.py
@@ -1,196 +1,35 @@
 import concurrent.futures
 import os
-from typing import Optional
 
-import yaml
-from deploy.misc import Connection, be_quiet, get_connections_from_succeeded, hide_output, print_debug, print_error
+from deploy.misc import Connection, be_quiet, hide_output, print_debug, print_error
 from deploy.tasks.abstract_task import AbstractTask
 from fabric import Group, GroupResult, Result
-from fabric.exceptions import GroupException
 
 
 class Sync(AbstractTask):
-    def __init__(self, local_workspace: str, remote_workspace: str, package: str = "", pre_clean: bool = False) -> None:
+    def __init__(self, local_workspace: str, remote_workspace: str) -> None:
         """
-        Sync task that synchronizes (copies) the local source directory to the remote server.
+        Sync task that synchronizes (copies) the local workspace directory to the remote server.
+        Excludes files and directories as specified in the .rsyncignore file in the local workspace.
 
         :param local_workspace: Path to the local workspace to sync
         :param remote_workspace: Path to the remote workspace to sync to
-        :param package: Limit to file from this package, if empty, all files are included
-        :param pre_clean: Whether to clean the source directory before syncing
         """
         super().__init__()
         self._local_workspace = local_workspace
         self._remote_workspace = remote_workspace
-        self._package = package
-        self._pre_clean = pre_clean
-
-        self._remote_src_path = os.path.join(self._remote_workspace, "src")
-
-        self._includes = self._get_includes_from_file(
-            os.path.join(self._local_workspace, "sync_includes_wolfgang_nuc.yaml"), self._package
-        )
-
-    def _get_includes_from_file(self, file_path: str, package: str = "") -> list:
-        """
-        Retrieve the include and exclude arguments for rsync from a yaml file.
-
-        :param file_path: Path of the includes-file
-        :param package: Limit to file from this package, if empty, all files are included
-        :returns: Include and exclude arguments for rsync
-        """
-        with open(file_path) as file:
-            data = yaml.safe_load(file)
-
-        # Exclude files
-        excludes: list[str] = data["exclude"]
-
-        # Include files
-        includes: list[str] = []
-        for entry in data["include"]:
-            if isinstance(entry, str):
-                if package == "" or package == entry:
-                    includes.append(f"{entry}")
-                    includes.append(f"{entry}/**")
-            elif isinstance(entry, dict):
-                for directory, subdirectories in entry.items():
-                    if package == "":
-                        includes.append(f"{directory}")
-                        for subdirectory in subdirectories:
-                            includes.append(f"{directory}/{subdirectory}")
-                            includes.append(f"{directory}/{subdirectory}/**")
-                    elif package in subdirectories:
-                        includes.append(f"{directory}")
-                        includes.append(f"{directory}/{package}")
-                        includes.append(f"{directory}/{package}/**")
-
-        # Encase in quotes
-        excludes = [f"'--include=- {exclude}'" for exclude in excludes]
-        includes = [f"'--include=+ {include}'" for include in includes]
-
-        return excludes + includes + ["'--include=- *'"]
 
     def _run(self, connections: Group) -> GroupResult:
         """
-        Synchronize (copy) the local source directory to the remotes using the rsync tool.
+        Synchronize (copy) the workspace directory to the remotes using the rsync tool.
 
         :param connections: The connections to remote servers.
         :return: The results of the task.
         """
-        # Optional: Clean the remote workspace
-        if self._pre_clean:
-            clean_results = self._clean(connections)
-            if not clean_results.succeeded:
-                return clean_results
-            connections = get_connections_from_succeeded(clean_results)
-
         # Synchronize the local source directory to the remote workspace with rsync
         rsync_results = self._rsync(connections)
         return rsync_results
 
-    def _clean(self, connections: Group) -> GroupResult:
-        """
-        Clean the remote workspace by removing the src/ directory and recreating it.
-
-        :return: The results of the task.
-        """
-
-        def _remove_directories_on_single_host(connection: Connection, result: Result) -> Optional[Result]:
-            """Removes directories given in the output of the previous find command.
-
-            :param connection: The connection to the remote server.
-            :param result: The result of the previous find command.
-            :return: The result of the removal command.
-            """
-            # Remove the found directories on the succeeded hosts
-            print_debug(f"Removing found directories on host {connection.host}")
-            directories = " ".join(
-                result.stdout.split("\n")
-            )  # Directories are given line by line, we concatenate them with spaces to get a single command
-            rm_cmd = f"rm -rf {directories}"
-            print_debug(f"Calling '{rm_cmd}' on host {connection.host}")
-            try:
-                rm_results = connection.run(rm_cmd, hide=hide_output())
-                print_debug(f"Cleaning of package succeeded for hosts {connection.host}")
-            except Exception as e:
-                print_error(f"Cleaning of package failed for hosts {Connection.host}")
-                return Result(connection=connection, cmd=rm_cmd, exited=1, stdout="", stderr=str(e))
-            return rm_results
-
-        if self._package:  # Package given, clean only the package directory
-            # Only clean the package directory
-            # To do this, we find sub-directories with the package name and remove them
-            print_debug(
-                f"Searching for package '{self._package}' in remote source directory: '{self._remote_src_path} to clean it'"
-            )
-            find_cmd = f'find {self._remote_src_path} -type d -not -path "*/.git/*" -name "{self._package}"'
-            print_debug(f"Calling '{find_cmd}'")
-            try:
-                find_results = connections.run(find_cmd, hide=hide_output())
-                print_debug(f"Finding of package succeeded for hosts {self._succeeded_hosts(find_results)}")
-            except GroupException as e:
-                print_error(f"Finding of package failed for hosts {self._failed_hosts(e.result)}")
-                if not e.result.succeeded:  # TODO: Does run immediately if one host fails? Do we even get here?
-                    return e.result
-                find_results = e.result
-
-            # Collect removal results from the succeeded hosts
-            remove_results = GroupResult()
-
-            # Remove the found directories on the succeeded hosts concurrently
-            with concurrent.futures.ThreadPoolExecutor(max_workers=len(find_results.succeeded)) as executor:
-                futures = [
-                    executor.submit(_remove_directories_on_single_host, connection, result)
-                    for connection, result in find_results.succeeded.items()
-                ]
-
-            for future in futures:
-                remove_result = future.result()
-                if remove_result is not None:
-                    remove_results[remove_result.connection] = remove_result
-
-            # Re-Bifurcate results into succeeded and failed results
-            # This is necessary, as the GroupResult does this prematurely, before we could collect the results from all hosts
-            for key, value in remove_results.items():
-                if value.exited != 0:
-                    remove_results.failed[key] = value
-                else:
-                    remove_results.succeeded[key] = value
-            return remove_results
-
-        else:  # No package given, clean the entire source directory
-            # First, remove the source directory
-            print_debug(f"Removing source directory: '{self._remote_src_path}'")
-            rm_cmd = f"rm -rf {self._remote_src_path}"
-
-            print_debug(f"Calling '{rm_cmd}'")
-            try:
-                rm_results = connections.run(rm_cmd, hide=hide_output())
-                print_debug(f"Cleaning of source directory succeeded for hosts {self._succeeded_hosts(rm_results)}")
-            except GroupException as e:
-                print_error(f"Cleaning of source directory failed for hosts {self._failed_hosts(e.result)}")
-                if not e.result.succeeded:  # TODO: Does run immediately if one host fails? Do we even get here?
-                    return e.result
-                rm_results = e.result
-
-            # Only continue on succeeded hosts
-            connections = get_connections_from_succeeded(rm_results)
-
-            # Second, create an empty directory again
-            print_debug(f"Creating source directory: '{self._remote_src_path}'")
-            mkdir_cmd = f"mkdir -p {self._remote_src_path}"
-
-            print_debug(f"Calling '{mkdir_cmd}'")
-            try:
-                mkdir_results = connections.run(mkdir_cmd, hide=hide_output())
-                print_debug(
-                    f"Recreation of source directory succeeded for hosts {self._succeeded_hosts(mkdir_results)}"
-                )
-            except GroupException as e:
-                print_error(f"Recreation of source directory failed for hosts {self._failed_hosts(e.result)}")
-                return e.result
-            return mkdir_results
-
     def _rsync(self, connections: Group) -> GroupResult:
         """
         Synchronize (copy) the local source directory to the remotes using the rsync tool.
@@ -200,7 +39,7 @@ def _rsync(self, connections: Group) -> GroupResult:
         :return: The results of the task.
         """
 
-        def _sync_single(connection: Connection) -> Optional[Result]:
+        def _sync_single(connection: Connection) -> Result | None:
             # Construct the rsync command
             cmd = [
                 "rsync",
@@ -209,39 +48,35 @@ def _sync_single(connection: Connection) -> Optional[Result]:
                 "--delete",
                 "-e",
                 '"ssh -o StrictHostKeyChecking=no"',
+                f"--exclude-from={os.path.join(self._local_workspace, '.rsyncignore')}",
             ]
             if not be_quiet():
                 cmd.append("--verbose")
-            cmd.extend(self._includes)
             cmd.extend(
                 [
                     self._local_workspace + "/",  # NOTE: The trailing slash is important for rsync
-                    f"{connection.user}@{connection.host}:{self._remote_src_path}",
+                    f"{connection.user}@{connection.host}:{self._remote_workspace}",
                 ]
             )
             cmd = " ".join(cmd)
 
-            print_debug(f"Calling {cmd}")
+            print_debug(f"Calling '{cmd}'")
             invoke_result = connection.local(cmd, hide=hide_output())
 
             if invoke_result is None:
+                print_error(f"Rsync command failed to execute on host {connection.host}")
                 return
-            # The result is from invoke, not fabric, so we need to convert it
-            return Result(
-                stdout=invoke_result.stdout,
-                stderr=invoke_result.stderr,
-                encoding=invoke_result.encoding,
-                command=invoke_result.command,
-                shell=invoke_result.shell,
-                env=invoke_result.env,
-                exited=invoke_result.exited,
-                pty=invoke_result.pty,
-                hide=invoke_result.hide,
-                connection=connection,
-            )
+
+            # Verify syncing succeeded and system architectures matches by running "pixi install"
+            cmd = f"cd {self._remote_workspace} && pixi install"
+            print_debug("Installing dependencies on remote host to verify synchronization and architecture match.")
+            print_debug(f"Calling '{cmd}' on: {connection.host}")
+            verify_result = connection.run(cmd, hide=hide_output())
+
+            return verify_result
 
         print_debug(
-            f"Synchronizing local source directory ('{self._local_workspace}') to  the remote directory: '{self._remote_src_path}'"
+            f"Synchronizing local source directory ('{self._local_workspace}') to  the remote directory: '{self._remote_workspace}'"
         )
 
         # Collect results of the group
diff --git a/sync_includes_wolfgang_nuc.yaml b/sync_includes_wolfgang_nuc.yaml
deleted file mode 100644
index 556556fab..000000000
--- a/sync_includes_wolfgang_nuc.yaml
+++ /dev/null
@@ -1,78 +0,0 @@
-include:
-    - src:
-        - bitbots_behavior:
-            - bitbots_blackboard
-            - bitbots_body_behavior
-        - bitbots_lowlevel:
-            - bitbots_buttons
-            - bitbots_ros_control
-        - bitbots_misc:
-            - bitbots_basler_camera
-            - bitbots_bringup
-            - bitbots_diagnostic
-            - bitbots_docs
-            - bitbots_extrinsic_calibration
-            - bitbots_ipm
-            - bitbots_parameter_blackboard
-            - bitbots_robot_description
-            - bitbots_teleop
-            - bitbots_tts
-            - bitbots_utils
-            - system_monitor
-        - bitbots_motion:
-            - bitbots_animation_rqt
-            - bitbots_animation_server
-            - bitbots_dynamic_kick
-            - bitbots_dynup
-            - bitbots_hcm
-            - bitbots_head_mover
-            - bitbots_moveit_bindings
-            - bitbots_quintic_walk
-            - bitbots_splines
-        - bitbots_msgs
-        - bitbots_navigation:
-            - bitbots_localization
-            - bitbots_localization_handler
-            - bitbots_odometry
-            - bitbots_path_planning
-        - bitbots_team_communication:
-            - bitbots_team_communication
-            - bitbots_team_data_sim_rqt
-        - bitbots_vision
-        - bitbots_robot:
-            - wolfgang_animations
-            - wolfgang_description
-            - wolfgang_moveit_config
-        - bitbots_world_model:
-            - bitbots_ball_filter
-            - bitbots_robot_filter
-        - lib:
-            - audio_common
-            - bio_ik
-            - bio_ik_msgs
-            - biped_interfaces
-            - bitbots_tf_buffer
-            - dynamic_stack_decider
-            - dynamixel-workbench
-            - DynamixelSDK
-            - game_controller_hl
-            - game_controller_hl_interfaces
-            - humanoid_base_footprint
-            - ipm
-            - particle_filter
-            - ros2_numpy
-            - ros2_python_extension
-            - soccer_ipm
-            - udp_bridge
-    - requirements
-    - scripts
-exclude:
-    - "*.bag"
-    - "*.pyc"
-    - "*.git"
-    - "*.github"
-    - "cmake-build-debug"
-    - ".idea"
-    - ".vscode"
-    - "__pycache__"
-    - "bitbots_parameter_blackboard/config/game_settings.yaml"

From 16857f22b2ce8a94e6ed466040e06aadb6b622ef Mon Sep 17 00:00:00 2001
From: Florian Vahl <florian@flova.de>
Date: Mon, 29 Dec 2025 17:03:05 +0100
Subject: [PATCH 87/90] Add audio common

Signed-off-by: Florian Vahl <florian@flova.de>
---
 pixi.lock | 472 +++++++++++++++++++++++++++++++++++++++++-------------
 pixi.toml |   3 +-
 2 files changed, 361 insertions(+), 114 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 5c6e41c94..9edf08cb9 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -28,7 +28,6 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.2-h39aace5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-25.4.0-pyhcf101f3_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/babel-2.17.0-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/backports.zstd-1.2.0-py312h90b7ffd_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bcrypt-5.0.0-py312h868fb18_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.9-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.4-h5888daf_0.conda
@@ -39,9 +38,9 @@ environments:
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-hed03a55_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.2.0-hb03c661_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.2.0-py312hdb49522_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hb03c661_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.1.0-hb03c661_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.1.0-py312h1289d80_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-3.25-h26dfbe5_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcbe3ca9_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_8.conda
@@ -146,11 +145,13 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gfortran-14.3.0-h76987e4_16.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gfortran_impl_linux-64-14.3.0-h1a219da_16.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gfortran_linux-64-14.3.0-h614ad27_15.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/git-2.52.0-pl5321h28be001_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/gitdb-4.0.12-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/gitpython-3.1.45-pyhff2d567_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gl2ps-1.4.2-hae5d5c5_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/glew-2.1.0-h9c3ff4c_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-2.86.0-he175458_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-networking-2.80.0-h2ef3c98_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-tools-2.86.0-hf516916_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gmock-1.17.0-ha770c72_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gmp-6.3.0-hac33072_2.conda
@@ -158,6 +159,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/graphite2-1.3.14-hecca717_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/graphviz-13.1.2-h87b6fe6_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gst-plugins-base-1.24.11-h651a532_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gst-plugins-good-1.24.11-h5b389ca_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gst-plugins-ugly-1.24.11-ha85cff8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gstreamer-1.24.11-hc37bda9_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gtest-1.17.0-h84d6215_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gtk3-3.24.43-h021d004_4.conda
@@ -190,6 +193,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/invoke-2.2.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ipython-9.8.0-pyh53cf698_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ipython_pygments_lexers-1.1.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/jack-1.9.22-hf4617a5_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/jasper-4.2.8-he3c4edf_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/jaxtyping-0.3.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/jedi-0.19.2-pyhd8ed1ab_1.conda
@@ -220,9 +224,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.86.0-ha770c72_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-1.86.0-py312hf890105_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-devel-1.86.0-py312h26dfbe5_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.2.0-hb03c661_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.2.0-hb03c661_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.2.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.1.0-hb03c661_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.1.0-hb03c661_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.1.0-hb03c661_4.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.3.1-hb9d3cd8_2.conda
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 - conda: https://conda.anaconda.org/conda-forge/noarch/pexpect-4.9.0-pyhd8ed1ab_1.conda
   sha256: 202af1de83b585d36445dc1fda94266697341994d1a3328fabde4989e1b3d07a
   md5: d0d408b1f18883a944376da5cf8101ea
@@ -9904,6 +10071,101 @@ packages:
   license: BSD-3-Clause
   size: 214944
   timestamp: 1759139976631
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-audio-capture-0.3.15-np126py312h3bd2861_10.conda
+  sha256: 30aa6451e8afd547f0d15c5cb7dd5275ef9fa81899b030de9d961be81a79af4a
+  md5: 44064646e9f514b0c83c99ad4d77a77f
+  depends:
+  - gst-plugins-base
+  - gst-plugins-good
+  - gst-plugins-ugly
+  - gstreamer
+  - gstreamer 1.24.*
+  - python
+  - ros-jazzy-audio-common-msgs
+  - ros-jazzy-launch-xml
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - gstreamer >=1.24.11,<1.25.0a0
+  - gst-plugins-base >=1.24.11,<1.25.0a0
+  - libboost >=1.86.0,<1.87.0a0
+  - libboost-python >=1.86.0,<1.87.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 169304
+  timestamp: 1767022517333
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-audio-common-0.3.15-np126py312h3bd2861_10.conda
+  sha256: efb5127e3525bd1118e6d94f9517475f71eddf07c68987e5ecde8affebb43b71
+  md5: 8970f004ebf63c1afb64b4ad7cb957c1
+  depends:
+  - python
+  - ros-jazzy-audio-capture
+  - ros-jazzy-audio-common-msgs
+  - ros-jazzy-audio-play
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 22521
+  timestamp: 1767022517453
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-audio-common-msgs-0.3.15-np126py312h3bd2861_10.conda
+  sha256: 1415bb5e40c12c4fb6959c9236eee294698aed76c4d2d3e8bc651cc7a393f9b8
+  md5: 1b3127548f22674619a5ad0ff21abfb5
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 107858
+  timestamp: 1767022517559
+- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-audio-play-0.3.15-np126py312h3bd2861_10.conda
+  sha256: a99762d536c7772cd8b4b8d00ac79b88d59cea47663bf6cd2dfe5c92cd8bee74
+  md5: 1f4868af0a61ecd729ff9aedb5ee93fe
+  depends:
+  - gst-plugins-base
+  - gst-plugins-good
+  - gst-plugins-ugly
+  - gstreamer
+  - gstreamer 1.24.*
+  - python
+  - ros-jazzy-audio-common-msgs
+  - ros-jazzy-launch-xml
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - __glibc >=2.17,<3.0.a0
+  - libboost >=1.86.0,<1.87.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - libboost-python >=1.86.0,<1.87.0a0
+  - python_abi 3.12.* *_cp312
+  - gst-plugins-base >=1.24.11,<1.25.0a0
+  - gstreamer >=1.24.11,<1.25.0a0
+  license: BSD-3-Clause
+  size: 206520
+  timestamp: 1767022517431
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-backward-ros-1.0.8-np126py312h3bd2861_10.conda
   sha256: bf79b923d75cbe2e33bdc728592d23323a5d8f959b374e0f3c1a278f346d134e
   md5: 8a6ae578f17e75968ab410b0407dffd0
@@ -16732,39 +16994,6 @@ packages:
   license: BSD-3-Clause
   size: 2285873
   timestamp: 1759140028444
-- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-rviz-imu-plugin-2.1.5-np126py312h3bd2861_10.conda
-  sha256: 392338e4c1bd82ed08ff0ba004f98d05ebc08d2553a43622b6592141ad5099c4
-  md5: 02fc640ab49cbff188d8455b7b90ef06
-  depends:
-  - python
-  - qt-main
-  - ros-jazzy-message-filters
-  - ros-jazzy-pluginlib
-  - ros-jazzy-rclcpp
-  - ros-jazzy-ros-workspace
-  - ros-jazzy-rviz-common
-  - ros-jazzy-rviz-ogre-vendor
-  - ros-jazzy-rviz-rendering
-  - ros-jazzy-sensor-msgs
-  - ros-jazzy-tf2
-  - ros-jazzy-tf2-ros
-  - ros2-distro-mutex 0.11.* jazzy_*
-  - xorg-libx11
-  - xorg-libxext
-  - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
-  - libstdcxx >=14
-  - numpy >=1.26.4,<2.0a0
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  - libopengl >=1.7.0,<2.0a0
-  - libgl >=1.7.0,<2.0a0
-  - xorg-libx11 >=1.8.12,<2.0a0
-  - python_abi 3.12.* *_cp312
-  - qt-main >=5.15.15,<5.16.0a0
-  - xorg-libxext >=1.3.6,<2.0a0
-  license: BSD-3-Clause
-  size: 268843
-  timestamp: 1765488858119
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-ogre-vendor-14.1.15-np126py312h39124df_10.conda
   sha256: 4081bce459c4d31b506dc3314b9d9032320ddc8c3ffa7c8b625ff6bf5a14a55a
   md5: 9ffd6fc4b4c271d5578b29c8f4725748
@@ -19109,21 +19338,21 @@ packages:
   purls: []
   size: 19201
   timestamp: 1726152409175
-- conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.2-pyhd8ed1ab_0.conda
-  sha256: f4302a80ee9b76279ad061df05003abc2a29cc89751ffab2fd2919b43455dac0
-  md5: 4949ca7b83065cfe94ebe320aece8c72
+- conda: https://conda.anaconda.org/conda-forge/noarch/urllib3-2.5.0-pyhd8ed1ab_0.conda
+  sha256: 4fb9789154bd666ca74e428d973df81087a697dbb987775bc3198d2215f240f8
+  md5: 436c165519e140cb08d246a4472a9d6a
   depends:
-  - backports.zstd >=1.0.0
-  - brotli-python >=1.2.0
+  - brotli-python >=1.0.9
   - h2 >=4,<5
   - pysocks >=1.5.6,<2.0,!=1.5.7
-  - python >=3.10
+  - python >=3.9
+  - zstandard >=0.18.0
   license: MIT
   license_family: MIT
   purls:
-  - pkg:pypi/urllib3?source=compressed-mapping
-  size: 102842
-  timestamp: 1765719817255
+  - pkg:pypi/urllib3?source=hash-mapping
+  size: 101735
+  timestamp: 1750271478254
 - conda: https://conda.anaconda.org/conda-forge/linux-64/utfcpp-4.0.8-ha770c72_0.conda
   sha256: bbfbfc43bc028ec8acc5c9c2bb9a52c7652140cef91fdb6219a52d91d773a474
   md5: a480ee3eb9c95364a229673a28384899
@@ -19849,6 +20078,23 @@ packages:
   purls: []
   size: 92286
   timestamp: 1727963153079
+- conda: https://conda.anaconda.org/conda-forge/linux-64/zstandard-0.25.0-py312h5253ce2_1.conda
+  sha256: c2bcb8aa930d6ea3c9c7a64fc4fab58ad7bcac483a9a45de294f67d2f447f413
+  md5: 02738ff9855946075cbd1b5274399a41
+  depends:
+  - python
+  - cffi >=1.11
+  - zstd >=1.5.7,<1.5.8.0a0
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - zstd >=1.5.7,<1.6.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/zstandard?source=compressed-mapping
+  size: 467133
+  timestamp: 1762512686069
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
   sha256: 68f0206ca6e98fea941e5717cec780ed2873ffabc0e1ed34428c061e2c6268c7
   md5: 4a13eeac0b5c8e5b8ab496e6c4ddd829
diff --git a/pixi.toml b/pixi.toml
index 0c146a5f9..a3a2c25a3 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -157,13 +157,13 @@ ros-jazzy-pybind11-vendor = ">=3.1.3,<4"
 ros-jazzy-soccer-vision-3d-rviz-markers = ">=1.0.0,<2"
 ros-jazzy-soccer-vision-3d-msgs = ">=1.0.0,<2"
 ros-jazzy-soccer-vision-attribute-msgs = ">=1.0.0,<2"
-ros-jazzy-rviz-imu-plugin = ">=2.1.5,<3"
 ros-jazzy-rot-conv = ">=1.1.0,<2"
 ros-jazzy-bio-ik = ">=2.0.0,<3"
 ros-jazzy-bio-ik-msgs = ">=0.0.0,<0.0.1"
 ros-jazzy-biped-interfaces = ">=0.0.0,<0.0.1"
 ros-jazzy-bitbots-tf-buffer = ">=1.0.0,<2"
 ros-jazzy-ros2-python-extension = ">=1.0.0,<2"
+ros-jazzy-audio-common = ">=0.3.15,<0.4"
 ros-jazzy-dynamic-stack-decider = ">=0.5.3,<0.6"
 ros-jazzy-dynamic-stack-decider-visualization = ">=0.2.1,<0.3"
 ros-jazzy-game-controller-hl = ">=1.1.0,<2"
@@ -192,6 +192,7 @@ bitbots_rust_nav = { path = "src/bitbots_navigation/bitbots_rust_nav" }
 # Patches
 pillow = "<12" # this constraint is needed as yoeo specifies the 11 major version and otherwise uv fails to solve given the constrains from the conda ecosystem.
 setuptools = "==68.1.2"  # Pinning setuptools to avoid issues with colcon build
+git = ">=2.52.0,<3"  # Otherwise the system git might be used causing ABI issues
 
 [feature.format.dependencies]
 clang-format = ">=21.1.0,<22"

From d0e88d201df0e3c18cdd02ac1283c0ba131dee8c Mon Sep 17 00:00:00 2001
From: Florian Vahl <florian@flova.de>
Date: Mon, 29 Dec 2025 21:44:01 +0100
Subject: [PATCH 88/90] Add curl

Signed-off-by: Florian Vahl <florian@flova.de>
---
 pixi.lock | 19 +++++++++++++++++++
 pixi.toml |  1 +
 2 files changed, 20 insertions(+)

diff --git a/pixi.lock b/pixi.lock
index 9edf08cb9..7a0a5e645 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -89,6 +89,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.18.3-py312h014360a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cppzmq-4.11.0-hbe92c44_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-46.0.3-py312ha4b625e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/curl-8.17.0-h4e3cde8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.11.0-hfcd1e18_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhcf101f3_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.28-hd9c7081_0.conda
@@ -1195,6 +1196,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.18.3-py312h014360a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cppzmq-4.11.0-hbe92c44_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-46.0.3-py312ha4b625e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/curl-8.17.0-h4e3cde8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.11.0-hfcd1e18_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhcf101f3_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.28-hd9c7081_0.conda
@@ -3281,6 +3283,23 @@ packages:
   - pkg:pypi/cryptography?source=compressed-mapping
   size: 1716814
   timestamp: 1764805537696
+- conda: https://conda.anaconda.org/conda-forge/linux-64/curl-8.17.0-h4e3cde8_1.conda
+  sha256: de3643097dd7780ad3c1d8e4976324f5dbd564a787bd6496d0694fc9cfdae8e8
+  md5: cb3648a22e7d5010fc9edae69bb2eab8
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - krb5 >=1.21.3,<1.22.0a0
+  - libcurl 8.17.0 h4e3cde8_1
+  - libgcc >=14
+  - libssh2 >=1.11.1,<2.0a0
+  - libzlib >=1.3.1,<2.0a0
+  - openssl >=3.5.4,<4.0a0
+  - zstd >=1.5.7,<1.6.0a0
+  license: curl
+  license_family: MIT
+  purls: []
+  size: 186977
+  timestamp: 1765379040425
 - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.11.0-hfcd1e18_0.conda
   sha256: 3fcc97ae3e89c150401a50a4de58794ffc67b1ed0e1851468fcc376980201e25
   md5: 5da8c935dca9186673987f79cef0b2a5
diff --git a/pixi.toml b/pixi.toml
index a3a2c25a3..6311bd2f1 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -193,6 +193,7 @@ bitbots_rust_nav = { path = "src/bitbots_navigation/bitbots_rust_nav" }
 pillow = "<12" # this constraint is needed as yoeo specifies the 11 major version and otherwise uv fails to solve given the constrains from the conda ecosystem.
 setuptools = "==68.1.2"  # Pinning setuptools to avoid issues with colcon build
 git = ">=2.52.0,<3"  # Otherwise the system git might be used causing ABI issues
+curl = ">=8.17.0,<9"
 
 [feature.format.dependencies]
 clang-format = ">=21.1.0,<22"

From 884be0edcb645aecae1cf15d8d2c16244b79023f Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 4 Jan 2026 00:07:16 +0100
Subject: [PATCH 89/90] Add arm linux support

---
 pixi.lock | 17486 +++++++++++++++++++++++++++++++++++++++++++++++++++-
 pixi.toml |    13 +-
 2 files changed, 17215 insertions(+), 284 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 7a0a5e645..47bce389c 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1044,6 +1044,1031 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/2f/f9/9e082990c2585c744734f85bec79b5dae5df9c974ffee58fe421652c8e91/werkzeug-3.1.4-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/a4/f5/10b68b7b1544245097b2a1b8238f66f2fc6dcaeb24ba5d917f52bd2eed4f/wsproto-1.3.2-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/f1/7e/1d55a5749fbf7d1ac6411f3028128b974a3e6bb770d365a2518ecee8ce7e/xdgenvpy-2.4.0-py3-none-any.whl
+      linux-aarch64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/_openmp_mutex-4.5-2_gnu.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/adwaita-icon-theme-49.0-unix_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/aiohappyeyeballs-2.6.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/aiohttp-3.13.2-py312hf67d600_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/aiosignal-1.4.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/alabaster-1.0.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/alsa-lib-1.2.15.1-he30d5cf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/aom-3.9.1-hcccb83c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.6.3-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/assimp-5.4.3-hdc325bc_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-3.0.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/at-spi2-atk-2.38.0-h1f2db35_3.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/at-spi2-core-2.40.3-h1f2db35_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/atk-1.0-2.38.0-hedc4a1f_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/attr-2.5.1-h4e544f5_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-25.4.0-pyhcf101f3_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/babel-2.17.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/bcrypt-5.0.0-py312h5eb8f6c_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.9-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/benchmark-1.9.4-h5ad3122_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/binutils-2.45-default_hf1166c9_105.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/binutils_impl_linux-aarch64-2.45-default_h5f4c503_105.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/binutils_linux-aarch64-2.45-default_hf1166c9_105.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_2.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/blosc-1.21.6-hb4dfabd_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
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   timestamp: 1760026188268
+- conda: https://conda.anaconda.org/conda-forge/noarch/roman-numerals-4.1.0-pyhd8ed1ab_0.conda
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+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-action-tutorials-py-0.33.7-np126py312h3bd2861_10.conda
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+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
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+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-2.5.4-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 23133
   timestamp: 1759134416228
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ament-cmake-2.5.4-np126py312h01c0cb9_10.conda
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+  - ros-jazzy-ament-cmake-export-interfaces
+  - ros-jazzy-ament-cmake-export-libraries
+  - ros-jazzy-ament-cmake-export-link-flags
+  - ros-jazzy-ament-cmake-export-targets
+  - ros-jazzy-ament-cmake-gen-version-h
+  - ros-jazzy-ament-cmake-libraries
+  - ros-jazzy-ament-cmake-python
+  - ros-jazzy-ament-cmake-target-dependencies
+  - ros-jazzy-ament-cmake-test
+  - ros-jazzy-ament-cmake-version
+  - ros-jazzy-ros-workspace
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+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-auto-2.5.4-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 27239
   timestamp: 1759134487157
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+  sha256: 9de3096dee9ee48106f70af3373785a77e4fa036554d0527e012d4642ba61bc3
+  md5: 986e5f5e89a533affb15f0df30d561a0
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+  - ros-jazzy-ros-workspace
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+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-copyright-0.17.3-np126py312h3bd2861_10.conda
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   size: 22540
   timestamp: 1759134598637
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+  sha256: 2d985292d82b34d89229f1bdef1dc347d83b90ab21a0cf54004f9b889c483e50
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+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-core-2.5.4-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
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   timestamp: 1759133832453
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+  sha256: 8ab9c72a199a10f43acca482d320b3597e07b5c1bcf8948f49056a90c6557147
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+  - libstdcxx >=14
+  - libgcc >=14
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-cppcheck-0.17.3-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 24145
   timestamp: 1759134739203
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+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-cpplint-0.17.3-np126py312h3bd2861_10.conda
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-dependencies-2.5.4-np126py312h3bd2861_10.conda
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-export-include-directories-2.5.4-np126py312h3bd2861_10.conda
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   timestamp: 1759134777625
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   timestamp: 1759134310146
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-mypy-0.17.3-np126py312h3bd2861_10.conda
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-pytest-2.5.4-np126py312h3bd2861_10.conda
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+  - numpy >=1.26.4,<2.0a0
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+  - ros-jazzy-ament-cmake-pytest
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+  - numpy >=1.26.4,<2.0a0
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+  - numpy >=1.26.4,<2.0a0
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+  - numpy >=1.26.4,<2.0a0
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+  - numpy >=1.26.4,<2.0a0
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+  - numpy >=1.26.4,<2.0a0
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-index-python-1.8.1-np126py312h3bd2861_10.conda
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   size: 22182
   timestamp: 1759134824441
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+  - ros-jazzy-ament-cmake-core
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+  - ros-jazzy-ament-cmake-cpplint
+  - ros-jazzy-ament-cmake-flake8
+  - ros-jazzy-ament-cmake-lint-cmake
+  - ros-jazzy-ament-cmake-pep257
+  - ros-jazzy-ament-cmake-uncrustify
+  - ros-jazzy-ament-cmake-xmllint
+  - ros-jazzy-ros-workspace
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+  - libgcc >=14
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+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
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+  - python_abi 3.12.* *_cp312
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+  - libgcc >=14
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+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-pep257-0.17.3-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 26874
   timestamp: 1759134170804
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+  - libgcc >=14
+  - libstdcxx >=14
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-uncrustify-0.17.3-np126py312h3bd2861_10.conda
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+  - libstdcxx >=14
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-xmllint-0.17.3-np126py312h3bd2861_10.conda
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   size: 27918
   timestamp: 1759134423741
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+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-angles-1.16.1-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 33829
   timestamp: 1759134515576
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-angles-1.16.1-np126py312h01c0cb9_10.conda
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+  - ros-jazzy-ros-workspace
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+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
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+  timestamp: 1759134703067
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-apriltag-3.4.5-np126py312h5cbfcd5_10.conda
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   license: BSD-3-Clause
   size: 1356098
   timestamp: 1759133945824
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-apriltag-3.4.5-np126py312hc06382c_10.conda
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+  md5: 958fc43e5aa3ce48371e7d7e003326c3
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+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - py-opencv >=4.11.0,<5.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libopencv >=4.11.0,<4.11.1.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 1354815
+  timestamp: 1759134175815
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-apriltag-msgs-2.0.1-np126py312h3bd2861_10.conda
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@@ -10063,6 +17857,24 @@ packages:
   license: BSD-3-Clause
   size: 115994
   timestamp: 1759136901564
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-apriltag-msgs-2.0.1-np126py312h01c0cb9_10.conda
+  sha256: db268e344db4a994288333d26cf51975dad1265629f37cc3ddd81c87f288170e
+  md5: b2f4b6cd4dc6acb0a9fc67c250fde0fc
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 120501
+  timestamp: 1759137023751
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-apriltag-ros-3.3.0-np126py312h3bd2861_10.conda
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   - numpy >=1.26.4,<2.0a0
   - python_abi 3.12.* *_cp312
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 214944
+  timestamp: 1759139976631
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-apriltag-ros-3.3.0-np126py312h01c0cb9_10.conda
+  sha256: f8a58ebfeeb111d4828d4edd5865bd52a53107fcab2e8dda56dafb6807fda414
+  md5: 50834627777cf55b6c6cc94400b814c2
+  depends:
+  - python
+  - ros-jazzy-apriltag
+  - ros-jazzy-apriltag-msgs
+  - ros-jazzy-camera-ros
+  - ros-jazzy-cv-bridge
+  - ros-jazzy-image-proc
+  - ros-jazzy-image-transport
+  - ros-jazzy-image-transport-plugins
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 214944
-  timestamp: 1759139976631
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 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-audio-capture-0.3.15-np126py312h3bd2861_10.conda
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@@ -10119,6 +17957,35 @@ packages:
   license: BSD-3-Clause
   size: 169304
   timestamp: 1767022517333
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-audio-capture-0.3.15-np126py312hbb414ff_10.conda
+  sha256: c6f412c8812ff49f5f7773d5c720e0d23e415b9f689b079ee1a7d1b47cd0db94
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+  - gst-plugins-good
+  - gst-plugins-ugly
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+  - python
+  - ros-jazzy-audio-common-msgs
+  - ros-jazzy-launch-xml
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
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+  - libstdcxx >=14
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - libboost >=1.86.0,<1.87.0a0
+  - gst-plugins-base >=1.24.11,<1.25.0a0
+  - gstreamer >=1.24.11,<1.25.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libboost-python >=1.86.0,<1.87.0a0
+  license: BSD-3-Clause
+  size: 177127
+  timestamp: 1767478456867
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-audio-common-0.3.15-np126py312h3bd2861_10.conda
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@@ -10138,6 +18005,25 @@ packages:
   license: BSD-3-Clause
   size: 22521
   timestamp: 1767022517453
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-audio-common-0.3.15-np126py312hbb414ff_10.conda
+  sha256: 45fa92e335c62da84df9850eb1f911f3b1b70b517772ce596a1e2e9b06d848d2
+  md5: 93ae4df6bd314386a5f47af0a20a6672
+  depends:
+  - python
+  - ros-jazzy-audio-capture
+  - ros-jazzy-audio-common-msgs
+  - ros-jazzy-audio-play
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - python 3.12.* *_cpython
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 27828
+  timestamp: 1767478456766
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-audio-common-msgs-0.3.15-np126py312h3bd2861_10.conda
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@@ -10156,6 +18042,24 @@ packages:
   license: BSD-3-Clause
   size: 107858
   timestamp: 1767022517559
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-audio-common-msgs-0.3.15-np126py312hbb414ff_10.conda
+  sha256: 65ec823d8ab8241e61192606323ef52151a3689bb395878a5b592d98bfe5d4dd
+  md5: e3a10142c4bf1496afc83dbacf0c440a
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
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+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - python 3.12.* *_cpython
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 116389
+  timestamp: 1767478130225
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-audio-play-0.3.15-np126py312h3bd2861_10.conda
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@@ -10185,6 +18089,35 @@ packages:
   license: BSD-3-Clause
   size: 206520
   timestamp: 1767022517431
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-audio-play-0.3.15-np126py312hbb414ff_10.conda
+  sha256: e901cf9455e26ce95bbb55e95a952a9387d3cb9d28220791a3a8e58b1d0d7852
+  md5: 739791257bfee37e1b32a2878d054746
+  depends:
+  - gst-plugins-base
+  - gst-plugins-good
+  - gst-plugins-ugly
+  - gstreamer
+  - gstreamer 1.24.*
+  - python
+  - ros-jazzy-audio-common-msgs
+  - ros-jazzy-launch-xml
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - libboost >=1.86.0,<1.87.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libboost-python >=1.86.0,<1.87.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - gstreamer >=1.24.11,<1.25.0a0
+  - gst-plugins-base >=1.24.11,<1.25.0a0
+  license: BSD-3-Clause
+  size: 212916
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-backward-ros-1.0.8-np126py312h3bd2861_10.conda
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   md5: 8a6ae578f17e75968ab410b0407dffd0
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   license: BSD-3-Clause
   size: 333536
   timestamp: 1759134113567
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-backward-ros-1.0.8-np126py312h01c0cb9_10.conda
+  sha256: ff0beacf5d813e137f21fa3c8f24c190cf667bec20bf14a142e9c87d9847db36
+  md5: a2bf4006a44ee790316853a036530a76
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+  - elfutils
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - elfutils >=0.193,<0.194.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 323326
+  timestamp: 1759134314945
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-better-launch-1.0.4-np126py312h3bd2861_10.conda
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   md5: 4f818a3cbd4aea7b4b015e3ce79d4132
@@ -10231,6 +18181,33 @@ packages:
   license: BSD-3-Clause
   size: 266446
   timestamp: 1765488858146
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-better-launch-1.0.4-np126py312hbb414ff_10.conda
+  sha256: db44826f900cb28af7a14614861efaf61bb6f8a91c8bb85f05a7ea97b67f7d2e
+  md5: 538c98b21683e21e0e603602bcd76ca8
+  depends:
+  - click
+  - docstring_parser
+  - osrf_pycommon
+  - psutil
+  - python
+  - pyyaml
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-composition-interfaces
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - setproctitle
+  - python 3.12.* *_cpython
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 272345
+  timestamp: 1767478456644
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bio-ik-2.0.0-np126py312h3bd2861_10.conda
   sha256: 44e14ead063acb6e2521d924c58136332b7a8fe91b6514a96b21c59e31a26ccf
   md5: 439633f548891993dfe7f8d46afd9f29
@@ -10256,6 +18233,31 @@ packages:
   license: BSD-3-Clause
   size: 391424
   timestamp: 1765488857916
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-bio-ik-2.0.0-np126py312hbb414ff_10.conda
+  sha256: 6d9e8f61d2bb2811baf659186ea3b3cc847a22fd84aaebab2c509d91b63b7ab8
+  md5: 22bcbbfebba11d402b5e8ded34f54de3
+  depends:
+  - eigen
+  - python
+  - ros-jazzy-moveit-core
+  - ros-jazzy-moveit-ros-planning
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-kdl
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - python 3.12.* *_cpython
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 360179
+  timestamp: 1767478827668
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bio-ik-msgs-0.0.0-np126py312h3bd2861_10.conda
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   md5: 45559990b263a2c108cc81b48f85c443
@@ -10276,6 +18278,26 @@ packages:
   license: BSD-3-Clause
   size: 410726
   timestamp: 1765488857825
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-bio-ik-msgs-0.0.0-np126py312hbb414ff_10.conda
+  sha256: 3f341eb5b4e7d213a8e38837432ae2f27a517bcad82fb115f00b62761282c6da
+  md5: 586cfdc581d705b8a310c92e5520c371
+  depends:
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-moveit-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 421965
+  timestamp: 1767478827659
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-biped-interfaces-0.0.0-np126py312h3bd2861_10.conda
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   md5: 01a359d83d42a54fe35f53cbe209d732
@@ -10295,6 +18317,25 @@ packages:
   license: BSD-3-Clause
   size: 88990
   timestamp: 1765488857978
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-biped-interfaces-0.0.0-np126py312hbb414ff_10.conda
+  sha256: a8b0dc360e5d7b3d80bb8f281b259cc5665eb135bd52185ae9b360eafa6892e0
+  md5: 3515141d5748839bbb2392c0e1a2f1c9
+  depends:
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - libstdcxx >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 100405
+  timestamp: 1767478130270
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bitbots-dynamixel-sdk-3.7.21-np126py312h3bd2861_10.conda
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   md5: 341f5db4ca40352d236e4c77f5f7c20f
@@ -10313,6 +18354,24 @@ packages:
   license: BSD-3-Clause
   size: 117442
   timestamp: 1765488858128
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-bitbots-dynamixel-sdk-3.7.21-np126py312hbb414ff_10.conda
+  sha256: 8b1f0279d08cf6c58a0f69e67d49c4b5f729d314fd0780c67dc79cf3d0ff1e04
+  md5: 58a3feb26b55c999522d17796a88246c
+  depends:
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 124445
+  timestamp: 1767478456785
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-bitbots-tf-buffer-1.0.0-np126py312h3bd2861_10.conda
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   md5: 9c492f6dec82d85850922af5743c5dce
@@ -10339,6 +18398,32 @@ packages:
   license: BSD-3-Clause
   size: 243199
   timestamp: 1765488857992
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-bitbots-tf-buffer-1.0.0-np126py312hbb414ff_10.conda
+  sha256: 9355109fa8ff5db6d7a898eea23eedff1da4e5b92f61d315fdb9618574e5a06b
+  md5: 6a0b344a0eba54eb458ca3ac0b73d107
+  depends:
+  - python
+  - ros-jazzy-backward-ros
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-pybind11-vendor
+  - ros-jazzy-rcl
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2-python-extension
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - python 3.12.* *_cpython
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 234092
+  timestamp: 1767478827479
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-builtin-interfaces-2.0.3-np126py312h3bd2861_10.conda
   sha256: 61591684d33300b93566ad1cca53a3650ec16733ae4a68cd032e4f20812d03ce
   md5: 01a602042c395cf018dabdadd12482ac
@@ -10357,6 +18442,23 @@ packages:
   license: BSD-3-Clause
   size: 79473
   timestamp: 1759136335359
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-builtin-interfaces-2.0.3-np126py312h01c0cb9_10.conda
+  sha256: c382d7c2665e79ed31de5d05969fe3cfbc81fe58d41d99772fca6c81aebe308e
+  md5: c45ff1bab9f2496d77f736c57869f721
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-core-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 84159
+  timestamp: 1759136455628
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-camera-calibration-parsers-5.1.7-np126py312h3bd2861_10.conda
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@@ -10377,6 +18479,25 @@ packages:
   license: BSD-3-Clause
   size: 109184
   timestamp: 1759138301836
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-camera-calibration-parsers-5.1.7-np126py312h01c0cb9_10.conda
+  sha256: 444c1a5646b526bf07da16101424ab6102194b785b738e704a0b420ace9aa080
+  md5: f2e907f36891f8edcda93c7f4cd67240
+  depends:
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-yaml-cpp-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 109955
+  timestamp: 1759138129329
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-camera-info-manager-5.1.7-np126py312h3bd2861_10.conda
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@@ -10400,6 +18521,27 @@ packages:
   license: BSD-3-Clause
   size: 79895
   timestamp: 1759138530522
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-camera-info-manager-5.1.7-np126py312h01c0cb9_10.conda
+  sha256: 228df7ca00986a6f09bb4163732254425a93c54ba933d9da14f82bfb39835b9f
+  md5: 3ead4e7cf140b85c05d2ee07b357b111
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-camera-calibration-parsers
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-lifecycle
+  - ros-jazzy-rcpputils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 80393
+  timestamp: 1759138342993
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-camera-ros-0.5.0-np126py312h3bd2861_10.conda
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   md5: 6c6673f16f5ca0421daafa0f872b3247
@@ -10416,7 +18558,32 @@ packages:
   - ros-jazzy-ros2launch
   - ros-jazzy-sensor-msgs
   - ros2-distro-mutex 0.11.* jazzy_*
-  - __glibc >=2.17,<3.0.a0
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 348237
+  timestamp: 1759139530640
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-camera-ros-0.5.0-np126py312h01c0cb9_10.conda
+  sha256: 17b3946d5527e3cc84cfd31cd2b14ff8af43ab37c21e0804260e8e80375fb134
+  md5: 70120f05dd399f3f603768835ac4bcc0
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-camera-info-manager
+  - ros-jazzy-cv-bridge
+  - ros-jazzy-image-view
+  - ros-jazzy-libcamera
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2launch
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
   - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
@@ -10424,8 +18591,8 @@ packages:
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   license: BSD-3-Clause
-  size: 348237
-  timestamp: 1759139530640
+  size: 335266
+  timestamp: 1759139125674
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-class-loader-2.7.0-np126py312h3bd2861_10.conda
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@@ -10447,6 +18614,25 @@ packages:
   license: BSD-3-Clause
   size: 73708
   timestamp: 1759135857274
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-class-loader-2.7.0-np126py312h01c0cb9_10.conda
+  sha256: 4b1530b3d0c4de3e7d1b44851063773673cd99e388a05dcfcb4d1300793107c0
+  md5: 0f40df79d0e2f02ecc553bd838484c10
+  depends:
+  - console_bridge
+  - python
+  - ros-jazzy-console-bridge-vendor
+  - ros-jazzy-rcpputils
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - console_bridge >=1.0.2,<1.1.0a0
+  license: BSD-3-Clause
+  size: 79923
+  timestamp: 1759135875070
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-common-interfaces-5.3.6-np126py312h3bd2861_10.conda
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@@ -10476,6 +18662,33 @@ packages:
   license: BSD-3-Clause
   size: 26507
   timestamp: 1759137733906
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-common-interfaces-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: 43efc8bcb2a4e1f3350e9b1d2bba4e5c851bc0afbd540b8d0f4ddb6f4280e6ec
+  md5: 61e24a5d0ef2652a8596b2d4d5d70fdb
+  depends:
+  - python
+  - ros-jazzy-actionlib-msgs
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-diagnostic-msgs
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-nav-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-shape-msgs
+  - ros-jazzy-std-msgs
+  - ros-jazzy-std-srvs
+  - ros-jazzy-stereo-msgs
+  - ros-jazzy-trajectory-msgs
+  - ros-jazzy-visualization-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 26523
+  timestamp: 1759137678263
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-composition-0.33.7-np126py312h3bd2861_10.conda
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@@ -10498,6 +18711,27 @@ packages:
   license: BSD-3-Clause
   size: 324840
   timestamp: 1759138935288
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-composition-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 807830358388f2562db6d4d0638f04a1aeba7e022da8fb1c52bbcfaead96cd08
+  md5: a59beaf47953c33f1ea9bf09caa3e56e
+  depends:
+  - python
+  - ros-jazzy-example-interfaces
+  - ros-jazzy-launch-ros
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 325456
+  timestamp: 1759138610946
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-composition-interfaces-2.0.3-np126py312h3bd2861_10.conda
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   md5: 3043bfc380012c98998147d2d467e112
@@ -10517,6 +18751,24 @@ packages:
   license: BSD-3-Clause
   size: 224044
   timestamp: 1759136883969
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+  - ros-jazzy-ros-workspace
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+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 230573
+  timestamp: 1759137029650
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-compressed-depth-image-transport-4.0.6-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 309882
   timestamp: 1759139220873
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+  - ros-jazzy-image-transport
+  - ros-jazzy-ros-workspace
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+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 312863
+  timestamp: 1759138879317
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-compressed-image-transport-4.0.6-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 317269
   timestamp: 1759139174471
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-compressed-image-transport-4.0.6-np126py312h01c0cb9_10.conda
+  sha256: 97238ad9f0a91f698dd0fc971a6d9b3860175cf511cd5212bdf0a7731619f63b
+  md5: d20099d5fcde24b543f9806f0cd66a69
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+  - ros-jazzy-image-transport
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 323872
+  timestamp: 1759138821884
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-console-bridge-vendor-1.7.1-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 27417
   timestamp: 1759135565658
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-console-bridge-vendor-1.7.1-np126py312h01c0cb9_10.conda
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+  depends:
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+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - console_bridge >=1.0.2,<1.1.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 27490
+  timestamp: 1759135505352
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-control-msgs-5.5.0-np126py312h3bd2861_10.conda
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@@ -10597,6 +18900,29 @@ packages:
   license: BSD-3-Clause
   size: 1192027
   timestamp: 1759137246598
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-control-msgs-5.5.0-np126py312h01c0cb9_10.conda
+  sha256: 5393d8e5ec718366997b8fced31f021a4ff11b0e910df526cfa146f3d359701e
+  md5: 4f00186a960917fe24a7ddd6a4187946
+  depends:
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+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros-jazzy-trajectory-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 1201269
+  timestamp: 1759137313765
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-control-toolbox-4.7.1-np126py312h3bd2861_10.conda
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   md5: 6e114918ae1a85fcffd029bc20c0a371
@@ -10629,6 +18955,37 @@ packages:
   license: BSD-3-Clause
   size: 288568
   timestamp: 1759139565969
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-control-toolbox-4.7.1-np126py312h01c0cb9_10.conda
+  sha256: 5ad9ec4707723c9419f76bd3cfcd3c8c9efd225f3b975ad0f2e93a03e292ae84
+  md5: 03c985b5ceb6373146161a264efba9d7
+  depends:
+  - eigen
+  - fmt
+  - python
+  - ros-jazzy-backward-ros
+  - ros-jazzy-control-msgs
+  - ros-jazzy-filters
+  - ros-jazzy-generate-parameter-library
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rcutils
+  - ros-jazzy-realtime-tools
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - fmt >=11.2.0,<11.3.0a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 284478
+  timestamp: 1759139161165
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-controller-interface-4.37.0-np126py312h3bd2861_10.conda
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@@ -10649,6 +19006,25 @@ packages:
   license: BSD-3-Clause
   size: 120122
   timestamp: 1759139823518
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-controller-interface-4.37.0-np126py312h01c0cb9_10.conda
+  sha256: 81211460366838d7e8195aa627fe6288e09aa4cd2127d0d9d926844c955d4e94
+  md5: 3e0e46450783e72926353297895ec236
+  depends:
+  - python
+  - ros-jazzy-hardware-interface
+  - ros-jazzy-rclcpp-lifecycle
+  - ros-jazzy-realtime-tools
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - fmt >=11.2.0,<11.3.0a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 119202
+  timestamp: 1759139396818
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-controller-manager-4.37.0-np126py312h3bd2861_10.conda
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   md5: 5fb4a8f47e9fa21104d3c7b71773c899
@@ -10685,6 +19061,40 @@ packages:
   license: BSD-3-Clause
   size: 658896
   timestamp: 1759140634338
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-controller-manager-4.37.0-np126py312h01c0cb9_10.conda
+  sha256: 0702ecddfd13412f6ff5377cd5f9904a6e97ae9484421fa404c49cebcbcab6d4
+  md5: 62afc8f8108a90eb029bb98877a720b4
+  depends:
+  - fmt
+  - python
+  - ros-jazzy-backward-ros
+  - ros-jazzy-controller-interface
+  - ros-jazzy-controller-manager-msgs
+  - ros-jazzy-diagnostic-updater
+  - ros-jazzy-generate-parameter-library
+  - ros-jazzy-hardware-interface
+  - ros-jazzy-launch
+  - ros-jazzy-launch-ros
+  - ros-jazzy-libstatistics-collector
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rcpputils
+  - ros-jazzy-realtime-tools
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2-control-test-assets
+  - ros-jazzy-ros2param
+  - ros-jazzy-ros2run
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - fmt >=11.2.0,<11.3.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 622594
+  timestamp: 1759139958262
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-controller-manager-msgs-4.37.0-np126py312h3bd2861_10.conda
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@@ -10706,6 +19116,26 @@ packages:
   license: BSD-3-Clause
   size: 546357
   timestamp: 1759136842329
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-controller-manager-msgs-4.37.0-np126py312h01c0cb9_10.conda
+  sha256: f7aab0bdb4fdd820305d43f793982a5b2b54d75528cb9551297f406c62322d78
+  md5: 356675520b59f64beb86a21d6423d546
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 554015
+  timestamp: 1759136990894
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-cv-bridge-4.1.0-np126py312h5cbfcd5_10.conda
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   md5: 08b9fdee47efea0fad4fde93b3e16a30
@@ -10741,6 +19171,40 @@ packages:
   license: BSD-3-Clause
   size: 206747
   timestamp: 1759138428709
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-cv-bridge-4.1.0-np126py312hc06382c_10.conda
+  sha256: 251a399b16158a8da6a8bcb3d5c8ef43c270bae251b54099899180de045dfde7
+  md5: 8f7eff799c7cf5f7cd0cdbe218bb9273
+  depends:
+  - libboost-python
+  - libopencv
+  - numpy
+  - py-opencv
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rcpputils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - py-opencv >=4.11.0,<5.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - libboost >=1.86.0,<1.87.0a0
+  - libgl >=1.7.0,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - libboost-python >=1.86.0,<1.87.0a0
+  - libopencv >=4.11.0,<4.11.1.0a0
+  license: BSD-3-Clause
+  size: 212401
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-cyclonedds-0.10.5-np126py312h3bd2861_10.conda
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   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 1199357
-  timestamp: 1759134314376
+  size: 1199357
+  timestamp: 1759134314376
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-cyclonedds-0.10.5-np126py312h01c0cb9_10.conda
+  sha256: 5972ba42667a4df8f023a398508113b0f634e5f098180dbfe79df49f0d70153d
+  md5: 09078ed33b9fca78613ca7bd26dcfb1a
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+  - openssl
+  - python
+  - ros-jazzy-iceoryx-binding-c
+  - ros-jazzy-iceoryx-hoofs
+  - ros-jazzy-iceoryx-posh
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - openssl >=3.5.3,<4.0a0
+  license: BSD-3-Clause
+  size: 1247089
+  timestamp: 1759134504817
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-data-tamer-cpp-0.9.4-np126py312h3bd2861_10.conda
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@@ -10783,6 +19267,24 @@ packages:
   license: BSD-3-Clause
   size: 181979
   timestamp: 1759138256233
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-data-tamer-cpp-0.9.4-np126py312h01c0cb9_10.conda
+  sha256: 5cc2a6e2dcbc1d3e89e1a5d47f87ea7142d84df4c8010aa85c2bc9a030a21288
+  md5: 24f0336602547a5539a75f097e339dbb
+  depends:
+  - python
+  - ros-jazzy-data-tamer-msgs
+  - ros-jazzy-mcap-vendor
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 181949
+  timestamp: 1759138063188
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-data-tamer-msgs-0.9.4-np126py312h3bd2861_10.conda
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   md5: 9220fd17ea627c5c1584e3649eb8b0f4
@@ -10802,6 +19304,24 @@ packages:
   license: BSD-3-Clause
   size: 111570
   timestamp: 1759136583885
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-data-tamer-msgs-0.9.4-np126py312h01c0cb9_10.conda
+  sha256: 6ac3f30d290e82fed322b41bdc700e801e4056e3828621cd179e687659788aa7
+  md5: afc30dde904b7f8aa2c4ea839b18b222
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 115683
+  timestamp: 1759136811882
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-demo-nodes-cpp-0.33.7-np126py312h3bd2861_10.conda
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   md5: 387bf3e8733bb92bb1288c0fb23a4159
@@ -10830,6 +19350,33 @@ packages:
   license: BSD-3-Clause
   size: 1250223
   timestamp: 1759139013297
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-demo-nodes-cpp-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 5fb6e8db3afcc8ec4ee0b56ad3ff1565e0b2a8564145203539cfafe5813a5a32
+  md5: 6009bea40edf8192728ac84c07610893
+  depends:
+  - python
+  - ros-jazzy-example-interfaces
+  - ros-jazzy-launch-ros
+  - ros-jazzy-launch-xml
+  - ros-jazzy-rcl
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 1302900
+  timestamp: 1759138711142
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-demo-nodes-cpp-native-0.33.7-np126py312h3bd2861_10.conda
   sha256: 7bb2b269febc1742dceaed6aa356b329c7d5071ca321dfb54186ccf091097001
   md5: 8f990dd838acfcd16327396f338d1329
@@ -10850,6 +19397,26 @@ packages:
   license: BSD-3-Clause
   size: 119980
   timestamp: 1759138999080
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-demo-nodes-cpp-native-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: d4122632be4c6d128f7f81aa21f0fd18f437bf0ff3f0477b474a0212493b105d
+  md5: 17ef51f61f78d453b435d70e02f94c63
+  depends:
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rmw-fastrtps-cpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 121824
+  timestamp: 1759138696690
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-demo-nodes-py-0.33.7-np126py312h3bd2861_10.conda
   sha256: db19e752a133098fe79e7b16bc38d4c98023289c5070f2d6aad963ca8fd8f619
   md5: 0fbd522da24f1357701bbb010b3876d8
@@ -10871,6 +19438,27 @@ packages:
   license: BSD-3-Clause
   size: 43000
   timestamp: 1759138322806
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-demo-nodes-py-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 09a9d949712b20167d17c55041c40fb1d94a72fc182c61f2a81c88acec920a15
+  md5: 91f6514c7a1b39c51665988f66657354
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-example-interfaces
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 43017
+  timestamp: 1759138141006
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-depthimage-to-laserscan-2.5.1-np126py312h5cbfcd5_10.conda
   sha256: fa2bf1a5ea5d14795541f845466249bb2e17e6611688f3f504be4efaef2b12c9
   md5: b6e11cdebe95bb00d185ebab67c0626d
@@ -10902,6 +19490,36 @@ packages:
   license: BSD-3-Clause
   size: 285736
   timestamp: 1759138489994
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-depthimage-to-laserscan-2.5.1-np126py312hc06382c_10.conda
+  sha256: 4757bb42bea3c1dde9a0cf844e88620086e7f9a5249c5eb0b68189f309e63e9c
+  md5: db7008fee3abeb44faf3738ff0270089
+  depends:
+  - libopencv
+  - py-opencv
+  - python
+  - ros-jazzy-image-geometry
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - libopencv >=4.11.0,<4.11.1.0a0
+  - python_abi 3.12.* *_cp312
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - py-opencv >=4.11.0,<5.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 285110
+  timestamp: 1759138254858
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-desktop-0.11.0-np126py312h3bd2861_10.conda
   sha256: 551776c0cde8ecd6ad9ece55809927cc97f5c8674184d68f58be12d875df01c7
   md5: ddd5626991c5cb7e72d95f5fbb717b55
@@ -10966,6 +19584,70 @@ packages:
   license: BSD-3-Clause
   size: 23503
   timestamp: 1759143393640
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-desktop-0.11.0-np126py312h01c0cb9_10.conda
+  sha256: d2bfa31177cc681ce4c53a91c414583b23271c61dca3f37082ff4a84acbebe5f
+  md5: 8af2b47537d87e068eeb0d5446bfc5c9
+  depends:
+  - python
+  - ros-jazzy-action-tutorials-cpp
+  - ros-jazzy-action-tutorials-interfaces
+  - ros-jazzy-action-tutorials-py
+  - ros-jazzy-angles
+  - ros-jazzy-composition
+  - ros-jazzy-demo-nodes-cpp
+  - ros-jazzy-demo-nodes-cpp-native
+  - ros-jazzy-demo-nodes-py
+  - ros-jazzy-depthimage-to-laserscan
+  - ros-jazzy-dummy-map-server
+  - ros-jazzy-dummy-robot-bringup
+  - ros-jazzy-dummy-sensors
+  - ros-jazzy-examples-rclcpp-minimal-action-client
+  - ros-jazzy-examples-rclcpp-minimal-action-server
+  - ros-jazzy-examples-rclcpp-minimal-client
+  - ros-jazzy-examples-rclcpp-minimal-composition
+  - ros-jazzy-examples-rclcpp-minimal-publisher
+  - ros-jazzy-examples-rclcpp-minimal-service
+  - ros-jazzy-examples-rclcpp-minimal-subscriber
+  - ros-jazzy-examples-rclcpp-minimal-timer
+  - ros-jazzy-examples-rclcpp-multithreaded-executor
+  - ros-jazzy-examples-rclpy-executors
+  - ros-jazzy-examples-rclpy-minimal-action-client
+  - ros-jazzy-examples-rclpy-minimal-action-server
+  - ros-jazzy-examples-rclpy-minimal-client
+  - ros-jazzy-examples-rclpy-minimal-publisher
+  - ros-jazzy-examples-rclpy-minimal-service
+  - ros-jazzy-examples-rclpy-minimal-subscriber
+  - ros-jazzy-image-tools
+  - ros-jazzy-intra-process-demo
+  - ros-jazzy-joy
+  - ros-jazzy-lifecycle
+  - ros-jazzy-logging-demo
+  - ros-jazzy-pcl-conversions
+  - ros-jazzy-pendulum-control
+  - ros-jazzy-pendulum-msgs
+  - ros-jazzy-quality-of-service-demo-cpp
+  - ros-jazzy-quality-of-service-demo-py
+  - ros-jazzy-ros-base
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-common-plugins
+  - ros-jazzy-rviz-default-plugins
+  - ros-jazzy-rviz2
+  - ros-jazzy-teleop-twist-joy
+  - ros-jazzy-teleop-twist-keyboard
+  - ros-jazzy-tlsf
+  - ros-jazzy-tlsf-cpp
+  - ros-jazzy-topic-monitor
+  - ros-jazzy-turtlesim
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 23473
+  timestamp: 1759142560481
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-diagnostic-aggregator-4.2.6-np126py312h3bd2861_10.conda
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   md5: 7a14a6163faaf2e24055dcf4eed58198
@@ -10984,6 +19666,23 @@ packages:
   license: BSD-3-Clause
   size: 469550
   timestamp: 1759138944583
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-diagnostic-aggregator-4.2.6-np126py312h01c0cb9_10.conda
+  sha256: 7a344b0461b1c56cde55c2d0b87b494f20435044973d2316080375711e290958
+  md5: dd7da461e7dcdd197516d4d6cb018320
+  depends:
+  - python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 466362
+  timestamp: 1759138629135
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-diagnostic-msgs-5.3.6-np126py312h3bd2861_10.conda
   sha256: a5cccc345c27213dde73d0cff7a785a08250a01813b29a892adbd7f6c7d6c045
   md5: 726ff775d169cc0441e200e37b752a1c
@@ -11004,6 +19703,25 @@ packages:
   license: BSD-3-Clause
   size: 207181
   timestamp: 1759137061241
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-diagnostic-msgs-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: 085d2024e3c453a99b96635ee5fa836155f1a97b6cfad255cabae4bcd7ad4d03
+  md5: 0665597cff7b391aa5303a6088429f2d
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 213093
+  timestamp: 1759137167286
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-diagnostic-updater-4.2.6-np126py312h3bd2861_10.conda
   sha256: a46565349f85a1a09385044613311b91606358dc47cd48ce3e1083a32be5fefe
   md5: 9a89432fccbde73faaccc913c5defe77
@@ -11025,6 +19743,25 @@ packages:
   license: BSD-3-Clause
   size: 187693
   timestamp: 1759138952647
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-diagnostic-updater-4.2.6-np126py312h01c0cb9_10.conda
+  sha256: 67907bf484033b9a2acfa61867e8c962b155a3a7098e4bcfc3b8ffb50adc8bda
+  md5: 344bf4d2f0014fb66627799cdd524a3b
+  depends:
+  - python
+  - ros-jazzy-diagnostic-msgs
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 190047
+  timestamp: 1759138630136
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-domain-coordinator-0.12.0-np126py312h3bd2861_10.conda
   sha256: a5ff0e936b903f3e86fb2524c6a7f594ab24dac3fad910a53e97b36ae5413637
   md5: 7c0173e23b895b5be8e3fd15a4a77f59
@@ -11041,6 +19778,21 @@ packages:
   license: BSD-3-Clause
   size: 20968
   timestamp: 1759134414484
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-domain-coordinator-0.12.0-np126py312h01c0cb9_10.conda
+  sha256: 3f0d52f2f1ddc4eac0cabf87355b5cbffc80aba1bab80fff7f8c1a3171f06244
+  md5: 8b193a57e0f9c70fd5545ccf2a9bec00
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 20946
+  timestamp: 1759134594842
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-dummy-map-server-0.33.7-np126py312h3bd2861_10.conda
   sha256: 8009ce2e11aecc3629d087061782a42edf9eb6b658c349b40e93d8d93db00d9e
   md5: 7225e2152e7837a604ab1da35ae7a705
@@ -11060,6 +19812,24 @@ packages:
   license: BSD-3-Clause
   size: 89138
   timestamp: 1759138312095
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-dummy-map-server-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 200a39b3729d4698ca74babe1928604ff521cf7988be38e3a3fba7cbe763e088
+  md5: 0f1807e7996a8979fd3833eaa63d3d0e
+  depends:
+  - python
+  - ros-jazzy-nav-msgs
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 95293
+  timestamp: 1759138127309
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-dummy-robot-bringup-0.33.7-np126py312h3bd2861_10.conda
   sha256: 28aa5f6c44181ddbbc8ddd8a847d28bab5daf59823cc50437fee0f544c019928
   md5: be0ffa7e3ecd23e47b8a6e768c7da87d
@@ -11083,6 +19853,27 @@ packages:
   license: BSD-3-Clause
   size: 30336
   timestamp: 1759139562695
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-dummy-robot-bringup-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 4358ba1ede84582adf2857d026408cda1d94ae78a26ce3fe38e7ba2a60b729bc
+  md5: 8874ad214122d21c01a01151a9aa4146
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-dummy-map-server
+  - ros-jazzy-dummy-sensors
+  - ros-jazzy-launch
+  - ros-jazzy-launch-ros
+  - ros-jazzy-robot-state-publisher
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 30418
+  timestamp: 1759139163553
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-dummy-sensors-0.33.7-np126py312h3bd2861_10.conda
   sha256: 2536d356424352750c6d00a12c9dc6fa9d8159caafadf015911c1d11ccfde5d7
   md5: 75700df5fe7c02b6ddc97ca10a855431
@@ -11092,16 +19883,33 @@ packages:
   - ros-jazzy-ros-workspace
   - ros-jazzy-sensor-msgs
   - ros2-distro-mutex 0.11.* jazzy_*
-  - libgcc >=14
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 118414
+  timestamp: 1759138298663
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-dummy-sensors-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 4f18e4cfa8597838864e813d19030272aedcc3ba213368e0c0711586a86f3f1c
+  md5: eab646ddc8def0bdc3f5a9aa9ba4b4f8
+  depends:
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
-  - python_abi 3.12.* *_cp312
   - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   license: BSD-3-Clause
-  size: 118414
-  timestamp: 1759138298663
+  size: 120230
+  timestamp: 1759138113015
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-dynamic-stack-decider-0.5.3-np126py312h3bd2861_10.conda
   sha256: 4364726afc691f932fee3df714df8a85e0fc52476322d20d782b1308ecde1828
   md5: 8063cf2d3ce329b914f45b3e43636c68
@@ -11122,6 +19930,26 @@ packages:
   license: BSD-3-Clause
   size: 65623
   timestamp: 1765488857982
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-dynamic-stack-decider-0.5.3-np126py312hbb414ff_10.conda
+  sha256: 2adcae1655e42e878424c89250a5d84c98012773e825c0093a909a462c32d8bd
+  md5: 5586b22a72290edf7374602422a683af
+  depends:
+  - python
+  - pyyaml
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 72652
+  timestamp: 1767478456744
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-dynamic-stack-decider-visualization-0.2.1-np126py312h3bd2861_10.conda
   sha256: 50441ec669b34982aff3a0db0285a0cadd17ff7a68d95973e9ef55bf99a23374
   md5: 876afabbb69f4bf46fa5d2a3ac90cde2
@@ -11145,6 +19973,29 @@ packages:
   license: BSD-3-Clause
   size: 51884
   timestamp: 1765488858055
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-dynamic-stack-decider-visualization-0.2.1-np126py312hbb414ff_10.conda
+  sha256: a2adac2afc8b07c65bfe9fd5143d0ec9c94b8d076d06f2975e89a86c788f6029
+  md5: ecc07eaf7ae4aceed21958adf9fce8f6
+  depends:
+  - pydot
+  - python
+  - ros-jazzy-dynamic-stack-decider
+  - ros-jazzy-qt-dotgraph
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosgraph-msgs
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - python 3.12.* *_cpython
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
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+  - ros-jazzy-example-interfaces
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
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+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 26423
+  timestamp: 1759138082951
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-examples-rclpy-minimal-action-server-0.19.6-np126py312h3bd2861_10.conda
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-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 27625
+  timestamp: 1759138268081
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-examples-rclpy-minimal-action-server-0.19.6-np126py312h01c0cb9_10.conda
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+  md5: e134e18eac19fb98f231cb0bebde59df
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+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
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+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  size: 27625
-  timestamp: 1759138268081
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+  timestamp: 1759138077626
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-examples-rclpy-minimal-client-0.19.6-np126py312h3bd2861_10.conda
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@@ -11478,6 +20625,25 @@ packages:
   license: BSD-3-Clause
   size: 23508
   timestamp: 1759138263648
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-examples-rclpy-minimal-client-0.19.6-np126py312h01c0cb9_10.conda
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+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 23543
+  timestamp: 1759138073716
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-examples-rclpy-minimal-publisher-0.19.6-np126py312h3bd2861_10.conda
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   size: 24046
   timestamp: 1759138252879
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-examples-rclpy-minimal-publisher-0.19.6-np126py312h01c0cb9_10.conda
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+  md5: 4f9beaf93f9397e83f3c22e3d4a24bad
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+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
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+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
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+  size: 24039
+  timestamp: 1759138061574
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-examples-rclpy-minimal-service-0.19.6-np126py312h3bd2861_10.conda
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@@ -11516,6 +20700,25 @@ packages:
   license: BSD-3-Clause
   size: 21226
   timestamp: 1759138353354
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-examples-rclpy-minimal-service-0.19.6-np126py312h01c0cb9_10.conda
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+  - ros-jazzy-example-interfaces
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 21211
+  timestamp: 1759138185049
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-examples-rclpy-minimal-subscriber-0.19.6-np126py312h3bd2861_10.conda
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@@ -11535,6 +20738,23 @@ packages:
   license: BSD-3-Clause
   size: 21808
   timestamp: 1759138347383
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-examples-rclpy-minimal-subscriber-0.19.6-np126py312h01c0cb9_10.conda
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+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 21782
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-fastcdr-2.2.5-np126py312h3bd2861_10.conda
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@@ -11552,6 +20772,22 @@ packages:
   license: BSD-3-Clause
   size: 88286
   timestamp: 1759134519610
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-fastcdr-2.2.5-np126py312h01c0cb9_10.conda
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+  md5: 0a37977a91d6e85604af35c83e7e0cc3
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+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 85494
+  timestamp: 1759134691517
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-fastrtps-2.14.5-np126py312h3bd2861_10.conda
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@@ -11574,6 +20810,27 @@ packages:
   license: BSD-3-Clause
   size: 4289370
   timestamp: 1759135144417
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-fastrtps-2.14.5-np126py312h01c0cb9_10.conda
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+  md5: b278d0bed2c7350fae1a997000fa3bbc
+  depends:
+  - openssl
+  - python
+  - ros-jazzy-fastcdr
+  - ros-jazzy-foonathan-memory-vendor
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - tinyxml2
+  - libstdcxx >=14
+  - libgcc >=14
+  - tinyxml2 >=11.0.0,<11.1.0a0
+  - openssl >=3.5.3,<4.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 4101665
+  timestamp: 1759135220852
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-fastrtps-cmake-module-3.6.2-np126py312h3bd2861_10.conda
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@@ -11590,6 +20847,21 @@ packages:
   license: BSD-3-Clause
   size: 27248
   timestamp: 1759135131215
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-fastrtps-cmake-module-3.6.2-np126py312h01c0cb9_10.conda
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+  md5: 36eca733cf7d2f4010d0820906f1e2e3
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
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+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 27287
+  timestamp: 1759135204807
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-filters-2.2.2-np126py312h3bd2861_10.conda
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@@ -11611,6 +20883,26 @@ packages:
   license: BSD-3-Clause
   size: 132298
   timestamp: 1759138291621
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-filters-2.2.2-np126py312h01c0cb9_10.conda
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+  md5: 4c625cf979eed6eee2788de8f0d30460
+  depends:
+  - libboost-devel
+  - python
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - libboost >=1.86.0,<1.87.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 132920
+  timestamp: 1759138096264
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-foonathan-memory-vendor-1.3.1-np126py312h3bd2861_10.conda
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@@ -11631,6 +20923,25 @@ packages:
   license: BSD-3-Clause
   size: 19317
   timestamp: 1759134837854
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-foonathan-memory-vendor-1.3.1-np126py312h01c0cb9_10.conda
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+  md5: 5ef225ea29e5c33bae84c3ebbea42a81
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+  - python
+  - ros-jazzy-ros-workspace
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+  - cmake
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - foonathan-memory >=0.7.3,<0.7.4.0a0
+  license: BSD-3-Clause
+  size: 19447
+  timestamp: 1759134993926
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-foxglove-bridge-0.8.5-np126py312h3bd2861_10.conda
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@@ -11658,6 +20969,31 @@ packages:
   license: BSD-3-Clause
   size: 1039491
   timestamp: 1759140904325
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-foxglove-bridge-0.8.5-np126py312h01c0cb9_10.conda
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+  md5: 56236f2d3dc10210ffce72097afcada0
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+  - openssl
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-resource-retriever
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosgraph-msgs
+  - ros-jazzy-rosx-introspection
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - zlib
+  - libstdcxx >=14
+  - libgcc >=14
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+  - numpy >=1.26.4,<2.0a0
+  - openssl >=3.5.3,<4.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 1033312
+  timestamp: 1759140199845
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-game-controller-hl-1.1.0-np126py312h3bd2861_10.conda
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@@ -11679,6 +21015,27 @@ packages:
   license: BSD-3-Clause
   size: 49073
   timestamp: 1765488858137
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-game-controller-hl-1.1.0-np126py312hbb414ff_10.conda
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+  depends:
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+  - ros-jazzy-game-controller-hl-interfaces
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
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+  - python 3.12.* *_cpython
+  - libgcc >=14
+  - libstdcxx >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 56115
+  timestamp: 1767478456684
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-game-controller-hl-interfaces-0.0.1-np126py312h3bd2861_10.conda
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@@ -11698,6 +21055,25 @@ packages:
   license: BSD-3-Clause
   size: 101127
   timestamp: 1765488858073
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-game-controller-hl-interfaces-0.0.1-np126py312hbb414ff_10.conda
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+  - ros-jazzy-ros-workspace
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+  - python 3.12.* *_cpython
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+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
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 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-gazebo-msgs-3.8.0-np126py312h3bd2861_10.conda
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@@ -11719,6 +21095,27 @@ packages:
   license: BSD-3-Clause
   size: 1308514
   timestamp: 1765488857867
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-gazebo-msgs-3.8.0-np126py312hbb414ff_10.conda
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+  md5: 0bac46250461496e6711fae5847355f8
+  depends:
+  - python
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+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros-jazzy-trajectory-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - python 3.12.* *_cpython
+  - libgcc >=14
+  - libstdcxx >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-generate-parameter-library-0.5.0-np126py312h3bd2861_10.conda
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@@ -11745,6 +21142,32 @@ packages:
   license: BSD-3-Clause
   size: 50391
   timestamp: 1759138934072
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-generate-parameter-library-0.5.0-np126py312h01c0cb9_10.conda
+  sha256: 5080315f116b3c4cffc04fe9f61402b3d3a98c0ac5d3142064a1284fe643bfa7
+  md5: 1021481bc81bcb8853017c91aa6fb87c
+  depends:
+  - fmt
+  - python
+  - ros-jazzy-generate-parameter-library-py
+  - ros-jazzy-parameter-traits
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-lifecycle
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rsl
+  - ros-jazzy-tcb-span
+  - ros-jazzy-tl-expected
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - fmt >=11.2.0,<11.3.0a0
+  license: BSD-3-Clause
+  size: 50233
+  timestamp: 1759138611338
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-generate-parameter-library-py-0.5.0-np126py312h3bd2861_10.conda
   sha256: 9ea879c21e545528934f78209bb4a0014b5d01a57ad4f6fcad77d6062aa63dad
   md5: 6c819af33399ca4a0fc953b309e358ca
@@ -11754,20 +21177,75 @@ packages:
   - pyyaml
   - ros-jazzy-ros-workspace
   - ros2-distro-mutex 0.11.* jazzy_*
-  - typeguard
-  - libgcc >=14
+  - typeguard
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 70849
+  timestamp: 1759134419555
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-generate-parameter-library-py-0.5.0-np126py312h01c0cb9_10.conda
+  sha256: 541a78622ece4ce60394c39ba5e7a38369ee8b705c9da971a6ba6ad81b5a12b2
+  md5: e935a120eaae36aec61b9a25ba515ecb
+  depends:
+  - jinja2
+  - python
+  - pyyaml
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - typeguard
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 70881
+  timestamp: 1759134603441
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-geometric-shapes-2.3.2-np126py312h3bd2861_10.conda
+  sha256: fa57d5d9607f0aa8260c0ced3d53d233e5473b1316cbb8c464e120367d6a1c26
+  md5: c5e28789e953734d430d10bc77d24b44
+  depends:
+  - assimp
+  - eigen
+  - libboost
+  - libboost-devel
+  - python
+  - qhull
+  - ros-jazzy-console-bridge-vendor
+  - ros-jazzy-eigen-stl-containers
+  - ros-jazzy-eigen3-cmake-module
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-random-numbers
+  - ros-jazzy-rclcpp
+  - ros-jazzy-resource-retriever
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-shape-msgs
+  - ros-jazzy-visualization-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - octomap >=1.10.0,<1.11.0a0
+  - qhull >=2020.2,<2020.3.0a0
+  - libboost >=1.86.0,<1.87.0a0
+  - fcl >=0.7.0,<0.8.0a0
   - python_abi 3.12.* *_cp312
   - numpy >=1.26.4,<2.0a0
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - assimp >=5.4.3,<5.4.4.0a0
   license: BSD-3-Clause
-  size: 70849
-  timestamp: 1759134419555
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-geometric-shapes-2.3.2-np126py312h3bd2861_10.conda
-  sha256: fa57d5d9607f0aa8260c0ced3d53d233e5473b1316cbb8c464e120367d6a1c26
-  md5: c5e28789e953734d430d10bc77d24b44
+  size: 158281
+  timestamp: 1759138254567
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-geometric-shapes-2.3.2-np126py312h01c0cb9_10.conda
+  sha256: 19e3df7ba350ea4aff6229c5c44f01f8fa36ed2bc7e2da4d0fb0e1c15ede8c62
+  md5: 7ed2131169c02d64fad6aebbd04f70aa
   depends:
   - assimp
   - eigen
@@ -11787,20 +21265,20 @@ packages:
   - ros-jazzy-shape-msgs
   - ros-jazzy-visualization-msgs
   - ros2-distro-mutex 0.11.* jazzy_*
-  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  - octomap >=1.10.0,<1.11.0a0
   - qhull >=2020.2,<2020.3.0a0
   - libboost >=1.86.0,<1.87.0a0
   - fcl >=0.7.0,<0.8.0a0
-  - python_abi 3.12.* *_cp312
   - numpy >=1.26.4,<2.0a0
+  - octomap >=1.10.0,<1.11.0a0
   - assimp >=5.4.3,<5.4.4.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 158281
-  timestamp: 1759138254567
+  size: 157856
+  timestamp: 1759138008323
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-geometry-msgs-5.3.6-np126py312h3bd2861_10.conda
   sha256: 98f6fdd49e83b3c82f8a5e4a8ece736d89a4e79e0859bc0a4d5c0932f1ebc8cc
   md5: b44c3ce4a96fa7db5eea3e27ded3e72b
@@ -11820,6 +21298,23 @@ packages:
   license: BSD-3-Clause
   size: 377935
   timestamp: 1759136906913
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-geometry-msgs-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: f67654718f3a4cda8037937940453a136e0c9df27a96a81e1077229a163f57dd
+  md5: c628035c638aefd394d254e823ff9ad8
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 387227
+  timestamp: 1759137046424
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-geometry2-0.36.14-np126py312h3bd2861_10.conda
   sha256: 7be3c543f11cb68a2a4b7054087723145509089ce94feaf4657bc244ad6880e8
   md5: cc9ffab9ace24cff340d5b4032ec3e3c
@@ -11847,6 +21342,33 @@ packages:
   license: BSD-3-Clause
   size: 22328
   timestamp: 1759139513004
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-geometry2-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: afa88c5881ef63489603d9f73bc71486d0776274bbc95a56e507dff638147cb4
+  md5: 5a45b935908fd1be9d68cdc08f82b60d
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-bullet
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-tf2-eigen-kdl
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-kdl
+  - ros-jazzy-tf2-msgs
+  - ros-jazzy-tf2-py
+  - ros-jazzy-tf2-ros
+  - ros-jazzy-tf2-sensor-msgs
+  - ros-jazzy-tf2-tools
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 22273
+  timestamp: 1759139107838
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-gmock-vendor-1.14.9000-np126py312h3bd2861_10.conda
   sha256: 9d5e5875ec8401fb2817326e38beef97b0cbd2756b78fc314993a7c2b44fe95a
   md5: afcf2ee3fffc54b8b34953e699839bad
@@ -11865,6 +21387,23 @@ packages:
   license: BSD-3-Clause
   size: 122315
   timestamp: 1759134065861
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-gmock-vendor-1.14.9000-np126py312h01c0cb9_10.conda
+  sha256: 2304e2acab4fddf63449350e51fcb84682a7a48c09fafba21314a293df3d8766
+  md5: 23878823661c0ec3d05a7e624c69cbec
+  depends:
+  - python
+  - ros-jazzy-gtest-vendor
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 122347
+  timestamp: 1759134278870
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-google-benchmark-vendor-0.5.0-np126py312h3bd2861_10.conda
   sha256: fd0e43092a448828c5a094e26c2ed36717be2dac5237c0bdf25a0ff5851be85a
   md5: f21b20467e1dd1dbdf87ad2e935c6716
@@ -11883,6 +21422,22 @@ packages:
   license: BSD-3-Clause
   size: 16026
   timestamp: 1759133958339
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-google-benchmark-vendor-0.5.0-np126py312h01c0cb9_10.conda
+  sha256: cab760b7bcb5aad59540be3158ec945544debf08c5f6aa94c5eb94dd2ecd2aac
+  md5: df99766719becf64c123c57c076f9cfb
+  depends:
+  - benchmark
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 16065
+  timestamp: 1759134203992
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-gtest-vendor-1.14.9000-np126py312h3bd2861_10.conda
   sha256: 25a1b01f399bcbafb4412ab0b5efe4b90a6b49ea3a637e862cfe0249a4f5c1e3
   md5: d70d6583728901de9696557fca2f30e5
@@ -11900,6 +21455,21 @@ packages:
   license: BSD-3-Clause
   size: 208735
   timestamp: 1759133958435
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-gtest-vendor-1.14.9000-np126py312h01c0cb9_10.conda
+  sha256: 337718177a4ce50b468d42ea74fc04cf6cdc5a8795945a1cf64d5a4f022b1720
+  md5: aa9ea9ebbf1a65bc6f39a1239a4496be
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 208718
+  timestamp: 1759134194096
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-gz-cmake-vendor-0.0.10-np126py312h3bd2861_10.conda
   sha256: a2c28acbd2e65eb9b650b12a05fbc9716f5f9d41fb0f3adb40d26a5aca94d8cc
   md5: 320feb88e07dd3b22e7dd0c1a506ccd5
@@ -11919,6 +21489,23 @@ packages:
   license: BSD-3-Clause
   size: 24435
   timestamp: 1759134843754
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-gz-cmake-vendor-0.0.10-np126py312h01c0cb9_10.conda
+  sha256: 031914cf815f6407086008e65482288a222f53b15502f3214b85bc52d8a382ad
+  md5: c67f3d69989750fe9d34972facf53978
+  depends:
+  - gz-cmake3
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libgz-cmake3 >=3.5.3,<4.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 24501
+  timestamp: 1759135000814
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-gz-math-vendor-0.0.8-np126py312h3bd2861_10.conda
   sha256: d69388d02ba36ee0ffa4d898aea8ca1484054df551254eba1f49032e8d40f1df
   md5: b92b3af57222902f7766a3c8c6f11662
@@ -11940,6 +21527,27 @@ packages:
   license: BSD-3-Clause
   size: 27847
   timestamp: 1759135546682
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-gz-math-vendor-0.0.8-np126py312h01c0cb9_10.conda
+  sha256: ed4bf1359189b289b116fc5484e4df5ab00a4a43ffb2a2c4264ad934caad83a6
+  md5: 393545c5277dcb16f886bd2cb7f3e394
+  depends:
+  - eigen
+  - gz-math7
+  - python
+  - ros-jazzy-gz-cmake-vendor
+  - ros-jazzy-gz-utils-vendor
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - libgz-math7 >=7.5.2,<8.0a0
+  license: BSD-3-Clause
+  size: 27978
+  timestamp: 1759135480088
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-gz-tools-vendor-0.0.7-np126py312h3bd2861_10.conda
   sha256: a0da61c02791e401dbc3ccc58196bec7229c7b26a5a0965ee76c031e88a9c60c
   md5: 9e6af6f2e9e8d76288b9291336132332
@@ -11961,6 +21569,26 @@ packages:
   license: BSD-3-Clause
   size: 27473
   timestamp: 1759135148848
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-gz-tools-vendor-0.0.7-np126py312h01c0cb9_10.conda
+  sha256: 7529cbaad58dda34937939c5b9e905dbab41e3076dbc8e3b0dba7862ad3aa4d5
+  md5: 3d48e882b47b94b68146c28c4b8ccb7d
+  depends:
+  - gz-tools2
+  - python
+  - ros-jazzy-gz-cmake-vendor
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - ruby
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - libgz-tools2 >=2.0.3,<3.0a0
+  license: BSD-3-Clause
+  size: 27449
+  timestamp: 1759135226229
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-gz-utils-vendor-0.0.5-np126py312h3bd2861_10.conda
   sha256: 7910cc33699aa5cc4de352af5ac8b0eda4c5f8b3ed97c1cb78b31cde4c6018ed
   md5: 8a9cdcb0d0292a5e963aa48a1b7b83a3
@@ -11981,6 +21609,24 @@ packages:
   license: BSD-3-Clause
   size: 25766
   timestamp: 1759135143290
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-gz-utils-vendor-0.0.5-np126py312h01c0cb9_10.conda
+  sha256: 1e6ce471311f02575177937a8883f6b77cf1dc2a91ec29c2bc6cf44755c5edec
+  md5: b005ca8b8ba200fdf2e4b175485b0dc3
+  depends:
+  - gz-utils2
+  - python
+  - ros-jazzy-gz-cmake-vendor
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - libgz-utils2 >=2.2.0,<3.0a0
+  license: BSD-3-Clause
+  size: 25904
+  timestamp: 1759135219179
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-hardware-interface-4.37.0-np126py312h3bd2861_10.conda
   sha256: 7651c4acacb9afb401e05c2d0784244dba9dc907ef289f27c7464b05fb987971
   md5: 65e905b175dc41d9fe861ff9eaa43db9
@@ -12012,6 +21658,36 @@ packages:
   license: BSD-3-Clause
   size: 426204
   timestamp: 1759139499957
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-hardware-interface-4.37.0-np126py312h01c0cb9_10.conda
+  sha256: 0d42222d6f774d29246e5fc308012b2095a54822c7420afb29d20ee1e48dee14
+  md5: 52bd607bb83f03cc694b758bc748dff8
+  depends:
+  - fmt
+  - python
+  - ros-jazzy-backward-ros
+  - ros-jazzy-control-msgs
+  - ros-jazzy-joint-limits
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-pal-statistics
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp-lifecycle
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-realtime-tools
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sdformat-urdf
+  - ros-jazzy-tinyxml2-vendor
+  - ros-jazzy-urdf
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - fmt >=11.2.0,<11.3.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 414115
+  timestamp: 1759139086373
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-humanoid-base-footprint-0.1.2-np126py312h3bd2861_10.conda
   sha256: 2114002bc7674e888764d8168caad9d43506e3a98e6ce75e5dcf71af60cabfeb
   md5: f6b4f37233518897e6c0c2ffbef46296
@@ -12035,6 +21711,29 @@ packages:
   license: BSD-3-Clause
   size: 247906
   timestamp: 1765488858095
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-humanoid-base-footprint-0.1.2-np126py312hbb414ff_10.conda
+  sha256: f833ea1cb3a82ac9c6ae8b1e9b73e7e8119b44d09a97468437c3eba6e71129fa
+  md5: 788c4a711ba84ed1e2019a87198e079c
+  depends:
+  - eigen
+  - python
+  - ros-jazzy-biped-interfaces
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rot-conv
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - libstdcxx >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 254563
+  timestamp: 1767479319060
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-iceoryx-binding-c-2.0.6-np126py312h3bd2861_10.conda
   sha256: a0f6cb479e432c1e49ab9a5baf837e8c2a40c15999b98c1da6db7c4068da15e9
   md5: c5bd1e766e134b1eba20db9ea3db187b
@@ -12052,6 +21751,22 @@ packages:
   license: BSD-3-Clause
   size: 92732
   timestamp: 1759134188843
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-iceoryx-binding-c-2.0.6-np126py312h01c0cb9_10.conda
+  sha256: 94a5771525dc487f685a9b8fb33dac4bceaf5cef674a17e0c84bc7c9e2d54176
+  md5: f8291ecf1222d36fa66e24f7256f8b69
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 90750
+  timestamp: 1759134381771
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-iceoryx-hoofs-2.0.6-np126py312h3bd2861_10.conda
   sha256: 0e863a15142e5da8da31d39a6ea07ab418a02ac10b8a8633d50be231ba9554a3
   md5: 8bcd51c6a2ef2d39834472111423a5ee
@@ -12071,6 +21786,24 @@ packages:
   license: BSD-3-Clause
   size: 263628
   timestamp: 1759133934792
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-iceoryx-hoofs-2.0.6-np126py312h01c0cb9_10.conda
+  sha256: 8b279bb85bb73963aba4a570fc6352bd1a23b550d2c6214c81d1d3bf0af9d179
+  md5: a6c2e3b8d68d91cda205287f024aec02
+  depends:
+  - libacl
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - libacl >=2.3.2,<2.4.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 263924
+  timestamp: 1759134169938
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-iceoryx-posh-2.0.6-np126py312h3bd2861_10.conda
   sha256: a734989bf0b048a932ef9511d1cb1c053d3393fab5904c90927fbb8e3f886578
   md5: 9147ed0273d8c604324c0831895292e2
@@ -12089,6 +21822,22 @@ packages:
   license: BSD-3-Clause
   size: 573580
   timestamp: 1759134069976
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-iceoryx-posh-2.0.6-np126py312h01c0cb9_10.conda
+  sha256: 4b8c721eca32d0e946455726b73c680d5cd8b5fd830464d214b804694e28bf7e
+  md5: fc16b67215b66f71442077a73e385ec1
+  depends:
+  - python
+  - ros-jazzy-iceoryx-hoofs
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 577051
+  timestamp: 1759134283951
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-geometry-4.1.0-np126py312h5cbfcd5_10.conda
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   md5: ce44fa3555d989cec31567510a64ebcf
@@ -12112,12 +21861,39 @@ packages:
   - python_abi 3.12.* *_cp312
   - xorg-libxext >=1.3.6,<2.0a0
   - numpy >=1.26.4,<2.0a0
-  - libopencv >=4.11.0,<4.11.1.0a0
-  - py-opencv >=4.11.0,<5.0a0
+  - libopencv >=4.11.0,<4.11.1.0a0
+  - py-opencv >=4.11.0,<5.0a0
+  - libgl >=1.7.0,<2.0a0
+  license: BSD-3-Clause
+  size: 88179
+  timestamp: 1759137306486
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-image-geometry-4.1.0-np126py312hc06382c_10.conda
+  sha256: 143312c6bad14cd15f1a6fbb6849d277129ddd44af98d7755b41f5d08a96b8dc
+  md5: 10277039ab45d9c9e0ecf0e55741ad81
+  depends:
+  - deprecated
+  - libopencv
+  - py-opencv
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - libopengl >=1.7.0,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - py-opencv >=4.11.0,<5.0a0
+  - libopencv >=4.11.0,<4.11.1.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - numpy >=1.26.4,<2.0a0
   - libgl >=1.7.0,<2.0a0
   license: BSD-3-Clause
-  size: 88179
-  timestamp: 1759137306486
+  size: 88178
+  timestamp: 1759137375800
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-proc-5.0.11-np126py312h5cbfcd5_10.conda
   sha256: c9d694388f3033923ba15060386ba970a99b641377a83d87374ecf00372630c0
   md5: 394919f1af58e4d4962dd16ea7727de7
@@ -12157,6 +21933,43 @@ packages:
   license: BSD-3-Clause
   size: 367395
   timestamp: 1759139648233
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-image-proc-5.0.11-np126py312hc06382c_10.conda
+  sha256: d371c22a9453039ffbbf9f1d2a2d65acbce8f9ad41abd33300ebfd53b7145619
+  md5: 13c62d63d79602da2ba59b1700a1c037
+  depends:
+  - libopencv
+  - py-opencv
+  - python
+  - ros-jazzy-camera-calibration-parsers
+  - ros-jazzy-cv-bridge
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-image-geometry
+  - ros-jazzy-image-transport
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tracetools-image-pipeline
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - libgl >=1.7.0,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - py-opencv >=4.11.0,<5.0a0
+  - python_abi 3.12.* *_cp312
+  - libopencv >=4.11.0,<4.11.1.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 387003
+  timestamp: 1759139227434
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-publisher-5.0.11-np126py312h3bd2861_10.conda
   sha256: 406ffccba5c55ff550fc95224b207ab4e5d43a1fa8a1cf89644221e69ed5c105
   md5: b09522e4a4ca9b342e787d76139bccb5
@@ -12180,6 +21993,27 @@ packages:
   license: BSD-3-Clause
   size: 204637
   timestamp: 1759139297523
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-image-publisher-5.0.11-np126py312h01c0cb9_10.conda
+  sha256: 6486869491f75be3dc0b4f6f23e4efe0f2eba8614ec1f187a3324c324a0033b6
+  md5: 71acc2e306b46ae5cf06a0ed92a2dd80
+  depends:
+  - python
+  - ros-jazzy-camera-info-manager
+  - ros-jazzy-cv-bridge
+  - ros-jazzy-image-transport
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 203255
+  timestamp: 1759138942880
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-tools-0.33.7-np126py312h5cbfcd5_10.conda
   sha256: f43eb16626f4cdcc326bb804fd64cf40b8aca099f0a422c727b3c22988007c48
   md5: 11f059ae4f47bd6151a014ac0c77e6b8
@@ -12211,6 +22045,37 @@ packages:
   license: BSD-3-Clause
   size: 298454
   timestamp: 1759138968815
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-image-tools-0.33.7-np126py312hc06382c_10.conda
+  sha256: 5dffb806e941438c7fa33191c33c247dbc5c1bb839b5d42258f3209225304fb8
+  md5: d782860d0eee108151e7a76940bc93d6
+  depends:
+  - libopencv
+  - libopencv * *qt6*
+  - py-opencv
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - py-opencv >=4.11.0,<5.0a0
+  - libopencv >=4.11.0,<4.11.1.0a0
+  - numpy >=1.26.4,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 297658
+  timestamp: 1759138657148
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-transport-5.1.7-np126py312h3bd2861_10.conda
   sha256: 6bb95146d40565b21750bcdf01f75122aa41d5470bb875742bae83df159c6927
   md5: b95fbb1a3ff9e3222c241a5b4a325f6e
@@ -12233,6 +22098,26 @@ packages:
   license: BSD-3-Clause
   size: 578403
   timestamp: 1759138982065
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-image-transport-5.1.7-np126py312h01c0cb9_10.conda
+  sha256: b902143522ab24f5b4616ada7217a2ee7698f9dd54f6bfd7260616bd9d35ef8d
+  md5: 544e753a6e73be717f071a70980391ac
+  depends:
+  - python
+  - ros-jazzy-message-filters
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 583408
+  timestamp: 1759138654430
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-transport-plugins-4.0.6-np126py312h3bd2861_10.conda
   sha256: 25ff4de68c99d402f00a842ebff84fca390d60c0967d6b904fb2ae4b6cb4f8cb
   md5: 2f0050c2b00aec304c58a40c9048b565
@@ -12254,6 +22139,26 @@ packages:
   license: BSD-3-Clause
   size: 22517
   timestamp: 1759139643172
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-image-transport-plugins-4.0.6-np126py312h01c0cb9_10.conda
+  sha256: ce9e527f74d2889065ec899bf5673f6601bd384a8a443b531636a37367c107ee
+  md5: 4b6a54dc2307fe3e00dddc784f6f333e
+  depends:
+  - python
+  - ros-jazzy-compressed-depth-image-transport
+  - ros-jazzy-compressed-image-transport
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-theora-image-transport
+  - ros-jazzy-zstd-image-transport
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 22475
+  timestamp: 1759139221636
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-image-view-5.0.11-np126py312h3bd2861_10.conda
   sha256: 87a03241a4327c5ba77ab347a08116bed13aefe84481443a7c8d598010dd1f8d
   md5: cb9ce5c2494abd289d2e17de712d30b0
@@ -12288,6 +22193,39 @@ packages:
   license: BSD-3-Clause
   size: 437472
   timestamp: 1759139246351
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-image-view-5.0.11-np126py312h01c0cb9_10.conda
+  sha256: 80bbe5d42e01d4c3088e9d7b099447377a3b7fb0611575851bf89f0c306f3ca7
+  md5: 79b937fe90f342621805c7819f58df46
+  depends:
+  - libopencv * *qt6*
+  - python
+  - ros-jazzy-camera-calibration-parsers
+  - ros-jazzy-cv-bridge
+  - ros-jazzy-image-transport
+  - ros-jazzy-message-filters
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-srvs
+  - ros-jazzy-stereo-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - xorg-libxext >=1.3.6,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  license: BSD-3-Clause
+  size: 443426
+  timestamp: 1759138902484
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-imu-complementary-filter-2.1.5-np126py312h3bd2861_10.conda
   sha256: c65eb6af703fcf2d06e2bb05486f70b363d1f42117a074ab6cce320ff75ef77e
   md5: 113e02035a8745198707dd9bac1b25e7
@@ -12304,6 +22242,22 @@ packages:
   license: BSD-3-Clause
   size: 300790
   timestamp: 1765488857929
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-imu-complementary-filter-2.1.5-np126py312hbb414ff_10.conda
+  sha256: 890e410b31207f58b6c43a67723c6f56f347e1883a87baee1a8593f94b9e73d0
+  md5: eefce904e06ae83d69ebc3937114e787
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - python 3.12.* *_cpython
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 305731
+  timestamp: 1767478827636
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-interactive-markers-2.5.4-np126py312h3bd2861_10.conda
   sha256: 1cf16f833d708e09e94988e4f1b014e769675866bd632da68373d45fa43b3411
   md5: 8506a1d913fef0b77b2b6e7f4f5ff078
@@ -12331,6 +22285,32 @@ packages:
   license: BSD-3-Clause
   size: 306785
   timestamp: 1759139586281
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-interactive-markers-2.5.4-np126py312h01c0cb9_10.conda
+  sha256: eeee1e71e9ad49fb951f3f39e87443347dd25c68b06962064d216fd77252ef61
+  md5: 8c3b3c23519502b9ae62f12421143724
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclpy
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-visualization-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 306047
+  timestamp: 1759139182306
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-intra-process-demo-0.33.7-np126py312h5cbfcd5_10.conda
   sha256: dccb86816cfd8601f79e59aba7a463eb5e4d27b57ae28e37b51b03d115178c3b
   md5: 7da3423fa4091bb60dbd7cc0405ba782
@@ -12361,6 +22341,34 @@ packages:
   license: BSD-3-Clause
   size: 498439
   timestamp: 1759138296940
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-intra-process-demo-0.33.7-np126py312hc06382c_10.conda
+  sha256: d5d88345182d383c04c66cae9cfa5a04b3f6ef1da57d7074f22ce05a9965237d
+  md5: fedd773cf45ad85fd091fb6030602504
+  depends:
+  - libopencv
+  - libopencv * *qt6*
+  - py-opencv
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - libgl >=1.7.0,<2.0a0
+  - py-opencv >=4.11.0,<5.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - libopencv >=4.11.0,<4.11.1.0a0
+  license: BSD-3-Clause
+  size: 516860
+  timestamp: 1759138121987
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ipm-image-node-0.0.0-np126py312h5cbfcd5_10.conda
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   md5: e46232c11d9a1f0a147ba8b65a29c2be
@@ -12388,6 +22396,33 @@ packages:
   license: BSD-3-Clause
   size: 60551
   timestamp: 1765488858030
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-ipm-image-node-0.0.0-np126py312hc6bb781_10.conda
+  sha256: bb15028cd486d00dcf4242eb1c3ef086f19469ae40efac2256d49f60240ee04c
+  md5: 94923dc49c95e55237656db3bf53dde2
+  depends:
+  - libopencv
+  - numpy
+  - py-opencv
+  - python
+  - ros-jazzy-cv-bridge
+  - ros-jazzy-ipm-library
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-sensor-msgs-py
+  - ros-jazzy-tf2
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - libopencv >=4.11.0,<4.11.1.0a0
+  - py-opencv >=4.11.0,<5.0a0
+  license: BSD-3-Clause
+  size: 65300
+  timestamp: 1767478827599
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ipm-interfaces-0.0.0-np126py312h3bd2861_10.conda
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   md5: cf971397ddc3065281529582ba250865
@@ -12410,6 +22445,28 @@ packages:
   license: BSD-3-Clause
   size: 172927
   timestamp: 1765488858035
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-ipm-interfaces-0.0.0-np126py312hbb414ff_10.conda
+  sha256: 0a64c3b87a1461f2512a20a932f0b5facfb0a4b71d7580086134d3e935f70dc1
+  md5: 69ec7a597e9ca82759aa3b501ea757c9
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-shape-msgs
+  - ros-jazzy-vision-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - python 3.12.* *_cpython
+  - libgcc >=14
+  - libstdcxx >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 184856
+  timestamp: 1767478827627
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ipm-library-0.0.0-np126py312h5cbfcd5_10.conda
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   md5: cf15a3138d5ee186f71e9d2e175330fb
@@ -12431,15 +22488,45 @@ packages:
   - ros2-distro-mutex 0.11.* jazzy_*
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
+  - __glibc >=2.17,<3.0.a0
+  - python_abi 3.12.* *_cp312
+  - py-opencv >=4.11.0,<5.0a0
+  - libopencv >=4.11.0,<4.11.1.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 64546
+  timestamp: 1765488858046
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-ipm-library-0.0.0-np126py312hc6bb781_10.conda
+  sha256: c110ced52a8c6d7ead9895514d06228ed2551a04c7f16833278b527121f1bf17
+  md5: ae7e07c211527890a4ed858ff11436e9
+  depends:
+  - libopencv
+  - numpy
+  - py-opencv
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ipm-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-shape-msgs
+  - ros-jazzy-std-msgs
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-vision-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python 3.12.* *_cpython
   - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - py-opencv >=4.11.0,<5.0a0
   - libopencv >=4.11.0,<4.11.1.0a0
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  size: 64546
-  timestamp: 1765488858046
+  size: 68483
+  timestamp: 1767478827692
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-limits-4.37.0-np126py312h3bd2861_10.conda
   sha256: 09d3fbdffd01ddac96acf840d47d215968b3833e1471966fbc951d157c9088ba
   md5: ca90b7099920287de0a35ae9767f3949
@@ -12466,6 +22553,30 @@ packages:
   license: BSD-3-Clause
   size: 146582
   timestamp: 1759139175249
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-joint-limits-4.37.0-np126py312h01c0cb9_10.conda
+  sha256: dd63b015114daa41f1fd0b6d12b0767a539f73abbac46562032d8aa322e5a0e1
+  md5: 884fbba6ce74b67c89f2e521a9440c5e
+  depends:
+  - fmt
+  - python
+  - ros-jazzy-backward-ros
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-lifecycle
+  - ros-jazzy-realtime-tools
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-trajectory-msgs
+  - ros-jazzy-urdf
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - fmt >=11.2.0,<11.3.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 146237
+  timestamp: 1759138821320
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-state-publisher-2.4.0-np126py312h3bd2861_10.conda
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   md5: 2a808590adf3f8017105f6ffc010fab6
@@ -12486,6 +22597,24 @@ packages:
   license: BSD-3-Clause
   size: 46971
   timestamp: 1759139198061
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-joint-state-publisher-2.4.0-np126py312h01c0cb9_10.conda
+  sha256: 5a9e2bf6c12a94c7342ba2066846e67fc255ece2eb4a60ccf4e8aaa2113ce26d
+  md5: d22c6e41ff63e086b097041dec522e58
+  depends:
+  - python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 46904
+  timestamp: 1759138847951
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joint-state-publisher-gui-2.4.0-np126py312h3bd2861_10.conda
   sha256: f2c55e6c6c1aec928cce8e1a88033d57f7f7caea90b531cf0c322f3c585f122d
   md5: 97bce29792b389bd841679594e1361b4
@@ -12505,6 +22634,25 @@ packages:
   license: BSD-3-Clause
   size: 28838
   timestamp: 1759139500887
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-joint-state-publisher-gui-2.4.0-np126py312h01c0cb9_10.conda
+  sha256: 91581404d92bef03a511d5d794410c1b9389474b8152e75c57c5f38aed652d82
+  md5: b04ee850ef1d52521815a6d7537c58e3
+  depends:
+  - python
+  - ros-jazzy-joint-state-publisher
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 28863
+  timestamp: 1759139084054
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-joy-3.3.0-np126py312h3bd2861_10.conda
   sha256: 66b8a36315d913aab5889a39112ab9615807c0bc34298857344518dadd1c1537
   md5: d2187aa19e8497e64d1ce2e50b8490e8
@@ -12525,6 +22673,25 @@ packages:
   license: BSD-3-Clause
   size: 282109
   timestamp: 1759138507190
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-joy-3.3.0-np126py312h01c0cb9_10.conda
+  sha256: a0166d1a02f8e64bc94563f5008eda2dd89c66adca96b80a58aa32c537aef954
+  md5: f1788cd6bbc6df862ec1ee81e483f157
+  depends:
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sdl2-vendor
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 279741
+  timestamp: 1759138317586
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-kdl-parser-2.11.0-np126py312h3bd2861_10.conda
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   md5: 27c591ed624b3f3dadab12f1d064c743
@@ -12546,6 +22713,25 @@ packages:
   license: BSD-3-Clause
   size: 46827
   timestamp: 1759136183528
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-kdl-parser-2.11.0-np126py312h01c0cb9_10.conda
+  sha256: 7e10c409aafdb0996fad266f00bbcf2619228871be97f6bb8ca464f5ec3f9f49
+  md5: a5d59430e57a2f71e952d7ee9555a356
+  depends:
+  - python
+  - ros-jazzy-orocos-kdl-vendor
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-urdf
+  - ros-jazzy-urdfdom-headers
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 48092
+  timestamp: 1759136304921
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-keyboard-handler-0.3.1-np126py312h3bd2861_10.conda
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   md5: 17e7852e273c661dd51f0bb3028fde29
@@ -12562,6 +22748,21 @@ packages:
   license: BSD-3-Clause
   size: 55944
   timestamp: 1759135170312
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-keyboard-handler-0.3.1-np126py312h01c0cb9_10.conda
+  sha256: f313aafab93b541056f5555a49021f5c3b2a18d6cabeb52cf0ff7555a80dce76
+  md5: 2653d720b207874258d62e0ce9fd1e83
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 57389
+  timestamp: 1759135315925
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-laser-geometry-2.7.1-np126py312h3bd2861_10.conda
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   md5: 6e939d0fca0dc1de5383a83e86847fe2
@@ -12587,6 +22788,29 @@ packages:
   license: BSD-3-Clause
   size: 61104
   timestamp: 1759138292165
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-laser-geometry-2.7.1-np126py312h01c0cb9_10.conda
+  sha256: e08c5401fc33976a706c7a223f90b613eee4debe5c01de13801d1a4d39240a9d
+  md5: 4b52d5aee79855a57cb1316a96ad2208
+  depends:
+  - eigen
+  - numpy
+  - python
+  - ros-jazzy-eigen3-cmake-module
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-sensor-msgs-py
+  - ros-jazzy-tf2
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 60585
+  timestamp: 1759138048043
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-3.4.6-np126py312h3bd2861_10.conda
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   md5: 326bbc2e67a04b1e23e25bb2d4fc3480
@@ -12609,6 +22833,26 @@ packages:
   license: BSD-3-Clause
   size: 233908
   timestamp: 1759134505669
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-3.4.6-np126py312h01c0cb9_10.conda
+  sha256: c0c3254039eb832739437634f4c936e9f955d07c9d688a84ad4ff1d9e4aee423
+  md5: 8044777df7ba5bf4e4a27fa0ab88979d
+  depends:
+  - importlib-metadata
+  - lark-parser
+  - python
+  - pyyaml
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-osrf-pycommon
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 233940
+  timestamp: 1759134677040
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-param-builder-0.1.1-np126py312h3bd2861_10.conda
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   md5: 1fb3605ca98e921a150ce71e7610da97
@@ -12629,6 +22873,25 @@ packages:
   license: BSD-3-Clause
   size: 26525
   timestamp: 1759138286445
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-param-builder-0.1.1-np126py312h01c0cb9_10.conda
+  sha256: 8211080afbc5322e74bf25f5a9b7bd7c03952b9af77a1ef0d73ee5c39f81c6cb
+  md5: c01f7db4a2bdb4a577588d73bae44797
+  depends:
+  - python
+  - pyyaml
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-xacro
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 26518
+  timestamp: 1759138041667
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-ros-0.26.9-np126py312h3bd2861_10.conda
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   md5: 6b738447fc1524a1e119dde4e2cad426
@@ -12653,6 +22916,30 @@ packages:
   license: BSD-3-Clause
   size: 127683
   timestamp: 1759138274528
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-ros-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: bdec8957b20262475c064c068a9a3e21b6623fa6e67c3e11659fd7f5fe39fdff
+  md5: 454be7bfdab9d623bd4ee0cd886743be
+  depends:
+  - importlib-metadata
+  - python
+  - pyyaml
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-composition-interfaces
+  - ros-jazzy-launch
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-osrf-pycommon
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 127565
+  timestamp: 1759138093527
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-testing-3.4.6-np126py312h3bd2861_10.conda
   sha256: 0fcf605086eb23fa483723d8cef95469ca9feb87b4356a1863e4a9d912e61aeb
   md5: 36a256ce8f858150471caef61ee19866
@@ -12675,6 +22962,28 @@ packages:
   license: BSD-3-Clause
   size: 115764
   timestamp: 1759134753497
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-testing-3.4.6-np126py312h01c0cb9_10.conda
+  sha256: 92fafbf1c8ad016c33e289b852f680af0443f20bdbdd5f31ea87f51ce58b7c3c
+  md5: 99509d0b7ea1136f99e7f704e1587bad
+  depends:
+  - pytest
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-launch
+  - ros-jazzy-launch-xml
+  - ros-jazzy-launch-yaml
+  - ros-jazzy-osrf-pycommon
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 115755
+  timestamp: 1759134924668
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-testing-ament-cmake-3.4.6-np126py312h3bd2861_10.conda
   sha256: cd2809493252f7ce6ccbc49163bb53ee8c0db881730211333da4dda01ee50d28
   md5: e384d0a73a7aa48087ea3ace278a9737
@@ -12694,6 +23003,25 @@ packages:
   license: BSD-3-Clause
   size: 27109
   timestamp: 1759135532796
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-testing-ament-cmake-3.4.6-np126py312h01c0cb9_10.conda
+  sha256: 461c70e9e63f6feb7b7255be5dcd2c8b80ac96b715de73ec782e682fb74c098c
+  md5: d2d391b630d8d61c6b9cb296e90afeb6
+  depends:
+  - python
+  - ros-jazzy-ament-cmake-test
+  - ros-jazzy-launch-testing
+  - ros-jazzy-python-cmake-module
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 27030
+  timestamp: 1759135463834
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-testing-ros-0.26.9-np126py312h3bd2861_10.conda
   sha256: 6d54a4bccd0d176ff2c17ee65d63caf320269a1662ac439752a21ab2c966d52c
   md5: 8340621821dbbc847f00b09433c89017
@@ -12715,6 +23043,26 @@ packages:
   license: BSD-3-Clause
   size: 51888
   timestamp: 1759138508212
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-testing-ros-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: 3ad84f26291e30c01d15a0761c73d3a7f104b46f739e88faf28b09d6ce3477f6
+  md5: 6a360988b22364e6f03c8caac60f9c73
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-launch-ros
+  - ros-jazzy-launch-testing
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 51821
+  timestamp: 1759138275263
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-xml-3.4.6-np126py312h3bd2861_10.conda
   sha256: 1697643b99012afbb64976a8de321cfd6c6765030a1b961cd0024f69976b6fe1
   md5: 759cb1325ec0f298925d693426a1d147
@@ -12732,6 +23080,22 @@ packages:
   license: BSD-3-Clause
   size: 26009
   timestamp: 1759134629285
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-xml-3.4.6-np126py312h01c0cb9_10.conda
+  sha256: 3ccc6874b0b7e7b95ec970aa4e862db9ab89e18a7110f3f534f7641307d740b6
+  md5: f03cacc10bee531902166edb5d467575
+  depends:
+  - python
+  - ros-jazzy-launch
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 25997
+  timestamp: 1759134808188
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-launch-yaml-3.4.6-np126py312h3bd2861_10.conda
   sha256: 490f519a470238d4e80187fb22612d84172063201ef295cb95cd3bbcf92cb45b
   md5: 06cfefea6ce54ca5a06fe729c8308e86
@@ -12750,6 +23114,23 @@ packages:
   license: BSD-3-Clause
   size: 26580
   timestamp: 1759134622224
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-launch-yaml-3.4.6-np126py312h01c0cb9_10.conda
+  sha256: 926d16572b501270ecd09ab1b6dbe0075bb53fa980e8b8c86f49c55540e1f73e
+  md5: 2b2e29d974dfc9a0673d6c7da69b03be
+  depends:
+  - python
+  - ros-jazzy-launch
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 26555
+  timestamp: 1759134801925
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libcamera-0.5.0-py312h84a10cd_10.conda
   sha256: c70f09ccbfba07d6390ffda012283afd00f629410577648d92f69958e9750681
   md5: 6d7d8dea76411b8ee1f076bbecb2a1da
@@ -12773,6 +23154,29 @@ packages:
   license: BSD-3-Clause
   size: 10657
   timestamp: 1759133941684
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-libcamera-0.5.0-py312hd16b4ed_10.conda
+  sha256: e12f450d3c025bea56ee586d6fc5f04d1d97cee9aa3a3f4a76ae0bd20f73dd88
+  md5: 507b55f6904571d3e7ba66acb3904549
+  depends:
+  - libcamera >=0.5.0,<0.6.0a0
+  - libudev
+  - libusb
+  - openssl
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - yaml
+  - yaml-cpp
+  - libusb >=1.0.29,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - yaml-cpp >=0.8.0,<0.9.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - openssl >=3.5.3,<4.0a0
+  - yaml >=0.2.5,<0.3.0a0
+  - libudev1 >=257.9
+  license: BSD-3-Clause
+  size: 10695
+  timestamp: 1759134173440
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libcurl-vendor-3.4.4-np126py312h3bd2861_10.conda
   sha256: 41015760b8efee178b35b36c7224f5cdd2940c5faa5f240dd1e98b71a7e7e7bf
   md5: 414627a2421a5b2f78cc2b500287b2ac
@@ -12782,16 +23186,34 @@ packages:
   - python
   - ros-jazzy-ros-workspace
   - ros2-distro-mutex 0.11.* jazzy_*
-  - __glibc >=2.17,<3.0.a0
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libcurl >=8.14.1,<9.0a0
+  license: BSD-3-Clause
+  size: 23734
+  timestamp: 1759134507600
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-libcurl-vendor-3.4.4-np126py312h01c0cb9_10.conda
+  sha256: 81b9c63d27fb2d71c2612ba980aeb2e48c419f701edd69183132dec948ad4b54
+  md5: 82e4d18d47adedbebb17fb13f8a6079a
+  depends:
+  - libcurl
+  - pkg-config
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
   - libstdcxx >=14
   - libgcc >=14
   - numpy >=1.26.4,<2.0a0
+  - libcurl >=8.14.1,<9.0a0
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  - libcurl >=8.14.1,<9.0a0
   license: BSD-3-Clause
-  size: 23734
-  timestamp: 1759134507600
+  size: 23710
+  timestamp: 1759134679735
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-liblz4-vendor-0.26.9-np126py312h3bd2861_10.conda
   sha256: 8f21680a54a22c66cc423615d3215ff1aa4bf6374b8eeea7c4624aaf0e3700df
   md5: 36170527cd000311cf24eaff7e8a90cb
@@ -12809,6 +23231,23 @@ packages:
   license: BSD-3-Clause
   size: 23958
   timestamp: 1759134522228
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-liblz4-vendor-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: 2d8b16f95902d1bb545ee5b345f788d56a9b30636959c5a747332dd902c41e79
+  md5: fe23d2ee63d2f2cc5022629c60a7c954
+  depends:
+  - lz4
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 23934
+  timestamp: 1759134697172
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libstatistics-collector-1.7.4-np126py312h3bd2861_10.conda
   sha256: e928c84cff58af3e436b3bf16e39d9e0ad9acb37e1b739ebd358171c7aad97a4
   md5: d4a046a08d54c85300b5ed9c0297f44b
@@ -12831,6 +23270,26 @@ packages:
   license: BSD-3-Clause
   size: 58238
   timestamp: 1759137892565
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-libstatistics-collector-1.7.4-np126py312h01c0cb9_10.conda
+  sha256: 34e05bfa949ee1aeaf916cf3526c3c73bc4aed3b89ae52d21911d050f80939fa
+  md5: cbbc44c50c939a8b91d77ed52e3f5450
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-rcl
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-statistics-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 57657
+  timestamp: 1759137796319
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-libyaml-vendor-1.6.3-np126py312h3bd2861_10.conda
   sha256: ce3af2e97af8da05bf3af031bdb8aa85fa3d9a29b86eb5d2d1ae0848841f8740
   md5: b5eff53b16c8541dc20228599fa5445c
@@ -12853,6 +23312,26 @@ packages:
   license: BSD-3-Clause
   size: 29475
   timestamp: 1759135559646
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-libyaml-vendor-1.6.3-np126py312h01c0cb9_10.conda
+  sha256: 6cd3fb0a0c9106e452acd8de72b6841e4d124cec20792174497ccf84c42808f3
+  md5: a61026a60308630889de53e1707c462d
+  depends:
+  - pkg-config
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - yaml
+  - yaml-cpp
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - yaml >=0.2.5,<0.3.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - yaml-cpp >=0.8.0,<0.9.0a0
+  license: BSD-3-Clause
+  size: 29533
+  timestamp: 1759135498093
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-lifecycle-0.33.7-np126py312h3bd2861_10.conda
   sha256: 26fe591b3240894e5826c664aca3f12c3cf685cfe91531d59bb4ee68ab58eb40
   md5: ade85117b4ba5d0f5d9628877d4ad9ab
@@ -12873,6 +23352,25 @@ packages:
   license: BSD-3-Clause
   size: 266261
   timestamp: 1759139540900
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-lifecycle-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 0ce1affd40c41b2acc4208837a81a9c062e3da2312723561fb67064f623f0341
+  md5: 9d91415eab96df61114456d174d7fec6
+  depends:
+  - python
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-lifecycle
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 269544
+  timestamp: 1759139141557
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-lifecycle-msgs-2.0.3-np126py312h3bd2861_10.conda
   sha256: b52aaa5d92156e8da5b79c0a8f13d8ea984fc9c6c4de96dafd613a0498d2dbd3
   md5: e24a3e9ceaf4ddc096180eb218682da5
@@ -12890,6 +23388,23 @@ packages:
   license: BSD-3-Clause
   size: 268176
   timestamp: 1759136537008
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-lifecycle-msgs-2.0.3-np126py312h01c0cb9_10.conda
+  sha256: 567664ceae51d452220f5fcd23a902531cb7f5ad0c0584297eb9f8b9a79f269c
+  md5: 6d5ec6c95a32b23d31e5e27b37e51943
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 276189
+  timestamp: 1759136766232
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-logging-demo-0.33.7-np126py312h3bd2861_10.conda
   sha256: d18f21c97eadea855e1afb8507588dd359f6a7916c3dab81bf2f095d418aa147
   md5: 35fa710f6ac0509d3df450c3332e8ce2
@@ -12911,6 +23426,27 @@ packages:
   license: BSD-3-Clause
   size: 216408
   timestamp: 1759138945703
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-logging-demo-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 78fc910a7c702dc226d92e092396a9c9d46748fc21888fd78bf11e17f450fade
+  md5: 49059ca981d9fe3636fa427855bac1b0
+  depends:
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 223142
+  timestamp: 1759138629324
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-map-msgs-2.4.1-np126py312h3bd2861_10.conda
   sha256: 1eff4107bc2d61c2acaa8ddd7140f7e90b6915082184c5d4c9aaacab39dc3ed7
   md5: 7b169411354347b577b40bd22a6cb972
@@ -12932,6 +23468,26 @@ packages:
   license: BSD-3-Clause
   size: 346101
   timestamp: 1759137241981
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-map-msgs-2.4.1-np126py312h01c0cb9_10.conda
+  sha256: 3b9bd7f265d741eed6ebe9e5e7281106925252b9e43ae97159494cc91db30e5e
+  md5: 06d150f700eacdac5df2ef3676008a75
+  depends:
+  - python
+  - ros-jazzy-nav-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 354365
+  timestamp: 1759137312467
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-mcap-vendor-0.26.9-np126py312h3bd2861_10.conda
   sha256: 3d68ebe29a197233e7814ce0881994c79f67a091ec0e04c10da5419020e48f91
   md5: 11af03a622b4b1acfe0af496271a050e
@@ -12950,6 +23506,24 @@ packages:
   license: BSD-3-Clause
   size: 172747
   timestamp: 1759134634406
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-mcap-vendor-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: 50c4b4f4a8a0a5b470c33b4b86ed6ecac7360d19517c99ec102b8ed4538d8e73
+  md5: 61a2ad0c6868045167a93a1fb503a1e4
+  depends:
+  - python
+  - ros-jazzy-liblz4-vendor
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-zstd-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 168955
+  timestamp: 1759134813039
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-message-filters-4.11.7-np126py312h3bd2861_10.conda
   sha256: 54d7694ab42a3d76fbd6eecd7427b89e1851472316b577930dfa1ac44913ce0f
   md5: 09bd33dc72e836ac22dd66fef868a631
@@ -12972,6 +23546,26 @@ packages:
   license: BSD-3-Clause
   size: 81063
   timestamp: 1759138525501
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-message-filters-4.11.7-np126py312h01c0cb9_10.conda
+  sha256: c070feeda330bb0a8029da5f12a47b1844b0434ee1d4ecd055ac049b961ab41e
+  md5: 6b718ef972537a0d0ee2701f1234ef2c
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclpy
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 81279
+  timestamp: 1759138292543
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-common-2.12.3-np126py312h3bd2861_10.conda
   sha256: 45f0894389cbd96b709134f56e3b8a14f82bd704ef2dd02d46dcaab7f47ebb3c
   md5: 039a74c96419db74ef423cbbb765cda1
@@ -12990,6 +23584,22 @@ packages:
   license: BSD-3-Clause
   size: 25975
   timestamp: 1759134506317
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-common-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: a1d8379923c635fb9e1e9ada1cffc0d8d7be40fed21c5a8e4c31f0ebb39652f0
+  md5: bbb67b41a1ae023cd0c23663bda706bf
+  depends:
+  - python
+  - ros-jazzy-backward-ros
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 25989
+  timestamp: 1759134687699
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-configs-utils-2.12.3-np126py312h3bd2861_10.conda
   sha256: 299c4e7bb793fd64b85bb001cd3bf027f9f9e5d5f09fd1bb48cf8a41c111cff0
   md5: c9d684a6ad79b3ad3936b08739eee9b7
@@ -13011,6 +23621,26 @@ packages:
   license: BSD-3-Clause
   size: 40591
   timestamp: 1759139113543
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-configs-utils-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 9de32af6abaa8f3b4016fb03bcbcd99daa3ef350f7277f989dcdbd1ba1dde745
+  md5: 123bb7131ac3a77da10632beff7eb2e9
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-launch
+  - ros-jazzy-launch-param-builder
+  - ros-jazzy-launch-ros
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-srdfdom
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 40578
+  timestamp: 1759138773432
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-core-2.12.3-np126py312h3bd2861_10.conda
   sha256: 71702909f05e9b202198fd4d0edfc9a65d9d1a4a0b882e0e87e5f8f1b6ee9934
   md5: 8951c7e58668348e8f7324ad0430ab8f
@@ -13046,32 +23676,119 @@ packages:
   - ros-jazzy-srdfdom
   - ros-jazzy-std-msgs
   - ros-jazzy-tf2
-  - ros-jazzy-tf2-eigen
-  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-kdl
+  - ros-jazzy-trajectory-msgs
+  - ros-jazzy-urdf
+  - ros-jazzy-urdfdom
+  - ros-jazzy-urdfdom-headers
+  - ros-jazzy-visualization-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libboost >=1.86.0,<1.87.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - assimp >=5.4.3,<5.4.4.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - fcl >=0.7.0,<0.8.0a0
+  - libboost-python >=1.86.0,<1.87.0a0
+  license: BSD-3-Clause
+  size: 1911089
+  timestamp: 1759142007811
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-core-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 7721b2ce0686d261f55594d1816ba416d14dfdcd72f2c335b97c2c4c2fcd1963
+  md5: a3f993b85806c96feff713851a9c7d0c
+  depends:
+  - assimp
+  - bullet
+  - eigen
+  - fcl
+  - libboost-devel
+  - libboost-python-devel
+  - python
+  - ros-jazzy-angles
+  - ros-jazzy-common-interfaces
+  - ros-jazzy-eigen-stl-containers
+  - ros-jazzy-eigen3-cmake-module
+  - ros-jazzy-generate-parameter-library
+  - ros-jazzy-geometric-shapes
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-google-benchmark-vendor
+  - ros-jazzy-kdl-parser
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-msgs
+  - ros-jazzy-octomap-msgs
+  - ros-jazzy-osqp-vendor
+  - ros-jazzy-pluginlib
+  - ros-jazzy-random-numbers
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rsl
+  - ros-jazzy-ruckig
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-shape-msgs
+  - ros-jazzy-srdfdom
+  - ros-jazzy-std-msgs
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-kdl
+  - ros-jazzy-trajectory-msgs
+  - ros-jazzy-urdf
+  - ros-jazzy-urdfdom
+  - ros-jazzy-urdfdom-headers
+  - ros-jazzy-visualization-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - fcl >=0.7.0,<0.8.0a0
+  - libboost >=1.86.0,<1.87.0a0
+  - libboost-python >=1.86.0,<1.87.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - assimp >=5.4.3,<5.4.4.0a0
+  license: BSD-3-Clause
+  size: 1864312
+  timestamp: 1759141174293
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-kinematics-2.12.3-np126py312h3bd2861_10.conda
+  sha256: acfda17d45ddc7de4b19a99fdf4c15e4f9c6effb5bc43f842adfff09bdd66337
+  md5: b510edf778dbdb56495367fb15cbba8f
+  depends:
+  - eigen
+  - lxml
+  - python
+  - ros-jazzy-class-loader
+  - ros-jazzy-generate-parameter-library
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-core
+  - ros-jazzy-moveit-msgs
+  - ros-jazzy-moveit-ros-planning
+  - ros-jazzy-orocos-kdl-vendor
+  - ros-jazzy-pluginlib
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rsl
+  - ros-jazzy-tf2
   - ros-jazzy-tf2-kdl
-  - ros-jazzy-trajectory-msgs
-  - ros-jazzy-urdf
   - ros-jazzy-urdfdom
-  - ros-jazzy-urdfdom-headers
-  - ros-jazzy-visualization-msgs
   - ros2-distro-mutex 0.11.* jazzy_*
-  - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
-  - libboost >=1.86.0,<1.87.0a0
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  - assimp >=5.4.3,<5.4.4.0a0
+  - libgcc >=14
   - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - numpy >=1.26.4,<2.0a0
-  - fcl >=0.7.0,<0.8.0a0
-  - libboost-python >=1.86.0,<1.87.0a0
   license: BSD-3-Clause
-  size: 1911089
-  timestamp: 1759142007811
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-kinematics-2.12.3-np126py312h3bd2861_10.conda
-  sha256: acfda17d45ddc7de4b19a99fdf4c15e4f9c6effb5bc43f842adfff09bdd66337
-  md5: b510edf778dbdb56495367fb15cbba8f
+  size: 372352
+  timestamp: 1759142890968
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-kinematics-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 44e925c9034a8272dddec4d42f1388ccd4ec04a53141b7617a01169bc54ea9a8
+  md5: c07560c3e9e59af179edc8fc4d09ee39
   depends:
   - eigen
   - lxml
@@ -13092,14 +23809,12 @@ packages:
   - ros2-distro-mutex 0.11.* jazzy_*
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
-  - libgcc >=14
-  - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
   - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  size: 372352
-  timestamp: 1759142890968
+  size: 370110
+  timestamp: 1759142096672
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-msgs-2.6.0-np126py312h3bd2861_10.conda
   sha256: 84de468e8fb3d812a950c045096c37688b48ca821360e553ed046f72bbdf610f
   md5: 77399d0904c36c14ff57218b2d1e1f60
@@ -13126,6 +23841,31 @@ packages:
   license: BSD-3-Clause
   size: 2928146
   timestamp: 1759137514532
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-msgs-2.6.0-np126py312h01c0cb9_10.conda
+  sha256: 995d2a2dbbbd5ad2e5e4f5b2a184db936cf70f869c29eaa7071a1779a47d0791
+  md5: 993da03b8101a5a80f86afc033f311b1
+  depends:
+  - python
+  - ros-jazzy-action-msgs
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-object-recognition-msgs
+  - ros-jazzy-octomap-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-shape-msgs
+  - ros-jazzy-std-msgs
+  - ros-jazzy-trajectory-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 2865886
+  timestamp: 1759137534921
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-planners-ompl-2.12.3-np126py312h3bd2861_10.conda
   sha256: 2c0eb43bf3cdb94f3006cf9c0097dfbea8b16087146b15bc736483e8a3fa7d53
   md5: 87a6e72fc9d13bd2020daecde8c61b27
@@ -13154,6 +23894,32 @@ packages:
   license: BSD-3-Clause
   size: 531496
   timestamp: 1759143092136
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-planners-ompl-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 9fe91a0af4ec5cd708f39cad9208b40890ed1b2801a997e0880758ab6015bbea
+  md5: 9e13f81ecf14a12c9e043d8b3d34c9ac
+  depends:
+  - libgomp
+  - python
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-core
+  - ros-jazzy-moveit-msgs
+  - ros-jazzy-moveit-ros-planning
+  - ros-jazzy-ompl
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - _openmp_mutex >=4.5
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 516648
+  timestamp: 1759142288538
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-2.12.3-np126py312h3bd2861_10.conda
   sha256: f660265d3cc254686eed65fc6441e64a05fb487d33d1bbb1092360b3f5fb7dff
   md5: fc3e3c0cc8edd64b05067cc6855b4cea
@@ -13178,6 +23944,29 @@ packages:
   license: BSD-3-Clause
   size: 22444
   timestamp: 1759144287841
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-ros-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: b8fe74078031f3bb77f307b26acdfa195e69fcc5335267fe60882c341961a5dc
+  md5: 480f4a72f09192bb85b79a7b962dac5d
+  depends:
+  - python
+  - ros-jazzy-moveit-ros-benchmarks
+  - ros-jazzy-moveit-ros-move-group
+  - ros-jazzy-moveit-ros-planning
+  - ros-jazzy-moveit-ros-planning-interface
+  - ros-jazzy-moveit-ros-robot-interaction
+  - ros-jazzy-moveit-ros-visualization
+  - ros-jazzy-moveit-ros-warehouse
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 22409
+  timestamp: 1759143355356
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-benchmarks-2.12.3-np126py312h3bd2861_10.conda
   sha256: 7a853e97c5e6a9958de1aa1140a123360bd2a604b42e8e6663bd5fde05099396
   md5: 992bade3459da1146b4f46e441440f2c
@@ -13205,6 +23994,32 @@ packages:
   license: BSD-3-Clause
   size: 369543
   timestamp: 1759143358507
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-ros-benchmarks-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 4f45c36349992a47a044ca1247f2dac8dedd464a08a9c6f9489abd1a9e868522
+  md5: 3f61901de12515468d032fbec4d15193
+  depends:
+  - libboost
+  - python
+  - ros-jazzy-launch-param-builder
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-configs-utils
+  - ros-jazzy-moveit-ros-planning
+  - ros-jazzy-moveit-ros-warehouse
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2-eigen
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - libboost >=1.86.0,<1.87.0a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 360645
+  timestamp: 1759142520169
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-move-group-2.12.3-np126py312h3bd2861_10.conda
   sha256: 9b39210554bdede3c5ad7473184aad1969a600c2f427dab7bcb2adb0f3c9a417
   md5: 1c50c9fc487faeea8e94f8696a900215
@@ -13236,6 +24051,35 @@ packages:
   license: BSD-3-Clause
   size: 626942
   timestamp: 1759143229964
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-ros-move-group-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 5167e06f5216238a26bc3bfd795918b39097ce5a25922edc897c6410953348ef
+  md5: a2f457dc29316af26554ac69aeb38ae9
+  depends:
+  - fmt
+  - python
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-core
+  - ros-jazzy-moveit-kinematics
+  - ros-jazzy-moveit-ros-occupancy-map-monitor
+  - ros-jazzy-moveit-ros-planning
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-action
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-srvs
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - fmt >=11.2.0,<11.3.0a0
+  license: BSD-3-Clause
+  size: 623441
+  timestamp: 1759142398881
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-occupancy-map-monitor-2.12.3-np126py312h3bd2861_10.conda
   sha256: 8d85f8fa4ef88c5d5591466339b58d4889c620b2c526280b950feb64f07a6c4e
   md5: d68739e9c6d1543acd4df64e1a12850d
@@ -13262,6 +24106,30 @@ packages:
   license: BSD-3-Clause
   size: 393375
   timestamp: 1759142365085
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-ros-occupancy-map-monitor-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: f496ca97c519fa32919fd220eb345d97f3e336ebf41a13bfaf08134358fad0f6
+  md5: be8a1647a681198d0d30b3780c6b1a2d
+  depends:
+  - eigen
+  - python
+  - ros-jazzy-eigen3-cmake-module
+  - ros-jazzy-geometric-shapes
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-core
+  - ros-jazzy-moveit-msgs
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 390780
+  timestamp: 1759141526171
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-planning-2.12.3-np126py312h3bd2861_10.conda
   sha256: b860d345bb6c6399137ad2e50da5f1f3d06d18ae55be613bd3d2e37ad0602993
   md5: 974cb3e4d72091aeb9956ff6fba0d5f6
@@ -13301,6 +24169,44 @@ packages:
   license: BSD-3-Clause
   size: 1695995
   timestamp: 1759142573617
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-ros-planning-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: e22198412a8cf6b5cea10d3d8aad6ef8a39041f66821deb22ec8681260f67956
+  md5: 930c92914e7177781bb0fbd8239963a9
+  depends:
+  - eigen
+  - fmt
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-eigen3-cmake-module
+  - ros-jazzy-generate-parameter-library
+  - ros-jazzy-message-filters
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-core
+  - ros-jazzy-moveit-msgs
+  - ros-jazzy-moveit-ros-occupancy-map-monitor
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-action
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-srdfdom
+  - ros-jazzy-std-msgs
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-msgs
+  - ros-jazzy-tf2-ros
+  - ros-jazzy-urdf
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - fmt >=11.2.0,<11.3.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 1692530
+  timestamp: 1759141754739
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-planning-interface-2.12.3-np126py312h3bd2861_10.conda
   sha256: 4c306bfff4d4cb2e105bdb867ebe1284cf4ce641dd35a9d93786e559737d2a29
   md5: 61a1c1040c09511969be1832f851d4b5
@@ -13331,6 +24237,36 @@ packages:
   license: BSD-3-Clause
   size: 422273
   timestamp: 1759143460185
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-ros-planning-interface-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: d2fe6239beb44afbc78902c757e3b934c6c66798a6d7172188113b70fde38b80
+  md5: 4ce10a172ca94ef9ba19cdd8ebcf7a52
+  depends:
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-core
+  - ros-jazzy-moveit-msgs
+  - ros-jazzy-moveit-ros-move-group
+  - ros-jazzy-moveit-ros-planning
+  - ros-jazzy-moveit-ros-warehouse
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-action
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 421135
+  timestamp: 1759142618242
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-robot-interaction-2.12.3-np126py312h3bd2861_10.conda
   sha256: 0946d78c98fbb52b3ce851e2009d2226107d74b8a954e666d3dbe170232146fd
   md5: cc66f9116fb15d6054534c6fee291e91
@@ -13350,16 +24286,75 @@ packages:
   - libstdcxx >=14
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
-  - libgcc >=14
-  - python_abi 3.12.* *_cp312
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 276091
+  timestamp: 1759143057092
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-ros-robot-interaction-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: b8f6875da69c60e08816459acb0ed344e68f09d7872d40b3c6bcfbbf16cd47f9
+  md5: 5421325541f19e467ab7f0d16bede34c
+  depends:
+  - python
+  - ros-jazzy-interactive-markers
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-core
+  - ros-jazzy-moveit-ros-planning
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 268973
+  timestamp: 1759142254851
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-visualization-2.12.3-np126py312h3bd2861_10.conda
+  sha256: 3a228507b5a166fefd2b9e83b32c7540df518b093e3f7fae9b04284dc6d4d110
+  md5: 7cd0a4c4ebb612c5b07f7e98a0edbd87
+  depends:
+  - python
+  - ros-jazzy-geometric-shapes
+  - ros-jazzy-interactive-markers
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-ros-planning-interface
+  - ros-jazzy-moveit-ros-robot-interaction
+  - ros-jazzy-moveit-ros-warehouse
+  - ros-jazzy-object-recognition-msgs
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rviz2
+  - ros-jazzy-tf2-eigen
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libgl >=1.7.0,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - qt-main >=5.15.15,<5.16.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
   - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  size: 276091
-  timestamp: 1759143057092
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-visualization-2.12.3-np126py312h3bd2861_10.conda
-  sha256: 3a228507b5a166fefd2b9e83b32c7540df518b093e3f7fae9b04284dc6d4d110
-  md5: 7cd0a4c4ebb612c5b07f7e98a0edbd87
+  size: 1008345
+  timestamp: 1759143577640
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-ros-visualization-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: d17aadbf3a601fb230971c8a510d75641089af7244af9433e134fcfdabe52b5e
+  md5: 27f268e9eecd169ae9e09e4d80fe6fd4
   depends:
   - python
   - ros-jazzy-geometric-shapes
@@ -13380,18 +24375,17 @@ packages:
   - xorg-libxext
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
   - libgl >=1.7.0,<2.0a0
-  - python_abi 3.12.* *_cp312
-  - qt-main >=5.15.15,<5.16.0a0
   - xorg-libx11 >=1.8.12,<2.0a0
-  - xorg-libxext >=1.3.6,<2.0a0
   - libopengl >=1.7.0,<2.0a0
-  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - xorg-libxext >=1.3.6,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
   license: BSD-3-Clause
-  size: 1008345
-  timestamp: 1759143577640
+  size: 989353
+  timestamp: 1759142748581
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-ros-warehouse-2.12.3-np126py312h3bd2861_10.conda
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   md5: b8266d984b7785f68b91a16dc894047f
@@ -13418,6 +24412,31 @@ packages:
   license: BSD-3-Clause
   size: 718453
   timestamp: 1759142985582
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-ros-warehouse-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 9d8718a94e78eb9b2257b6a4da3518c63a6504df8a28489b6e0732efcfd2bfec
+  md5: 14f2e70963f834e2368c31b48e10bc17
+  depends:
+  - fmt
+  - python
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-core
+  - ros-jazzy-moveit-ros-planning
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-tf2-ros
+  - ros-jazzy-warehouse-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - fmt >=11.2.0,<11.3.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 721930
+  timestamp: 1759142193064
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-app-plugins-2.12.3-np126py312h3bd2861_10.conda
   sha256: 14a9e1ee1824ae5b2b90f019467577c0b996611aa1c9cf36b69eaf37a09d9f5e
   md5: a160c53cb43d0fe65cec493aa9815ff1
@@ -13447,6 +24466,33 @@ packages:
   license: BSD-3-Clause
   size: 178521
   timestamp: 1759144605066
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-setup-app-plugins-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 92c0925f02e9cc38449ff6569f0806a1caef6d84595addd4bd71740c4cfed954
+  md5: 90bfaea3acdb86e1824b41a735a85948
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-moveit-configs-utils
+  - ros-jazzy-moveit-ros-visualization
+  - ros-jazzy-moveit-setup-framework
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - xorg-libxext >=1.3.6,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libgl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 175634
+  timestamp: 1759143650506
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-assistant-2.12.3-np126py312h3bd2861_10.conda
   sha256: 0eadb0eb5351482382fec55719c1e8ced0eece758be0345ef6cbade59051a081
   md5: f9c041e60f2a78ae85f2fa61660b2723
@@ -13481,6 +24527,38 @@ packages:
   license: BSD-3-Clause
   size: 417765
   timestamp: 1759144688238
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-setup-assistant-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 41638691df4a10d4982aba8c72e9fdaa8bb042cb3802bdd187c6cabd5030fd4c
+  md5: 4aca9a99d4af92c0bbc20c670bdf6edd
+  depends:
+  - python
+  - qt-main
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-moveit-configs-utils
+  - ros-jazzy-moveit-setup-app-plugins
+  - ros-jazzy-moveit-setup-controllers
+  - ros-jazzy-moveit-setup-core-plugins
+  - ros-jazzy-moveit-setup-framework
+  - ros-jazzy-moveit-setup-srdf-plugins
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - libgl >=1.7.0,<2.0a0
+  license: BSD-3-Clause
+  size: 430830
+  timestamp: 1759143720628
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-controllers-2.12.3-np126py312h3bd2861_10.conda
   sha256: 99757512718211cb22ca741345c0e40b991cc54de9b5296982abebf396d439f7
   md5: 7acf77689e2bbb72a85121397836803a
@@ -13508,6 +24586,31 @@ packages:
   license: BSD-3-Clause
   size: 324071
   timestamp: 1759144525220
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-setup-controllers-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 82039b9b1c1f79399a28b4e9ece05b15acc6062658b9e6cb09629cc36ee1b6cf
+  md5: fb59e2f90c66edf1fda11de536dbdd4f
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-moveit-setup-framework
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 321030
+  timestamp: 1759143578385
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-core-plugins-2.12.3-np126py312h3bd2861_10.conda
   sha256: 11d66f351e99161de2d47a1e86d3e9b0f3268350b7660eb78546b6082c3bfd57
   md5: b991bdd7cdfcb279d11b3b0011dbef87
@@ -13538,6 +24641,35 @@ packages:
   license: BSD-3-Clause
   size: 148832
   timestamp: 1759144473245
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-setup-core-plugins-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 34d6fce9f06d46e3eec0141fa86435c6f5e6be727b7f64d711e431335a1756e4
+  md5: c1f84332ffcd53bbbfaeaacb7cc807da
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-moveit-ros-visualization
+  - ros-jazzy-moveit-setup-framework
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-srdfdom
+  - ros-jazzy-urdf
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - xorg-libxext >=1.3.6,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - libgl >=1.7.0,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 147893
+  timestamp: 1759143530603
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-setup-framework-2.12.3-np126py312h3bd2861_10.conda
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   md5: 39ce24341ad8745c95bcb82df2469f6e
@@ -13573,6 +24705,40 @@ packages:
   license: BSD-3-Clause
   size: 342085
   timestamp: 1759144135098
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-setup-framework-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: c4747cbfe998a564e1918b471ccdb86b033b98cc29f0d75cd7aee4ae31dc24fe
+  md5: 540e62312da4972f4939f358e755426c
+  depends:
+  - fmt
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-core
+  - ros-jazzy-moveit-ros-planning
+  - ros-jazzy-moveit-ros-visualization
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rviz-common
+  - ros-jazzy-rviz-rendering
+  - ros-jazzy-srdfdom
+  - ros-jazzy-urdf
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - libgl >=1.7.0,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - fmt >=11.2.0,<11.3.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 341794
+  timestamp: 1759143233783
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   license: BSD-3-Clause
   size: 504193
   timestamp: 1759144332867
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-setup-srdf-plugins-2.12.3-np126py312h01c0cb9_10.conda
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+  md5: f5007e9e20c0603102139a8d506f72de
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+  - python
+  - ros-jazzy-moveit-setup-framework
+  - ros-jazzy-pluginlib
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - libgl >=1.7.0,<2.0a0
+  license: BSD-3-Clause
+  size: 492612
+  timestamp: 1759143404351
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-moveit-simple-controller-manager-2.12.3-np126py312h3bd2861_10.conda
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   md5: 4eeaa674890e4fd5be9fbfb0aacab232
@@ -13621,6 +24810,28 @@ packages:
   license: BSD-3-Clause
   size: 204916
   timestamp: 1759142443422
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-moveit-simple-controller-manager-2.12.3-np126py312h01c0cb9_10.conda
+  sha256: 7aaf5f439ddc8d027109a60cd0f61c01d26148d2e2bd0191659a110763b6fb42
+  md5: a22bc3d4e80e02ecde79a559a9251185
+  depends:
+  - python
+  - ros-jazzy-control-msgs
+  - ros-jazzy-moveit-common
+  - ros-jazzy-moveit-core
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-action
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 203702
+  timestamp: 1759141631969
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-nav-msgs-5.3.6-np126py312h3bd2861_10.conda
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@@ -13642,31 +24853,91 @@ packages:
   license: BSD-3-Clause
   size: 315161
   timestamp: 1759137015247
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-nav-msgs-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: 9a8f12139349880e64bc5434c2a4c624b6a7b64b4ce2a61e5171a82dacb20fe7
+  md5: 7b4549e42ca0295ad1193281e3a01074
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 323595
+  timestamp: 1759137108047
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-object-recognition-msgs-2.0.0-np126py312h3bd2861_10.conda
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   md5: 049748a86a3651613c32c1fef21554e7
   depends:
   - python
-  - ros-jazzy-action-msgs
+  - ros-jazzy-action-msgs
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-shape-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 346530
+  timestamp: 1759137321298
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-object-recognition-msgs-2.0.0-np126py312h01c0cb9_10.conda
+  sha256: f779c342015dc8332e607790ddb8da64c1b09e620aefffbf7b6500b0b90f8c53
+  md5: a9f87a40889625e59fdd9f1a40f1a617
+  depends:
+  - python
+  - ros-jazzy-action-msgs
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-shape-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 353271
+  timestamp: 1759137376732
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-octomap-msgs-2.0.1-np126py312h3bd2861_10.conda
+  sha256: 28759fd62e6c3dc5cd26443af4745eb381b4febdab8e848ed8e60dcd9c68fef4
+  md5: 36b6b0712f8639fdc642641a34cac57f
+  depends:
+  - python
   - ros-jazzy-geometry-msgs
   - ros-jazzy-ros-workspace
   - ros-jazzy-rosidl-default-runtime
-  - ros-jazzy-sensor-msgs
-  - ros-jazzy-shape-msgs
   - ros-jazzy-std-msgs
   - ros2-distro-mutex 0.11.* jazzy_*
   - libstdcxx >=14
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
-  - numpy >=1.26.4,<2.0a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  size: 346530
-  timestamp: 1759137321298
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-octomap-msgs-2.0.1-np126py312h3bd2861_10.conda
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-  md5: 36b6b0712f8639fdc642641a34cac57f
+  size: 183872
+  timestamp: 1759137093499
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-octomap-msgs-2.0.1-np126py312h01c0cb9_10.conda
+  sha256: d95dd18b2bd9c808a93335ebd8dc89d76227b8e738bb70799d59e0aa3bc0d29a
+  md5: 2fd2b20c0364cabda4318e8e25a18ae5
   depends:
   - python
   - ros-jazzy-geometry-msgs
@@ -13674,15 +24945,15 @@ packages:
   - ros-jazzy-rosidl-default-runtime
   - ros-jazzy-std-msgs
   - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - python_abi 3.12.* *_cp312
   - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  size: 183872
-  timestamp: 1759137093499
+  size: 189963
+  timestamp: 1759137203519
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ompl-1.7.0-py312hbd645f5_10.conda
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   md5: f807c1cb49faa11f97bc73236dd80139
@@ -13704,6 +24975,27 @@ packages:
   license: BSD-3-Clause
   size: 10926
   timestamp: 1759133936125
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ompl-1.7.0-py312h8f0e40e_10.conda
+  sha256: 883ee04850a5779dea462e33eb386ae1176faed86e77d0c0b53bbbbdfba1172d
+  md5: db7439e8eb266449a9ce6e720af9fc85
+  depends:
+  - eigen
+  - flann
+  - libboost-devel
+  - libboost-python-devel
+  - ompl >=1.7.0,<1.8.0a0
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - flann >=1.9.2,<1.9.3.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libboost >=1.86.0,<1.87.0a0
+  - python_abi 3.12.* *_cp312
+  - ompl >=1.7.0,<1.8.0a0
+  - libboost-python >=1.86.0,<1.87.0a0
+  license: BSD-3-Clause
+  size: 11096
+  timestamp: 1759134168363
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-orocos-kdl-vendor-0.5.1-np126py312h3bd2861_10.conda
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   md5: 1f68c127fabe330d36821aaa453f7010
@@ -13725,6 +25017,26 @@ packages:
   license: BSD-3-Clause
   size: 27832
   timestamp: 1759135159739
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-orocos-kdl-vendor-0.5.1-np126py312h01c0cb9_10.conda
+  sha256: a7ade64eaa0c8b0637c00e8314fcba741acf3437a937177ccb1264c2dacbe99c
+  md5: 25e97fd0c864d7edad0766be890958eb
+  depends:
+  - eigen
+  - orocos-kdl
+  - python
+  - ros-jazzy-eigen3-cmake-module
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - orocos-kdl >=1.5.1,<1.6.0a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 27918
+  timestamp: 1759135238061
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-osqp-vendor-0.2.0-np126py312h3bd2861_10.conda
   sha256: d336e17ec77702fb2a0da77f27faf703dabed97e4a547bb59efa7f77c63c3682
   md5: 026c2d2ba5f50ea8bba3566322e35e0c
@@ -13741,6 +25053,22 @@ packages:
   license: BSD-3-Clause
   size: 121120
   timestamp: 1759135155566
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-osqp-vendor-0.2.0-np126py312h01c0cb9_10.conda
+  sha256: 1766c71cf099193b72b27367d175033afa14dfe252efb88958e874fd29daab86
+  md5: 9d7f8577b5cec6c73f28bda8c8ab51c2
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 117078
+  timestamp: 1759135289332
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-osrf-pycommon-2.1.7-np126py312h3bd2861_10.conda
   sha256: 2d00d4558e363230e5088ea8ae395a92ececf27aacf625c93f543792d6cba2e7
   md5: 014b2eb2645428433f6200bbdc1b889b
@@ -13758,6 +25086,23 @@ packages:
   license: BSD-3-Clause
   size: 64428
   timestamp: 1759133952499
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-osrf-pycommon-2.1.7-np126py312h01c0cb9_10.conda
+  sha256: 6c8ce1c1d718f465f4e03c4fb72a5c856c91f02b65ace8e64c0b8f70a2c67726
+  md5: b5f83d33a747ac58bd506763b906198c
+  depends:
+  - importlib-metadata
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 64518
+  timestamp: 1759134193985
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pal-statistics-2.7.0-np126py312h3bd2861_10.conda
   sha256: 78c51c03378bd1781c1b7c13ff3131807f9ea6aced3c8d5dad582625a15663a4
   md5: fb1363e09b258d546e636dbebcd7e63a
@@ -13781,6 +25126,28 @@ packages:
   license: BSD-3-Clause
   size: 171436
   timestamp: 1759138533436
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-pal-statistics-2.7.0-np126py312h01c0cb9_10.conda
+  sha256: e4fe272038881b745e85335e8325234734ab61522b8c8172256735059182e150
+  md5: 821971116c0b87972ff277eecb457d0e
+  depends:
+  - libboost-devel
+  - python
+  - ros-jazzy-pal-statistics-msgs
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-lifecycle
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - libboost >=1.86.0,<1.87.0a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 170109
+  timestamp: 1759138316805
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pal-statistics-msgs-2.7.0-np126py312h3bd2861_10.conda
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   md5: 0bba435b7bd04310f83bbe0a256c4bcc
@@ -13799,6 +25166,23 @@ packages:
   license: BSD-3-Clause
   size: 127100
   timestamp: 1759136825361
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-pal-statistics-msgs-2.7.0-np126py312h01c0cb9_10.conda
+  sha256: ed7c6fe4ba93b45be0aede144b8a4898e81fb4add7191e3a7f963acfc5243596
+  md5: ab41a2a89262c4b0577053d7815d0221
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 131966
+  timestamp: 1759136976528
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-parameter-traits-0.5.0-np126py312h3bd2861_10.conda
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   md5: c2b9db7149f35ac2783187018f6dfa15
@@ -13821,6 +25205,27 @@ packages:
   license: BSD-3-Clause
   size: 50590
   timestamp: 1759138491031
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-parameter-traits-0.5.0-np126py312h01c0cb9_10.conda
+  sha256: 5260ef4595dab4ca6479671c40b11b3a8a8dd8b749eed4f5fbf5497ada77c0a4
+  md5: dfa17227d51a09568983485acd264b36
+  depends:
+  - fmt
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rsl
+  - ros-jazzy-tcb-span
+  - ros-jazzy-tl-expected
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - fmt >=11.2.0,<11.3.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 50342
+  timestamp: 1759138254816
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-particle-filter-0.0.1-np126py312h3bd2861_10.conda
   sha256: 8b19938368a51480991886991f13854036e20d0873297cd94009b5d4456368d9
   md5: f435a7cbd06d58b5a701afe7ac94cabf
@@ -13844,6 +25249,29 @@ packages:
   license: BSD-3-Clause
   size: 231116
   timestamp: 1765488857996
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-particle-filter-0.0.1-np126py312hbb414ff_10.conda
+  sha256: 9e2cbe450310c2fe34d961113a9dd58013f0261799c4480796c7ce2e71dfd5a5
+  md5: 43ad46e688eb453d19ed7a9010137afc
+  depends:
+  - python
+  - ros-jazzy-backward-ros
+  - ros-jazzy-eigen3-cmake-module
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros-jazzy-tf2-eigen
+  - ros-jazzy-visualization-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - python 3.12.* *_cpython
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 230159
+  timestamp: 1767478827604
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pcl-conversions-2.6.2-np126py312h3bd2861_10.conda
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   md5: e65ecb9e2cb2a48e349a14a784b5b618
@@ -13879,6 +25307,39 @@ packages:
   license: BSD-3-Clause
   size: 69712
   timestamp: 1759139039698
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-pcl-conversions-2.6.2-np126py312h01c0cb9_10.conda
+  sha256: a90569657bc988bf0aaa7eb603de2985dcfe0d4022a4c60b6285c6bf8b470d88
+  md5: 4bc898aeb54ebea34e85628d95cb3e1e
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+  - eigen
+  - libboost-devel
+  - pcl
+  - python
+  - ros-jazzy-message-filters
+  - ros-jazzy-pcl-msgs
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - vtk-base
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - xorg-libxext >=1.3.6,<2.0a0
+  - pcl >=1.15.0,<1.15.1.0a0
+  - python_abi 3.12.* *_cp312
+  - libboost >=1.86.0,<1.87.0a0
+  - vtk-base >=9.4.2,<9.4.3.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  license: BSD-3-Clause
+  size: 68149
+  timestamp: 1759138701859
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pcl-msgs-1.0.0-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 170174
   timestamp: 1759137231881
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-pcl-msgs-1.0.0-np126py312h01c0cb9_10.conda
+  sha256: 904b6d09e52bfc2b8b38cc34869719d2fe148b735249dfc1d7d34a1105dbf351
+  md5: 280aa981e8b59ef962454da1219f6d57
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 175202
+  timestamp: 1759137296685
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pendulum-control-0.33.7-np126py312h3bd2861_10.conda
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   md5: 93468000e21d63c7288b625afcde33f4
@@ -13919,6 +25398,26 @@ packages:
   license: BSD-3-Clause
   size: 346809
   timestamp: 1759139510634
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-pendulum-control-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 39bb923399929593ad84d5e36b9b5ec255ef132ca34592426c27986d06dff468
+  md5: 6d6a2af06a791a3749052dc757fa9c89
+  depends:
+  - python
+  - ros-jazzy-pendulum-msgs
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rttest
+  - ros-jazzy-tlsf-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 348321
+  timestamp: 1759139101207
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pendulum-msgs-0.33.7-np126py312h3bd2861_10.conda
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@@ -13938,6 +25437,24 @@ packages:
   license: BSD-3-Clause
   size: 99945
   timestamp: 1759136608978
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-pendulum-msgs-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 9479d9758205182488c9026dbf218b841665be2a400b5b1084c2df1c7db151bd
+  md5: cb90fdef89f925d458bfcc2a1b14e471
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 103644
+  timestamp: 1759136834648
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-plotjuggler-3.10.11-np126py312hde09161_10.conda
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   md5: a3b2103edc83385ac4e2f20833ffa2da
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   - libboost >=1.86.0,<1.87.0a0
-  - python_abi 3.12.* *_cp312
-  - xorg-libx11 >=1.8.12,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - libprotobuf >=5.29.3,<5.29.4.0a0
+  - libxcb >=1.17.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - zeromq >=4.3.5,<4.4.0a0
+  - fmt >=11.2.0,<11.3.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  license: BSD-3-Clause
+  size: 9562221
+  timestamp: 1759138545698
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-plotjuggler-3.10.11-np126py312h1a6876c_10.conda
+  sha256: a90a5fa2b1872313edbe1de57a8d9b3ea6af9f9669dc7a0032f438d53af73fb0
+  md5: 3539d76dfd2a2026a8768e9f9dd8a0dd
+  depends:
+  - binutils
+  - cppzmq
+  - fmt
+  - libboost-devel
+  - libboost-python-devel
+  - libprotobuf
+  - lz4
+  - nlohmann_json
+  - protobuf
+  - python
+  - qt-main
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-data-tamer-cpp
+  - ros-jazzy-fastcdr
+  - ros-jazzy-mcap-vendor
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - zeromq
+  - zstd
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - xorg-libxext >=1.3.6,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - fmt >=11.2.0,<11.3.0a0
+  - elfutils >=0.193,<0.194.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - libboost-python >=1.86.0,<1.87.0a0
+  - python_abi 3.12.* *_cp312
+  - libxcb >=1.17.0,<2.0a0
+  - zeromq >=4.3.5,<4.4.0a0
+  - zstd >=1.5.7,<1.6.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - libboost >=1.86.0,<1.87.0a0
   - libprotobuf >=5.29.3,<5.29.4.0a0
-  - libxcb >=1.17.0,<2.0a0
   - libgl >=1.7.0,<2.0a0
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-  - fmt >=11.2.0,<11.3.0a0
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  - xorg-libxext >=1.3.6,<2.0a0
   license: BSD-3-Clause
-  size: 9562221
-  timestamp: 1759138545698
+  size: 9498626
+  timestamp: 1759138342775
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pluginlib-5.4.2-np126py312h3bd2861_10.conda
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@@ -14008,6 +25572,26 @@ packages:
   license: BSD-3-Clause
   size: 41030
   timestamp: 1759135903496
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-pluginlib-5.4.2-np126py312h01c0cb9_10.conda
+  sha256: 57be1b4063d786720f636d04811ad3952288b99f99fa73add79ad237d59c8cdd
+  md5: fcb99393b537299216c69858df663f20
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-class-loader
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tinyxml2-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 41070
+  timestamp: 1759136016808
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-point-cloud-transport-4.0.4-np126py312h3bd2861_11.conda
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   md5: 83f2532056d0e6fca287bf5869a4f6dc
@@ -14032,6 +25616,29 @@ packages:
   license: BSD-3-Clause
   size: 457019
   timestamp: 1760720456371
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-point-cloud-transport-4.0.4-np126py312h01c0cb9_11.conda
+  sha256: 2b7cd7d8957f1fc6f26453aaa9e87c812d575817a20d4acc271364fcf2872e02
+  md5: 0e7f6d5e2d28e9616517068d244f2f8a
+  depends:
+  - python
+  - ros-jazzy-message-filters
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 457540
+  timestamp: 1760720659171
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-pybind11-vendor-3.1.3-np126py312h3bd2861_10.conda
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   md5: 8a9427040947a6fec2cf13041b52c4ed
@@ -14050,6 +25657,23 @@ packages:
   license: BSD-3-Clause
   size: 23052
   timestamp: 1759134499243
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-pybind11-vendor-3.1.3-np126py312h01c0cb9_10.conda
+  sha256: 60afc94a04062379d92141a6744ce2fd40b2102e09d7afb893b85068506c7542
+  md5: 505845ac8e4c3c650b2fcc9107eebb77
+  depends:
+  - pybind11
+  - python
+  - ros-jazzy-ros-workspace
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+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 23034
+  timestamp: 1759134673899
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-python-cmake-module-0.11.1-np126py312h3bd2861_10.conda
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   md5: 8d8268a354f258950e2381bce6c628c0
@@ -14066,6 +25690,21 @@ packages:
   license: BSD-3-Clause
   size: 27606
   timestamp: 1759135131754
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-python-cmake-module-0.11.1-np126py312h01c0cb9_10.conda
+  sha256: d2fe27ec3a3755c8bb6faded01ef8f58b7e585cb2d4783e962e0666025761300
+  md5: cbe107bdfd2ed73b3c666ca303f569a8
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
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+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 27695
+  timestamp: 1759135206100
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-python-orocos-kdl-vendor-0.5.1-np126py312h3bd2861_10.conda
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@@ -14087,6 +25726,25 @@ packages:
   license: BSD-3-Clause
   size: 27335
   timestamp: 1759135553018
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-python-orocos-kdl-vendor-0.5.1-np126py312h01c0cb9_10.conda
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+  md5: 8841ed8ca384899fe1176053e4c7b8d6
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+  - python
+  - python-orocos-kdl
+  - ros-jazzy-orocos-kdl-vendor
+  - ros-jazzy-pybind11-vendor
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python-orocos-kdl >=1.5.1,<1.6.0a0
+  license: BSD-3-Clause
+  size: 27427
+  timestamp: 1759135484934
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-python-qt-binding-2.2.1-np126py312h3bd2861_10.conda
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@@ -14113,6 +25771,32 @@ packages:
   license: BSD-3-Clause
   size: 60606
   timestamp: 1759135131389
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-python-qt-binding-2.2.1-np126py312h01c0cb9_10.conda
+  sha256: 8f1d1f7bca5b1c7307080dace4f6bd4da6357096e9db7ed0f6325adcd41f2d04
+  md5: 61c66030fc0d98922b510103deb523e7
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+  - pyqt-builder
+  - python
+  - ros-jazzy-ros-workspace
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+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
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+  - xorg-libx11 >=1.8.12,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - python_abi 3.12.* *_cp312
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+  - libgl >=1.7.0,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - pyqt >=5.15.11,<5.16.0a0
+  license: BSD-3-Clause
+  size: 60522
+  timestamp: 1759135215348
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-qt-dotgraph-2.7.5-np126py312hd4d1b83_10.conda
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@@ -14133,6 +25817,25 @@ packages:
   license: BSD-3-Clause
   size: 64032
   timestamp: 1759135565777
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-qt-dotgraph-2.7.5-np126py312hcea3410_10.conda
+  sha256: 40f6327d1ee7b27e775ef898b03ebad1f3c7555f5077970c97644d4fa5ef817b
+  md5: 0c7794933eea15c884a7d5d9a8d5084f
+  depends:
+  - pydot
+  - python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-ros-workspace
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+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
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+  - graphviz >=13.1.2,<14.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 64954
+  timestamp: 1759135506939
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-qt-gui-2.7.5-np126py312h3bd2861_10.conda
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   md5: eba9fca100284833f4f9bb22ca7a7308
@@ -14162,6 +25865,33 @@ packages:
   license: BSD-3-Clause
   size: 171754
   timestamp: 1759135534973
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-qt-gui-2.7.5-np126py312h01c0cb9_10.conda
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+  md5: 1a2678d3d0fed5171dedfc50d0c08752
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+  - catkin_pkg
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tango-icons-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
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+  - libgcc >=14
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+  - pyqt >=5.15.11,<5.16.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
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+  - libgl >=1.7.0,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  license: BSD-3-Clause
+  size: 171647
+  timestamp: 1759135465568
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-qt-gui-cpp-2.7.5-np126py312h3bd2861_10.conda
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   md5: 577411bc2c8f00e93776667a3b70818c
@@ -14191,6 +25921,33 @@ packages:
   license: BSD-3-Clause
   size: 510364
   timestamp: 1759136023765
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-qt-gui-cpp-2.7.5-np126py312h01c0cb9_10.conda
+  sha256: ac916e215b2f92400542fc10e76cd72992ed855dc39e509f3f0e46d6961fce1e
+  md5: c9266c69e831177d45c5ddddae2e763b
+  depends:
+  - pep517
+  - pyqt-builder
+  - python
+  - ros-jazzy-pluginlib
+  - ros-jazzy-qt-gui
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tinyxml2-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - libopengl >=1.7.0,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - libgl >=1.7.0,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 499824
+  timestamp: 1759136147398
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-qt-gui-py-common-2.7.5-np126py312h3bd2861_10.conda
   sha256: 63e83ff1f9a4145848af0e9e61072e42233e456c7a79f303eb67a6feccea8ac5
   md5: cb9bbc027e41cccbb4e967cfb57eb2aa
@@ -14210,6 +25967,23 @@ packages:
   license: BSD-3-Clause
   size: 39052
   timestamp: 1759135554419
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-qt-gui-py-common-2.7.5-np126py312h01c0cb9_10.conda
+  sha256: 5f479737c3bdffc37e267e54c33f7d5222d4171b5468115c945ffd25255bcd84
+  md5: 1fb0b3a7c9bb8651c5adb1d6f34d7fd6
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 39069
+  timestamp: 1759135494103
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-quality-of-service-demo-cpp-0.33.7-np126py312h3bd2861_10.conda
   sha256: 6495dd85cc943bc3eae674fe066ab9a3a50d9ddc225289f5b8d382c0a9cb9a93
   md5: 7aa676a79cca9c9bcb905c90a6909629
@@ -14235,6 +26009,30 @@ packages:
   license: BSD-3-Clause
   size: 598422
   timestamp: 1759138489774
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-quality-of-service-demo-cpp-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 4d35b7e8eee08914d9bc7d88fe597521eb24d77fa247749b16b9a5174f46d341
+  md5: 0b0c751f9847bdbc66fc3026dd4ce64e
+  depends:
+  - python
+  - ros-jazzy-example-interfaces
+  - ros-jazzy-launch-ros
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 589520
+  timestamp: 1759138254291
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-quality-of-service-demo-py-0.33.7-np126py312h3bd2861_10.conda
   sha256: 9f2a2f907544317aa2bda9022c6e2f3450605758405dac9d38c4a6fc98ae9cf6
   md5: 8c2b4a77e5c0958c6619c922d3689578
@@ -14255,6 +26053,25 @@ packages:
   license: BSD-3-Clause
   size: 34806
   timestamp: 1759138290169
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-quality-of-service-demo-py-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: 978d2c8b195e5db31dd6a6ffa63e7e769d56f4c30432be43d4d2f2d23f246281
+  md5: 128b48719d9c8c57fedcb120963a2722
+  depends:
+  - python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 34797
+  timestamp: 1759138109267
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-random-numbers-2.0.1-np126py312h3bd2861_10.conda
   sha256: 966928a994ba8964ddaf540ef2d3c9d20fbd067399bec24417c514285e2b0990
   md5: 2234ae7abe1f12137df3d6f573880a36
@@ -14275,6 +26092,25 @@ packages:
   license: BSD-3-Clause
   size: 48802
   timestamp: 1759134487422
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-random-numbers-2.0.1-np126py312h01c0cb9_10.conda
+  sha256: 2bd25238352b30dab4b593fca4e1d2efb056cf9462e9868fbdc830083d0f9a44
+  md5: d2939508889f8552082335b7e4fa88bc
+  depends:
+  - libboost
+  - libboost-devel
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - libboost >=1.86.0,<1.87.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 47924
+  timestamp: 1759134655797
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rcl-9.2.7-np126py312h3bd2861_10.conda
   sha256: 9bf9e007a2f7986731e8cb6ce6359a9ae98ce58a1d966575d7899659e3ed1119
   md5: 6abad32f74bfe8f8583c73cfdb82a909
@@ -14307,6 +26143,38 @@ packages:
   license: BSD-3-Clause
   size: 201210
   timestamp: 1759137495192
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rcl-9.2.7-np126py312h01c0cb9_10.conda
+  sha256: ebc02802883a54f4b23c064b73a33dad5708f3741f8f2310fdcc9923ecae12c3
+  md5: c82a0fd1c1d44d5c819ed11e6714b0c0
+  depends:
+  - python
+  - ros-jazzy-libyaml-vendor
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rcl-logging-interface
+  - ros-jazzy-rcl-logging-spdlog
+  - ros-jazzy-rcl-yaml-param-parser
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-implementation
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-service-msgs
+  - ros-jazzy-tracetools
+  - ros-jazzy-type-description-interfaces
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - yaml
+  - yaml-cpp
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - yaml >=0.2.5,<0.3.0a0
+  - yaml-cpp >=0.8.0,<0.9.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 206606
+  timestamp: 1759137514793
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rcl-action-9.2.7-np126py312h3bd2861_10.conda
   sha256: a7c84e402761127b9f7036c6c73dbbf196d53d2544c9c665388cc150e05cba48
   md5: b8a8b6dda0eec9080ba7bf2cbbdcd67a
@@ -14322,13 +26190,34 @@ packages:
   - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
+  - __glibc >=2.17,<3.0.a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 80470
+  timestamp: 1759137925701
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rcl-action-9.2.7-np126py312h01c0cb9_10.conda
+  sha256: 834b49e3e80ce749c868c8ca171f2db4ddbbf9122430d251a44879f77cdc06ca
+  md5: 7b3c692b5e8dff72ce6e30f08ea74036
+  depends:
+  - python
+  - ros-jazzy-action-msgs
+  - ros-jazzy-rcl
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
   - numpy >=1.26.4,<2.0a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 80470
-  timestamp: 1759137925701
+  size: 80993
+  timestamp: 1759137824759
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rcl-interfaces-2.0.3-np126py312h3bd2861_10.conda
   sha256: 1638a8038a7891a5800e17802654d5faf14ac071b2755141e7a82629cab0b4d3
   md5: 10d8e200bbd2bd07e2bd8616397e3545
@@ -14348,6 +26237,24 @@ packages:
   license: BSD-3-Clause
   size: 570206
   timestamp: 1759136612244
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rcl-interfaces-2.0.3-np126py312h01c0cb9_10.conda
+  sha256: 6529244e38c95cf70ecd90b4d4954bf52aca25d367c99e22029185df528187a9
+  md5: 6cb4d77596b7d05665d36a7b4e03db76
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 581422
+  timestamp: 1759136835940
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rcl-lifecycle-9.2.7-np126py312h3bd2861_10.conda
   sha256: 7ff773f141b7d07f9f97f4c9b4d61d4ceddc5bc5b1f127384a19464b4fdebf32
   md5: f2bce5e8e6a2dd921b81e163413c1b60
@@ -14371,6 +26278,28 @@ packages:
   license: BSD-3-Clause
   size: 57975
   timestamp: 1759137917796
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rcl-lifecycle-9.2.7-np126py312h01c0cb9_10.conda
+  sha256: e9edccb44bd22c7d3455a71575a92b16ee827fbf8c0b237df13a0a70ab1e2d59
+  md5: c51e3a3e870823917930204ed8755ece
+  depends:
+  - python
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-rcl
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-tracetools
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 58690
+  timestamp: 1759137814580
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rcl-logging-interface-3.1.1-np126py312h3bd2861_10.conda
   sha256: 815ced2e31d60df46ab95a6ac1d3914203ea19acab7fc3d7f5b40bbb50b60853
   md5: d823a66d091b680808641438ceca0078
@@ -14388,6 +26317,22 @@ packages:
   license: BSD-3-Clause
   size: 35352
   timestamp: 1759135851282
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rcl-logging-interface-3.1.1-np126py312h01c0cb9_10.conda
+  sha256: ab49c7090a4dc5077061696b5bae7a04214ea423a2bf3a56e9893280e8c7b8b3
+  md5: 0d7ebc8212a59b1b6e4a94d365b419ba
+  depends:
+  - python
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 35909
+  timestamp: 1759135869229
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rcl-logging-spdlog-3.1.1-np126py312he340118_10.conda
   sha256: 3422ebeec09a0d41ec7c85ccc4aaba86de3197b30c80d1703f6be697bcf4f6a1
   md5: a021831db4f20a42022ef9923c79a26d
@@ -14410,6 +26355,28 @@ packages:
   license: BSD-3-Clause
   size: 45954
   timestamp: 1759135935520
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rcl-logging-spdlog-3.1.1-np126py312hbd405f3_10.conda
+  sha256: ca5335499cdee35e3a625c23f7166e47a301b82bbcbc5b4a78913ac7c237fc9f
+  md5: 0395e12f28a35f1e5879608803b07675
+  depends:
+  - python
+  - ros-jazzy-rcl-logging-interface
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-spdlog-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - spdlog
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - spdlog >=1.15.3,<1.16.0a0
+  license: BSD-3-Clause
+  size: 47652
+  timestamp: 1759136052531
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rcl-yaml-param-parser-9.2.7-np126py312h3bd2861_10.conda
   sha256: cc79978e35ed388c961f928df46a422cdaff5290416473950524f0bc07f20fcd
   md5: 8236b5b6f305ab7fa5c7ecc3e8f3de3b
@@ -14434,6 +26401,28 @@ packages:
   license: BSD-3-Clause
   size: 51623
   timestamp: 1759136002236
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rcl-yaml-param-parser-9.2.7-np126py312h01c0cb9_10.conda
+  sha256: 5fe057f945f301563882e87cad6dba64b606dbf6978bcad969ebdb27704e1ebf
+  md5: 4062eea3c323e444400016c9a72c5b68
+  depends:
+  - python
+  - ros-jazzy-libyaml-vendor
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - yaml
+  - yaml-cpp
+  - libstdcxx >=14
+  - libgcc >=14
+  - yaml-cpp >=0.8.0,<0.9.0a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - yaml >=0.2.5,<0.3.0a0
+  license: BSD-3-Clause
+  size: 53297
+  timestamp: 1759136127518
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rclcpp-28.1.12-np126py312h3bd2861_10.conda
   sha256: 5fac9cbad51d1f1886825b1c29e869fd1390e5e777651143da8075ed13f48000
   md5: 0ec79e2a566db7f4d526eaf0436ab861
@@ -14469,6 +26458,39 @@ packages:
   license: BSD-3-Clause
   size: 1095658
   timestamp: 1759138036472
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rclcpp-28.1.12-np126py312h01c0cb9_10.conda
+  sha256: bb34d237fab6f94474fc1bc63b6cfae13bcd186c0c23bacf1aaf32b57c6b9061
+  md5: a3bf2591cffc4092430c07795772be60
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-libstatistics-collector
+  - ros-jazzy-rcl
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rcl-logging-interface
+  - ros-jazzy-rcl-yaml-param-parser
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosgraph-msgs
+  - ros-jazzy-rosidl-dynamic-typesupport
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-c
+  - ros-jazzy-rosidl-typesupport-cpp
+  - ros-jazzy-statistics-msgs
+  - ros-jazzy-tracetools
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 1058857
+  timestamp: 1759137909119
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rclcpp-action-28.1.12-np126py312h3bd2861_10.conda
   sha256: 0569eb337647a4fceb1b0649139d5a933b43f5c59c3c95087c2b5d9ae3fc439f
   md5: fe6e6d7ee5a3fb0821e8da09455f33bd
@@ -14493,6 +26515,28 @@ packages:
   license: BSD-3-Clause
   size: 116482
   timestamp: 1759138297286
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rclcpp-action-28.1.12-np126py312h01c0cb9_10.conda
+  sha256: ff4a5bb18a2430b5c273c46dbfed8ee95749f3e3ba35491dfa79fede3dd5a107
+  md5: 1fc1b3fdbba43f9c13907268659039b4
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+  - python
+  - ros-jazzy-action-msgs
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-rcl
+  - ros-jazzy-rcl-action
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rcpputils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 117711
+  timestamp: 1759138118156
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rclcpp-components-28.1.12-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 140131
   timestamp: 1759138254427
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+  sha256: 0368a23f05439f8547f410b7a80dd7740af30146c4f41415a68494cad674a84e
+  md5: 6f905f0d6dfbe8037a5f4b5a031f6be6
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-class-loader
+  - ros-jazzy-composition-interfaces
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 141999
+  timestamp: 1759138060565
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rclcpp-lifecycle-28.1.12-np126py312h3bd2861_10.conda
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@@ -14539,6 +26603,63 @@ packages:
   license: BSD-3-Clause
   size: 130881
   timestamp: 1759138283448
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rclcpp-lifecycle-28.1.12-np126py312h01c0cb9_10.conda
+  sha256: be43a7a4f530e679070917e640e70a41cd00a2d284711c9eebf7e4e03e7604d1
+  md5: fcf2c737507c8fe5e347543097e0e4dd
+  depends:
+  - python
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-rcl
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rcl-lifecycle
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-typesupport-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 127443
+  timestamp: 1759138102883
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rclpy-7.1.5-np126py312h01c0cb9_10.conda
+  sha256: d5d3ddc4fe75e2a95e4461f2b274c545bfb6db58dbd23b7a4fff8a9eef124a2d
+  md5: fcd5fc183629794c24459d0384c96755
+  depends:
+  - python
+  - pyyaml
+  - ros-jazzy-action-msgs
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-rcl
+  - ros-jazzy-rcl-action
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rcl-lifecycle
+  - ros-jazzy-rcl-logging-interface
+  - ros-jazzy-rcl-yaml-param-parser
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-implementation
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosgraph-msgs
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rpyutils
+  - ros-jazzy-unique-identifier-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 673208
+  timestamp: 1759137983238
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-rclpy-7.1.5-np126py312h3bd2861_13.conda
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@@ -14590,6 +26711,23 @@ packages:
   license: BSD-3-Clause
   size: 80389
   timestamp: 1759135754694
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rcpputils-2.11.2-np126py312h01c0cb9_10.conda
+  sha256: e04a00b2d1b6e8ae78d40c43877bb9a0c6ef73d4592621bb2af16b848a076926
+  md5: 6ccf2bb507ad51c4fa7a02d0e0f6a23e
+  depends:
+  - python
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 80970
+  timestamp: 1759135715636
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rcutils-6.7.4-np126py312h3bd2861_10.conda
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   md5: 9fba73b4a6fc4c75ec91b3d6df1e7eb2
@@ -14606,6 +26744,21 @@ packages:
   license: BSD-3-Clause
   size: 122119
   timestamp: 1759135628086
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rcutils-6.7.4-np126py312h01c0cb9_10.conda
+  sha256: 549a95d2b2a15955b00419bae2c35037322c671c38f58a596e99fac49a4ad11c
+  md5: c7f2e277bd2b05606eb1f3fd8b9561a8
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 126746
+  timestamp: 1759135595288
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-realtime-tools-3.9.0-np126py312h3bd2861_10.conda
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   md5: cdaa597390115e1fb082cbfc250106d3
@@ -14629,6 +26782,29 @@ packages:
   license: BSD-3-Clause
   size: 78029
   timestamp: 1759138514556
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-realtime-tools-3.9.0-np126py312h01c0cb9_10.conda
+  sha256: 2b89bcd4ae0fc9c3398bb52b658348c107e95080293b3511d3542abddb89f6cb
+  md5: 79f8d32364d843599a7eeb05cbd8e3f9
+  depends:
+  - libboost-devel
+  - libcap
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-action
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - libcap >=2.76,<2.77.0a0
+  - numpy >=1.26.4,<2.0a0
+  - libboost >=1.86.0,<1.87.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 81585
+  timestamp: 1759138280978
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-resource-retriever-3.4.4-np126py312h3bd2861_10.conda
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   md5: 2cfb053769857c61ef2033376b5492da
@@ -14649,6 +26825,24 @@ packages:
   license: BSD-3-Clause
   size: 44775
   timestamp: 1759135559085
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-resource-retriever-3.4.4-np126py312h01c0cb9_10.conda
+  sha256: a1b755996f2b816a9e5ea8de286bb9b51f5f3e0c94a41063244cb7f86e3d36d3
+  md5: 7060ede945aa2c20db4ae2770b252efc
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-libcurl-vendor
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 45622
+  timestamp: 1759135489914
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-7.3.2-np126py312h3bd2861_10.conda
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   md5: 630603ba196ed5efebd28d281bfa848d
@@ -14669,6 +26863,24 @@ packages:
   license: BSD-3-Clause
   size: 97009
   timestamp: 1759135915627
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rmw-7.3.2-np126py312h01c0cb9_10.conda
+  sha256: b48e9c4f9788c9301e6c68edff24adba8a58e9de9940282c6f083021b15a3bf3
+  md5: 2352a3585d4fb0a07644ef698ca703eb
+  depends:
+  - python
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-dynamic-typesupport
+  - ros-jazzy-rosidl-runtime-c
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 98195
+  timestamp: 1759136029290
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-connextdds-0.22.1-np126py312h3bd2861_10.conda
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   md5: 6dc89b6b65a0e4d1bb292baffd93ca02
@@ -14688,6 +26900,23 @@ packages:
   license: BSD-3-Clause
   size: 31990
   timestamp: 1759137073605
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rmw-connextdds-0.22.1-np126py312h01c0cb9_10.conda
+  sha256: 832a9b71d0c57c9f6f9121d2fac94f89cc92a76d35714384912994b58a121613
+  md5: c7b2432ad0676ca13e9415b14e1d9385
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-rmw-connextdds-common
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 31996
+  timestamp: 1759137156789
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-connextdds-common-0.22.1-np126py312h3bd2861_10.conda
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@@ -14719,6 +26948,35 @@ packages:
   license: BSD-3-Clause
   size: 53892
   timestamp: 1759136858268
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rmw-connextdds-common-0.22.1-np126py312h01c0cb9_10.conda
+  sha256: da5e96f168b08721548071fa75e0cd07b73e4a6b8efb37b380f0c8136753076e
+  md5: b073c604f2e1f6a013e6772cbf70c5d8
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-fastcdr
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-dds-common
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-fastrtps-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
+  - ros-jazzy-rti-connext-dds-cmake-module
+  - ros-jazzy-tracetools
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 53839
+  timestamp: 1759137000614
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-cyclonedds-cpp-2.2.3-np126py312h3bd2861_10.conda
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@@ -14746,6 +27004,31 @@ packages:
   license: BSD-3-Clause
   size: 265844
   timestamp: 1759136864665
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rmw-cyclonedds-cpp-2.2.3-np126py312h01c0cb9_10.conda
+  sha256: 800936cdd950eb630fa9d652487a9253b03ef7536a29edbfe391611acfa2c308
+  md5: 8d2a5b8c4d5585b956c868006a73608a
+  depends:
+  - python
+  - ros-jazzy-cyclonedds
+  - ros-jazzy-iceoryx-binding-c
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-dds-common
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
+  - ros-jazzy-tracetools
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 263516
+  timestamp: 1759137006671
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-dds-common-3.1.0-np126py312h3bd2861_10.conda
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   md5: f57fb5582e0b488e9d442b319bb07962
@@ -14768,6 +27051,27 @@ packages:
   license: BSD-3-Clause
   size: 177140
   timestamp: 1759136532747
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rmw-dds-common-3.1.0-np126py312h01c0cb9_10.conda
+  sha256: 9bda9e0c7aaf9ae1ea46bd94862f09c141d928f318b9040417e671dfac45f2f8
+  md5: 981ed6815950a54f044721347f57c271
+  depends:
+  - python
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 179166
+  timestamp: 1759136765895
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-fastrtps-cpp-8.4.3-np126py312h3bd2861_10.conda
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   md5: 60b7ea0455cc4697ff70513a5eac6522
@@ -14801,6 +27105,37 @@ packages:
   license: BSD-3-Clause
   size: 159786
   timestamp: 1759137049673
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rmw-fastrtps-cpp-8.4.3-np126py312h01c0cb9_10.conda
+  sha256: c14016711df17fe506c7ee38a41107ff2a866b9b92852d6179bb0fe1e932e998
+  md5: 0ea98b87d93cee3048e5616ff57610ef
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-fastcdr
+  - ros-jazzy-fastrtps
+  - ros-jazzy-fastrtps-cmake-module
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-dds-common
+  - ros-jazzy-rmw-fastrtps-shared-cpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-dynamic-typesupport
+  - ros-jazzy-rosidl-dynamic-typesupport-fastrtps
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-fastrtps-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-tracetools
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 158880
+  timestamp: 1759137137880
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-fastrtps-dynamic-cpp-8.4.3-np126py312h3bd2861_10.conda
   sha256: 645d73d3eee4fe4a779810e596b73d5ed7c9256dd0eee1ac80719375ec55dfb6
   md5: 0a7d3993e3df733e51161bf02d7f2e0f
@@ -14830,6 +27165,34 @@ packages:
   license: BSD-3-Clause
   size: 187065
   timestamp: 1759137014712
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rmw-fastrtps-dynamic-cpp-8.4.3-np126py312h01c0cb9_10.conda
+  sha256: 78df7b606346c3c1afeeeb234c251194dcde7bf95b51403d9acd88433cb084e4
+  md5: 9ef2bcf7a636f2738b0fdd1750aae0ef
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-fastcdr
+  - ros-jazzy-fastrtps
+  - ros-jazzy-fastrtps-cmake-module
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-dds-common
+  - ros-jazzy-rmw-fastrtps-shared-cpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 180071
+  timestamp: 1759137107122
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-fastrtps-shared-cpp-8.4.3-np126py312h3bd2861_10.conda
   sha256: a8fe05f2e9d56b580827c8b7caba319e8d65131280f5df157455ae5be7d965f7
   md5: 76d071067b8d9ddcdb46236d811dc3c5
@@ -14858,6 +27221,34 @@ packages:
   license: BSD-3-Clause
   size: 231656
   timestamp: 1759136812044
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rmw-fastrtps-shared-cpp-8.4.3-np126py312h01c0cb9_10.conda
+  sha256: cf4903cfbc2896639975042e4666e6b548c3ef1a1d250ff2811fb45e25803075
+  md5: 2fc14cdf959e505c1a1b5fafe33f726f
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-fastcdr
+  - ros-jazzy-fastrtps
+  - ros-jazzy-fastrtps-cmake-module
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-dds-common
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-dynamic-typesupport
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
+  - ros-jazzy-tracetools
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 219004
+  timestamp: 1759136956422
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-implementation-2.15.6-np126py312h3bd2861_10.conda
   sha256: 620c35ce03b22195ff4500019d6e0e5fa550797f2aafdc9a16ceb9142315a091
   md5: 1c3b731bd70dbca6143a26ecdc1de850
@@ -14883,6 +27274,29 @@ packages:
   license: BSD-3-Clause
   size: 54228
   timestamp: 1759137231735
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rmw-implementation-2.15.6-np126py312h01c0cb9_10.conda
+  sha256: 29bfd8e5ab0be3659a1c71dec79a983e6c5ba7531068a0dceef1212d798e6973
+  md5: ecae421472d6c8aef919d283ca8893d1
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw-connextdds
+  - ros-jazzy-rmw-cyclonedds-cpp
+  - ros-jazzy-rmw-fastrtps-cpp
+  - ros-jazzy-rmw-fastrtps-dynamic-cpp
+  - ros-jazzy-rmw-implementation-cmake
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 55927
+  timestamp: 1759137296232
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-implementation-cmake-7.3.2-np126py312h3bd2861_10.conda
   sha256: 3ef8f2185c5a7f0adb9ea8306a78cbd7f6aea4b150f1d57f03e21838f93e0711
   md5: 797411e57cbedf5800826bc6d966f4b0
@@ -14901,6 +27315,22 @@ packages:
   license: BSD-3-Clause
   size: 29235
   timestamp: 1759135465529
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rmw-implementation-cmake-7.3.2-np126py312h01c0cb9_10.conda
+  sha256: da16590ce27f016171a8ae9b94f2bb251e91b162229d8b2331e69090bc09db7e
+  md5: b6db03a84b8920fa848dfe7898e8c970
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 29303
+  timestamp: 1759135426406
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-robot-state-publisher-3.3.3-np126py312h3bd2861_10.conda
   sha256: c8833ae7b3ec0fc4d31fb3a774c849c85012fafa9d711cd964311d7477008199
   md5: 6c8fa7a2175dce9d6224d4025598a4f6
@@ -14928,6 +27358,32 @@ packages:
   license: BSD-3-Clause
   size: 270797
   timestamp: 1759139223476
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-robot-state-publisher-3.3.3-np126py312h01c0cb9_10.conda
+  sha256: 9d6194da81708925f5d6a239abe48bf042a166212c8926326c633693ab0fd6f5
+  md5: 4a7c9b203bea7258c98184185b299ebc
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-kdl-parser
+  - ros-jazzy-orocos-kdl-vendor
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros-jazzy-tf2-ros
+  - ros-jazzy-urdf
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 268161
+  timestamp: 1759138878960
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-base-0.11.0-np126py312h3bd2861_10.conda
   sha256: aa5ad123294f930216312ccfa204c1ff16455f12468eb896d7a02cc0a918dd99
   md5: 4ca1982f542affa6b86dcd63e58e0637
@@ -14941,19 +27397,88 @@ packages:
   - ros-jazzy-rosbag2
   - ros-jazzy-urdf
   - ros2-distro-mutex 0.11.* jazzy_*
-  - libgcc >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 22217
+  timestamp: 1759142572440
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros-base-0.11.0-np126py312h01c0cb9_10.conda
+  sha256: b36813f567f6fb950db79efcad48514d8539c5b7e115b6e93f93bdabc5f8749f
+  md5: d578a76626998682325f3f9294731203
+  depends:
+  - python
+  - ros-jazzy-geometry2
+  - ros-jazzy-kdl-parser
+  - ros-jazzy-robot-state-publisher
+  - ros-jazzy-ros-core
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2
+  - ros-jazzy-urdf
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 22146
+  timestamp: 1759141754666
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-core-0.11.0-np126py312h3bd2861_10.conda
+  sha256: 78e70094f96dbd1833c488ebea406a6ac885c3676c0e7dc0d2fb51c83eaa1c6b
+  md5: 5f9ef851bcbd220526d56aa3995d87f8
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ament-cmake-auto
+  - ros-jazzy-ament-cmake-gmock
+  - ros-jazzy-ament-cmake-gtest
+  - ros-jazzy-ament-cmake-pytest
+  - ros-jazzy-ament-cmake-ros
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-ament-lint-auto
+  - ros-jazzy-ament-lint-common
+  - ros-jazzy-class-loader
+  - ros-jazzy-common-interfaces
+  - ros-jazzy-launch
+  - ros-jazzy-launch-ros
+  - ros-jazzy-launch-testing
+  - ros-jazzy-launch-testing-ament-cmake
+  - ros-jazzy-launch-testing-ros
+  - ros-jazzy-launch-xml
+  - ros-jazzy-launch-yaml
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rcl-lifecycle
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-action
+  - ros-jazzy-rclcpp-lifecycle
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-environment
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli-common-extensions
+  - ros-jazzy-ros2launch
+  - ros-jazzy-rosidl-default-generators
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sros2
+  - ros-jazzy-sros2-cmake
+  - ros2-distro-mutex 0.11.* jazzy_*
   - __glibc >=2.17,<3.0.a0
   - libstdcxx >=14
   - libgcc >=14
-  - python_abi 3.12.* *_cp312
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 22217
-  timestamp: 1759142572440
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-core-0.11.0-np126py312h3bd2861_10.conda
-  sha256: 78e70094f96dbd1833c488ebea406a6ac885c3676c0e7dc0d2fb51c83eaa1c6b
-  md5: 5f9ef851bcbd220526d56aa3995d87f8
+  size: 22935
+  timestamp: 1759141203305
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros-core-0.11.0-np126py312h01c0cb9_10.conda
+  sha256: 4b9dc5fb71e751d5d999540b7a048d7620f68827af30a494a1219ddeaff24be4
+  md5: a3c258319b0a1e0d32845f3fb69efcd3
   depends:
   - python
   - ros-jazzy-ament-cmake
@@ -14990,15 +27515,15 @@ packages:
   - ros-jazzy-sros2
   - ros-jazzy-sros2-cmake
   - ros2-distro-mutex 0.11.* jazzy_*
-  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
+  - python_abi 3.12.* *_cp312
   - numpy >=1.26.4,<2.0a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 22935
-  timestamp: 1759141203305
+  size: 22910
+  timestamp: 1759140590437
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-environment-4.2.1-np126py312h3bd2861_10.conda
   sha256: afbf2503171aafa5a5caeb707793ac49c6ec04b18bbfec0bf3be28f7e74cc58a
   md5: 1a0a37bef17a78e62502248d0333bb6f
@@ -15015,6 +27540,21 @@ packages:
   license: BSD-3-Clause
   size: 21196
   timestamp: 1759133897929
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros-environment-4.2.1-np126py312h01c0cb9_10.conda
+  sha256: b51723417c2993a4ac35c6b3a1133c85cdae2ae85e6b7b642953bab20e8f92ba
+  md5: 25007042499374972b4b5481a692de62
+  depends:
+  - python
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 21192
+  timestamp: 1759134138734
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-workspace-1.0.3-np126py312h3bd2861_10.conda
   sha256: a6cdeb4918d9886db96dd14a436c863426ac804c37520fba2270671c3d188ff6
   md5: ac5ee1d92135d01d66cf9b10047fac93
@@ -15030,6 +27570,21 @@ packages:
   license: BSD-3-Clause
   size: 35302
   timestamp: 1759133887784
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros-workspace-1.0.3-np126py312h01c0cb9_10.conda
+  sha256: 9d089e1c0fbab5212942c06d220360903ae60ade79d956bec0d09735f01a4c30
+  md5: a66390f5a7dde641d078863c7b5642cb
+  depends:
+  - python
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 35366
+  timestamp: 1759134127288
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2-control-test-assets-4.37.0-np126py312h3bd2861_10.conda
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   md5: ca77c194c0524faee5dfe3ee49fd0909
@@ -15047,6 +27602,22 @@ packages:
   license: BSD-3-Clause
   size: 31131
   timestamp: 1759134500444
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2-control-test-assets-4.37.0-np126py312h01c0cb9_10.conda
+  sha256: 22feb0ff7c15dc839770439e34c6fddbb4c9c8ec3168f7651cf6ae4a2cf2d57a
+  md5: df8c7065be57ff8bf7cffb10037c7425
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 31106
+  timestamp: 1759134671355
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ros2-numpy-2.0.9-np126py312h3bd2861_10.conda
   sha256: d4fdcad652a674daf51f555f34607f3d27e65413fc19a03d2fcdefad7285f36c
   md5: 06717bf0b31585bb111600bfda06b295
@@ -15068,6 +27639,27 @@ packages:
   license: BSD-3-Clause
   size: 54619
   timestamp: 1765488858050
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-ros2-numpy-2.0.9-np126py312hbb414ff_10.conda
+  sha256: 5a4e6c962429fd3e7030ff12f14f0670fbe3c7cc39a7d4e238f6f4c689553be8
+  md5: affe3431ebf96f72761c889c3a02f929
+  depends:
+  - numpy
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-nav-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-tf-transformations
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - libstdcxx >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 61897
+  timestamp: 1767478456648
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-ros2-python-extension-1.0.0-np126py312h3bd2861_10.conda
   sha256: afcdcfb95afaeb9434a6dea5b4e5aa7f096dd4389e5761c44ed12d741edad5f1
   md5: 2dacf60d4f58e0826d3d7058f07f7a74
@@ -15086,6 +27678,24 @@ packages:
   license: BSD-3-Clause
   size: 37183
   timestamp: 1765488858150
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-ros2-python-extension-1.0.0-np126py312hbb414ff_10.conda
+  sha256: 1d9de10e62cdab5fe6c9ffcd287167feba3e97e14a3fc365513d64a272a2b7db
+  md5: 5157671e39b1ac26791cfb5063ac57c6
+  depends:
+  - python
+  - ros-jazzy-pybind11-vendor
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - libstdcxx >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 44520
+  timestamp: 1767478827543
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2action-0.32.6-np126py312h3bd2861_10.conda
   sha256: 69bd4ce547a8e13565d157d693848e950779c8bc91d2a9dca6218d9c5864b6c8
   md5: 4261dd0395dd7a2f118dc8263b0ee2cc
@@ -15108,6 +27718,27 @@ packages:
   license: BSD-3-Clause
   size: 47450
   timestamp: 1759138982145
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2action-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: f245883f09e49f3ff1874c40e92d56adbf677c70f7b8d42f5121cdb27d3216c4
+  md5: 1d6eb27b076b65a8a160b2f64d15bfce
+  depends:
+  - python
+  - ros-jazzy-action-msgs
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-rosidl-runtime-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 47398
+  timestamp: 1759138667384
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2bag-0.26.9-np126py312h3bd2861_10.conda
   sha256: 031189bf0e87180d36d239508456b78abc4beb585c432e6eff4507fb420f2f1d
   md5: 1eb92c6e97923aa31eb44c0c27f201d5
@@ -15130,6 +27761,26 @@ packages:
   license: BSD-3-Clause
   size: 70906
   timestamp: 1759141884021
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2bag-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: 5183eb3ee7a8a67ddb2f6cdcf2f999f7fdad485f77b91264c988163015410300
+  md5: c12b757c41de809ce57455a228eb5b63
+  depends:
+  - python
+  - pyyaml
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-rosbag2-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 70688
+  timestamp: 1759141036483
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2cli-0.32.6-np126py312h3bd2861_10.conda
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   md5: 263ff9103e8220ffb8aa8d453436150a
@@ -15152,6 +27803,26 @@ packages:
   license: BSD-3-Clause
   size: 75553
   timestamp: 1759138307590
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2cli-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: 9a58d53974c12de7e7e987a4b2c75926bcdc6f31cca40ef67186961ba50fd37f
+  md5: 2fe6bf82e732bb4f64dbdf50f81bc9d2
+  depends:
+  - argcomplete
+  - importlib-metadata
+  - packaging
+  - psutil
+  - python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 75627
+  timestamp: 1759138128341
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2cli-common-extensions-0.3.0-np126py312h3bd2861_10.conda
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   md5: fdaae7901a16ca8bcac95ecb94806390
@@ -15186,6 +27857,39 @@ packages:
   license: BSD-3-Clause
   size: 26564
   timestamp: 1759140701384
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2cli-common-extensions-0.3.0-np126py312h01c0cb9_10.conda
+  sha256: 46ad59dc41dc024fdbbfa64623f9bc18252650220dda472bb84e7ecfe6bf260c
+  md5: bc5aa11d045a871dd15200c771e9afb6
+  depends:
+  - python
+  - ros-jazzy-launch-xml
+  - ros-jazzy-launch-yaml
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2action
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2component
+  - ros-jazzy-ros2doctor
+  - ros-jazzy-ros2interface
+  - ros-jazzy-ros2launch
+  - ros-jazzy-ros2lifecycle
+  - ros-jazzy-ros2multicast
+  - ros-jazzy-ros2node
+  - ros-jazzy-ros2param
+  - ros-jazzy-ros2pkg
+  - ros-jazzy-ros2run
+  - ros-jazzy-ros2service
+  - ros-jazzy-ros2topic
+  - ros-jazzy-sros2
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 26609
+  timestamp: 1759140072948
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2component-0.32.6-np126py312h3bd2861_10.conda
   sha256: 8e6fc3722298550ecf7602023c23c3c2fb549a43e424ee435ec1ac923518a1f3
   md5: 794c2fa5a9617428640998dd7b9bc9ca
@@ -15212,6 +27916,30 @@ packages:
   license: BSD-3-Clause
   size: 37994
   timestamp: 1759139839233
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2component-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: ac111ee0da298632a6438ef97bad19aa3dc2bbfc6e641e98f8c58dc97e875096
+  md5: cae1e34878ed83fa58e3301dca646c61
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-composition-interfaces
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2node
+  - ros-jazzy-ros2param
+  - ros-jazzy-ros2pkg
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 38100
+  timestamp: 1759139410699
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2doctor-0.32.6-np126py312h3bd2861_10.conda
   sha256: b8ce58dc818079448f612ca99f0168c33c406e791646acecb5a2e57b5ca4dc42
   md5: bd93d203c53714eae363299ce2a8b539
@@ -15238,6 +27966,30 @@ packages:
   license: BSD-3-Clause
   size: 67612
   timestamp: 1759138976282
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2doctor-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: 9f813feefbb5cb9af59c3ff886efc4a29f975b334de33100563f684cecc810ac
+  md5: 9bed71b2c543ddc967a83daf9ab19690
+  depends:
+  - catkin_pkg
+  - importlib-metadata
+  - psutil
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-environment
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - rosdistro
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 67579
+  timestamp: 1759138660653
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2interface-0.32.6-np126py312h3bd2861_10.conda
   sha256: a3619dae2e62c6c1df9e84be23b6d7dae06f9816ad291919c3afb3ba23a2bce0
   md5: f3e395a0c311e823a5b1a7fd70266446
@@ -15258,6 +28010,26 @@ packages:
   license: BSD-3-Clause
   size: 46463
   timestamp: 1759138967397
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2interface-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: 0c814adf818b22742e4c9a813c8d40f16656844ad3f8bebd399778a0d7586353
+  md5: 80f4cdde7583a0fe458622fb6c444099
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-rosidl-adapter
+  - ros-jazzy-rosidl-runtime-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 46454
+  timestamp: 1759138646920
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2launch-0.26.9-np126py312h3bd2861_10.conda
   sha256: 03ed142e0566c1734476d32489f27d02eeb7d8c2fb7b3c71ec2a7ff29a0c5e83
   md5: 4851cfbba36ed59860c1d2912c56cb22
@@ -15282,6 +28054,28 @@ packages:
   license: BSD-3-Clause
   size: 46350
   timestamp: 1759139191502
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2launch-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: 9c35ad7719ed211c2546557b3af3f5900919e934c7b9ebdcb9404062120da205
+  md5: 8cd71c2884fc8419c1f99c09227b10c0
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-launch
+  - ros-jazzy-launch-ros
+  - ros-jazzy-launch-xml
+  - ros-jazzy-launch-yaml
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2pkg
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 46171
+  timestamp: 1759138839960
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2lifecycle-0.32.6-np126py312h3bd2861_10.conda
   sha256: f82a9520f6297cdd82ccebc7499dce40f8b4ada8e2baea839b7fd4fa7f6b7e82
   md5: 3e77332f55a96ad68bba48a741c462c1
@@ -15303,6 +28097,27 @@ packages:
   license: BSD-3-Clause
   size: 45119
   timestamp: 1759139560053
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2lifecycle-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: b1b5502df3239b19581d4dcc3e6363bd42296f1fbfb8e43e7e4a819c06700c1c
+  md5: 2249d20ee483c771b6c7b95c8a9c95b9
+  depends:
+  - python
+  - ros-jazzy-lifecycle-msgs
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2node
+  - ros-jazzy-ros2service
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 45085
+  timestamp: 1759139152931
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2multicast-0.32.6-np126py312h3bd2861_10.conda
   sha256: 501d54829e5b27bc6e1c1cd54bcfbc68d0c629753e26e351ef6b1731ee75f464
   md5: 847b702c252c8de5afcfead44a50b5cc
@@ -15314,13 +28129,29 @@ packages:
   - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
-  - numpy >=1.26.4,<2.0a0
+  - __glibc >=2.17,<3.0.a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 25532
+  timestamp: 1759138522774
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2multicast-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: 1dfbe31515fe51f90097408e4c8ff7929a8bd9dcafa4853323e2e307c7c460f6
+  md5: 16dfaf9cf15300556ba24ab043beda24
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  size: 25532
-  timestamp: 1759138522774
+  size: 25600
+  timestamp: 1759138298030
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2node-0.32.6-np126py312h3bd2861_10.conda
   sha256: 4e80967fcf91b1144fad9009b8c78e970f3dc2eba2cba09f3eeff526886a032b
   md5: b615d960528f5478fe13c2d3f5c3c8be
@@ -15340,6 +28171,24 @@ packages:
   license: BSD-3-Clause
   size: 42873
   timestamp: 1759138962330
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2node-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: 39aaf86898e1b7ef5e802d07738793e5fd7675862d158eaf640505a47d30c839
+  md5: 195dcd974407b5a3553530b05500e7bc
+  depends:
+  - python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 42888
+  timestamp: 1759138644233
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2param-0.32.6-np126py312h3bd2861_10.conda
   sha256: ba87d8d5b53fd2117d99a9213a1e5c6c308e78f3e6b91929fb0cfd6a54fc6a53
   md5: 2d3ee0fed29c59c1dcb66badb2aa71a6
@@ -15362,6 +28211,27 @@ packages:
   license: BSD-3-Clause
   size: 50118
   timestamp: 1759139545420
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2param-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: 46b0683152ff343f27c03d97d57be1f7f194196cb0859a94581123f363d828e7
+  md5: dafa118a3c4284afdfdc6dd684ab215e
+  depends:
+  - python
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2node
+  - ros-jazzy-ros2service
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 50167
+  timestamp: 1759139133478
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2pkg-0.32.6-np126py312h3bd2861_10.conda
   sha256: 57b716431a9d9a41e0e161204416abc4b55b11ad0553ea452072e0120e0fb165
   md5: 7d9bb8d7ebd4f1c373b5ca3ec3c70fca
@@ -15384,6 +28254,27 @@ packages:
   license: BSD-3-Clause
   size: 57895
   timestamp: 1759138957095
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2pkg-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: 2ab1152b14b401c5f65ef1df6574b3c36e04859ac4e53dc2b637a60f9682abb4
+  md5: a2c52adb37613f259e2abf8dd71f11d9
+  depends:
+  - catkin_pkg
+  - empy
+  - importlib_resources
+  - python
+  - ros-jazzy-ament-copyright
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 57857
+  timestamp: 1759138637616
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2run-0.32.6-np126py312h3bd2861_10.conda
   sha256: 1bc47672bff0f4beadee0cc550efcecf714d2ce965344de46dee1f1690ee0be0
   md5: 9a489d806586ac557367adfc5e2e1b32
@@ -15403,6 +28294,23 @@ packages:
   license: BSD-3-Clause
   size: 24631
   timestamp: 1759139218388
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2run-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: 55ee3b8accdc271dfc5733bdd532dee934c14b49dd0ba3ba822bdd854a149bcf
+  md5: c23b7bfe42609ff3264bc79c3734111c
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2pkg
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 24725
+  timestamp: 1759138873111
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2service-0.32.6-np126py312h3bd2861_10.conda
   sha256: c1cb547993691cdd77831ec10dc9899986c442d99782feb2bd7843e327dd109b
   md5: 9c507683ea88d0b5cf43614f7fa79ff9
@@ -15425,6 +28333,27 @@ packages:
   license: BSD-3-Clause
   size: 51443
   timestamp: 1759139206309
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2service-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: 9618facf852e38a05f43ca6740833073ec8ce93f483385f4ae9316b4969f37fe
+  md5: 519c93e26a73ab9e5a24f0e0f9dcf416
+  depends:
+  - python
+  - pyyaml
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-ros2topic
+  - ros-jazzy-rosidl-runtime-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 51406
+  timestamp: 1759138854666
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros2topic-0.32.6-np126py312h3bd2861_10.conda
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   md5: 8caa80e20e89d4dfb2d7e4a82fb1aaed
@@ -15446,6 +28375,27 @@ packages:
   license: BSD-3-Clause
   size: 73969
   timestamp: 1759138948583
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ros2topic-0.32.6-np126py312h01c0cb9_10.conda
+  sha256: 80587f5c6a12af84bcb5a74538f497cfc8c6fd0d18459abca7d9a44cecf00b94
+  md5: 0a8d79e04250839fe182b391bdf63086
+  depends:
+  - numpy
+  - python
+  - pyyaml
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-rosidl-runtime-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 73974
+  timestamp: 1759138628214
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-0.26.9-np126py312h3bd2861_10.conda
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   md5: 61d3f9ffa8b512592a607c467e4f44de
@@ -15470,6 +28420,29 @@ packages:
   license: BSD-3-Clause
   size: 35314
   timestamp: 1759142416071
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: 6e7e91821a8eea85738e66721591839c961220d10f9682a96a5e437d749b5b58
+  md5: 767e581a2c691018bf721c24dbc63f52
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2bag
+  - ros-jazzy-rosbag2-compression
+  - ros-jazzy-rosbag2-compression-zstd
+  - ros-jazzy-rosbag2-cpp
+  - ros-jazzy-rosbag2-py
+  - ros-jazzy-rosbag2-storage
+  - ros-jazzy-rosbag2-storage-default-plugins
+  - ros-jazzy-rosbag2-transport
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 35172
+  timestamp: 1759141599439
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-compression-0.26.9-np126py312h3bd2861_10.conda
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   md5: f7e0c70980bf5950eaa89cff49876e1b
@@ -15491,6 +28464,25 @@ packages:
   license: BSD-3-Clause
   size: 205064
   timestamp: 1759140551619
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-compression-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: d11c0279e81f268e10aeab46ab37c565a51940164597aae8eb2676f1e533c2cc
+  md5: b151d6e54036036875f0314b5f59e8cd
+  depends:
+  - python
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2-cpp
+  - ros-jazzy-rosbag2-storage
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 200255
+  timestamp: 1759139870015
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-compression-zstd-0.26.9-np126py312h3bd2861_10.conda
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   md5: 1c01047f7c75297c42e0dd2a2a875d85
@@ -15512,6 +28504,25 @@ packages:
   license: BSD-3-Clause
   size: 69920
   timestamp: 1759140855189
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-compression-zstd-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: da947c9e0420684313a60ec32c32d5ac27d3c4ca814e194c8e6cb5dabd5bb7d6
+  md5: 8e7bca96b3f580408b44c2e0ee6eede8
+  depends:
+  - python
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2-compression
+  - ros-jazzy-zstd-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 69728
+  timestamp: 1759140207047
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-cpp-0.26.9-np126py312h3bd2861_10.conda
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   md5: 31d81a4eb3feb7f95561f1d7461dd40a
@@ -15540,6 +28551,33 @@ packages:
   license: BSD-3-Clause
   size: 349336
   timestamp: 1759139610816
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-cpp-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: 4eeaedd091fc2d9cbdaca17e0609082a6fcf42051739c3fbac5089d63e492266
+  md5: c597d72b528ad81902b26ccb05263846
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-rmw-implementation
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2-storage
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-cpp
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 337141
+  timestamp: 1759139205589
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-interfaces-0.26.9-np126py312h3bd2861_10.conda
   sha256: a3b838ecb210795db8d5ce070dd2799c01200906bbb0751e915acb907291770a
   md5: c5a4ea1feb07626b8e435569954328de
@@ -15558,6 +28596,23 @@ packages:
   license: BSD-3-Clause
   size: 460923
   timestamp: 1759136590937
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-interfaces-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: 6b9d7a3ac46ab9a4cc1bec8576a01dc34b46d512e33995f522947f9f06219d92
+  md5: a69bb7d97f9b1070c08a7808998574c0
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 460846
+  timestamp: 1759136849326
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-py-0.26.9-np126py312h3bd2861_10.conda
   sha256: e4598a1b71e133259aa9fa2b35c329f42bc089cd1383f0ae29c12f43e6e80204
   md5: c16cb92f05bfe086187f8d1a14225d4e
@@ -15581,6 +28636,28 @@ packages:
   license: BSD-3-Clause
   size: 791611
   timestamp: 1759141642047
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-py-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: 7ff184fc08e369b92c7cb026a4ef908a6ac6329552b6114f777ccac68522d7af
+  md5: ae612e8f64282a57cc5dcbdbbc7af9c0
+  depends:
+  - python
+  - ros-jazzy-pybind11-vendor
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2-compression
+  - ros-jazzy-rosbag2-cpp
+  - ros-jazzy-rosbag2-storage
+  - ros-jazzy-rosbag2-transport
+  - ros-jazzy-rpyutils
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 736245
+  timestamp: 1759140905480
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-storage-0.26.9-np126py312h3bd2861_10.conda
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   md5: a8505a8aec773203f7a486d56c91a46a
@@ -15603,6 +28680,26 @@ packages:
   license: BSD-3-Clause
   size: 277994
   timestamp: 1759138506727
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-storage-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: d98999f6f2dbbc79538644f1e97ccb98bd4cf8e56bbb24aad24623b6a4d73bb1
+  md5: 90e19b6cce8aa6b12177cd6ca82ae62e
+  depends:
+  - python
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-yaml-cpp-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 277559
+  timestamp: 1759138274678
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-storage-default-plugins-0.26.9-np126py312h3bd2861_10.conda
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   md5: 0857d7d55c39c1df2a338cc1850d8c25
@@ -15622,17 +28719,79 @@ packages:
   license: BSD-3-Clause
   size: 22192
   timestamp: 1759139382680
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-storage-default-plugins-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: ee239b0004481f7009c920139e7c7ec82ffdf39e327d5f1389811a25a68b00c1
+  md5: 199803259bf91c5cd156992a367bd49d
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2-storage-mcap
+  - ros-jazzy-rosbag2-storage-sqlite3
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 22151
+  timestamp: 1759138974114
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-storage-mcap-0.26.9-np126py312h3bd2861_10.conda
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   md5: d5201d71de1b13f54e3697acff610d52
   depends:
   - python
-  - ros-jazzy-ament-index-cpp
-  - ros-jazzy-mcap-vendor
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-mcap-vendor
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2-storage
+  - ros-jazzy-yaml-cpp-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 197357
+  timestamp: 1759139095894
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-storage-mcap-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: f221d5bbd802613a4c8db440c86864c05aae67a475489d08da8276a8f4b51a1a
+  md5: 7bea4ae62ed13dde47cb0f82726c6e8e
+  depends:
+  - python
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-mcap-vendor
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2-storage
+  - ros-jazzy-yaml-cpp-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 199937
+  timestamp: 1759138753943
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-storage-sqlite3-0.26.9-np126py312h3bd2861_10.conda
+  sha256: b3260513e37b9d015c4621baf345bb9e3095e4ae324549b61474febb77fca90c
+  md5: b94f7f2296bb80fb1782a4b08afcefed
+  depends:
+  - python
   - ros-jazzy-pluginlib
+  - ros-jazzy-rcpputils
   - ros-jazzy-rcutils
   - ros-jazzy-ros-workspace
   - ros-jazzy-rosbag2-storage
+  - ros-jazzy-sqlite3-vendor
   - ros-jazzy-yaml-cpp-vendor
   - ros2-distro-mutex 0.11.* jazzy_*
   - libgcc >=14
@@ -15643,11 +28802,11 @@ packages:
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 197357
-  timestamp: 1759139095894
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-storage-sqlite3-0.26.9-np126py312h3bd2861_10.conda
-  sha256: b3260513e37b9d015c4621baf345bb9e3095e4ae324549b61474febb77fca90c
-  md5: b94f7f2296bb80fb1782a4b08afcefed
+  size: 244169
+  timestamp: 1759139078134
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-storage-sqlite3-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: 60f5d51065cb1e6f40e0303b4e255ae6244b6849ac48fc559e76055f120baa6e
+  md5: 6e33f7bdbbec89020b919a05c69ca525
   depends:
   - python
   - ros-jazzy-pluginlib
@@ -15658,16 +28817,14 @@ packages:
   - ros-jazzy-sqlite3-vendor
   - ros-jazzy-yaml-cpp-vendor
   - ros2-distro-mutex 0.11.* jazzy_*
-  - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
-  - numpy >=1.26.4,<2.0a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 244169
-  timestamp: 1759139078134
+  size: 243566
+  timestamp: 1759138723237
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-transport-0.26.9-np126py312h3bd2861_10.conda
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   md5: bc8786f0649a8a0daec24436a8cc6093
@@ -15696,6 +28853,32 @@ packages:
   license: BSD-3-Clause
   size: 526480
   timestamp: 1759141121630
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosbag2-transport-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: c7525f78de4219c17b82fe5880269ecf1a933de0f071b3935950273b2f3ee6ed
+  md5: cc03ef80de57ab5817ac9a0c33148d18
+  depends:
+  - python
+  - ros-jazzy-keyboard-handler
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2-compression
+  - ros-jazzy-rosbag2-cpp
+  - ros-jazzy-rosbag2-interfaces
+  - ros-jazzy-rosbag2-storage
+  - ros-jazzy-yaml-cpp-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 511787
+  timestamp: 1759140355886
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosgraph-msgs-2.0.3-np126py312h3bd2861_10.conda
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   md5: bae2502ca3142a4fb27825194ba6ea09
@@ -15714,6 +28897,24 @@ packages:
   license: BSD-3-Clause
   size: 72341
   timestamp: 1759136567175
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosgraph-msgs-2.0.3-np126py312h01c0cb9_10.conda
+  sha256: add5051cd0541d456b140fafa12ff6d8a346d75ffc5a7c40110aeb18f5f6608d
+  md5: f94633deb30e4ee0c839d17b67d2382e
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 75334
+  timestamp: 1759136799554
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-adapter-4.6.6-np126py312h3bd2861_10.conda
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@@ -15734,6 +28935,25 @@ packages:
   license: BSD-3-Clause
   size: 63288
   timestamp: 1759135143582
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-adapter-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: 3f5c20def6237708ae98e15c2ae76b44bef2a5a302bd20e6401681bb42340786
+  md5: 4e43ae5fd9f5614c87222b77b908b33c
+  depends:
+  - empy
+  - python
+  - ros-jazzy-ament-cmake-core
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 63322
+  timestamp: 1759135220344
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-cli-4.6.6-np126py312h3bd2861_10.conda
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   md5: 5c0702b63578a68dc61e488c7ac6859f
@@ -15753,6 +28973,23 @@ packages:
   license: BSD-3-Clause
   size: 42559
   timestamp: 1759134512964
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-cli-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: d7b80eb72adb79d5a720e6caaceb4772e89e79c64a241ca45b8972b8cd9659ec
+  md5: e6e5ca632977fd3246f766f22c413d07
+  depends:
+  - argcomplete
+  - importlib-metadata
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 42686
+  timestamp: 1759134685207
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-cmake-4.6.6-np126py312h3bd2861_10.conda
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   md5: 654b00ca14494136e3454d97ff072ddc
@@ -15773,6 +29010,24 @@ packages:
   license: BSD-3-Clause
   size: 35018
   timestamp: 1759135749979
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-cmake-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: 4a99046d33f7b36d46ca73135cfe783eb322cb0ce707ea30194edc71c6e147ac
+  md5: e2e3137407e7a2cb39c3f6d21a23d9bf
+  depends:
+  - empy
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-pycommon
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 35102
+  timestamp: 1759135710979
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-core-generators-0.2.0-np126py312h3bd2861_10.conda
   sha256: d911d18c36fe0820c24c841361febac70a066284281a725c70cbf54f5338b499
   md5: 0ad733400e3d217ccaa1b71bcd2558da
@@ -15802,6 +29057,33 @@ packages:
   license: BSD-3-Clause
   size: 32136
   timestamp: 1759136331062
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-core-generators-0.2.0-np126py312h01c0cb9_10.conda
+  sha256: d0ba105ef3a5b5d9f416f4a5128a8d0e99758437aa3d8bfa061a984070ce0b98
+  md5: 8e85d403706b5cb9d3dbb90a858bc481
+  depends:
+  - python
+  - ros-jazzy-ament-cmake-core
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cmake
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-generator-cpp
+  - ros-jazzy-rosidl-generator-py
+  - ros-jazzy-rosidl-generator-type-description
+  - ros-jazzy-rosidl-typesupport-c
+  - ros-jazzy-rosidl-typesupport-cpp
+  - ros-jazzy-rosidl-typesupport-fastrtps-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 32178
+  timestamp: 1759136446869
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-core-runtime-0.2.0-np126py312h3bd2861_10.conda
   sha256: 9efabedab52314ae05188b49254b682280de9385575708957322ab4a120f073a
   md5: ffa316df1ea2920a88724d0fbb9aa52a
@@ -15827,6 +29109,30 @@ packages:
   license: BSD-3-Clause
   size: 31161
   timestamp: 1759136319716
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-core-runtime-0.2.0-np126py312h01c0cb9_10.conda
+  sha256: 0edc13acc77d45168c2f9ee81ab65876f0a4da5a102a653d56a9412b8e189e94
+  md5: e43faa500a4a88daee15139942854b0a
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-generator-py
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-c
+  - ros-jazzy-rosidl-typesupport-cpp
+  - ros-jazzy-rosidl-typesupport-fastrtps-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 31200
+  timestamp: 1759136426835
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-default-generators-1.6.0-np126py312h3bd2861_10.conda
   sha256: a707114fd8b64ea02a81423a611e25e9e6e531b897a6dc60734bb1a162d3454b
   md5: a670201c019c39ef93155a4234af1c9e
@@ -15847,6 +29153,26 @@ packages:
   license: BSD-3-Clause
   size: 32409
   timestamp: 1759136496815
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-default-generators-1.6.0-np126py312h01c0cb9_10.conda
+  sha256: 692668eedf647229aaa308baeafcd4a843b3ff39bcd931db0f77655e553d7f8a
+  md5: bf409d5ecc570e352df40bedbbea7ea3
+  depends:
+  - python
+  - ros-jazzy-action-msgs
+  - ros-jazzy-ament-cmake-core
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-core-generators
+  - ros-jazzy-service-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 32421
+  timestamp: 1759136629947
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-default-runtime-1.6.0-np126py312h3bd2861_10.conda
   sha256: 23b17a498e31ec797ead5204d4b3bd1dab9b23bb86dcc2f96c87896a2e1e0b58
   md5: a1c88648a1ee798ae6ba8a3cdd8fecf4
@@ -15867,6 +29193,25 @@ packages:
   license: BSD-3-Clause
   size: 31814
   timestamp: 1759136484793
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-default-runtime-1.6.0-np126py312h01c0cb9_10.conda
+  sha256: 53ffe3dc242f758c3f7484cba557ba15e657226803921212abd7f0ef33c12a2d
+  md5: 7fab95986f1ff1b9bd2c51cbb3da3e35
+  depends:
+  - python
+  - ros-jazzy-action-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-core-runtime
+  - ros-jazzy-service-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 31883
+  timestamp: 1759136616341
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-dynamic-typesupport-0.1.2-np126py312h3bd2861_10.conda
   sha256: ba35997f90df5939af3b9c32a5bbfd4e144c1a0fa2edba0c93f3f1d08ac1b245
   md5: 0409589abcc712e53499a63270c64b2b
@@ -15885,6 +29230,23 @@ packages:
   license: BSD-3-Clause
   size: 62858
   timestamp: 1759135845185
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-dynamic-typesupport-0.1.2-np126py312h01c0cb9_10.conda
+  sha256: 57ce352c9189c14abfa7263b001239a975e6133ae96abdcb0d97aef772a1c135
+  md5: 5f17b217047587ac9b1b23bba0ea05c9
+  depends:
+  - python
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 60731
+  timestamp: 1759135863663
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-dynamic-typesupport-fastrtps-0.1.0-np126py312h3bd2861_10.conda
   sha256: 30eefec9684ce8bc9761984cab745ebe8f8ab2786af5e559c3144e8290d1a0ef
   md5: 6d3ac5d660f36ce2d5a505547f8f0ae2
@@ -15906,6 +29268,26 @@ packages:
   license: BSD-3-Clause
   size: 86349
   timestamp: 1759135926381
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-dynamic-typesupport-fastrtps-0.1.0-np126py312h01c0cb9_10.conda
+  sha256: 6ce3b99e4a7528c285311db167ef56db2c4a9d9e260f0ec87a84fbf451c3faec
+  md5: c46eaf5dffa0c5bd87583a67998dfe0b
+  depends:
+  - python
+  - ros-jazzy-fastcdr
+  - ros-jazzy-fastrtps
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-dynamic-typesupport
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 78630
+  timestamp: 1759136042329
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-generator-c-4.6.6-np126py312h3bd2861_10.conda
   sha256: 35d42979abd9bcd8ee251889e97744ae111fb5a3626b98b76f7d58b329b521da
   md5: 720f8420b90a66e5a25c4cd5d8325bb2
@@ -15932,6 +29314,30 @@ packages:
   license: BSD-3-Clause
   size: 53004
   timestamp: 1759135839591
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-generator-c-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: c1e89540c2905914504a41a8ec82a8298578333495ce93dacbaeb73787c19840
+  md5: 8116f0fc99df0f286d51375f43e7ac54
+  depends:
+  - python
+  - ros-jazzy-ament-cmake-core
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-cmake
+  - ros-jazzy-rosidl-generator-type-description
+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 53082
+  timestamp: 1759135856259
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-generator-cpp-4.6.6-np126py312h3bd2861_10.conda
   sha256: e62600644173e5d1c5c6ebe8472f9d8abe366f0cfc2e8918e2f76ef0143a3ebd
   md5: 88adcc872b754780da08c6b69849e254
@@ -15958,6 +29364,30 @@ packages:
   license: BSD-3-Clause
   size: 49898
   timestamp: 1759135902089
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-generator-cpp-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: c7e571f543e08ea9703827e76664cb288e43c089daa06f658417af29928ba18b
+  md5: 54c9e66339fd76268d03551fd53009a2
+  depends:
+  - python
+  - ros-jazzy-ament-cmake-core
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-cmake
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-generator-type-description
+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 49919
+  timestamp: 1759136014463
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-generator-py-0.22.1-np126py312h3bd2861_10.conda
   sha256: 775e66067ffaa69912fe55fdf494503c81ecdbb1b651e9f15737ab63540cff4b
   md5: 0cb58a98294d974d0cb6b1a58e6e0ce1
@@ -15983,15 +29413,49 @@ packages:
   - ros-jazzy-rosidl-typesupport-interface
   - ros-jazzy-rpyutils
   - ros2-distro-mutex 0.11.* jazzy_*
-  - __glibc >=2.17,<3.0.a0
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 59990
+  timestamp: 1759136277836
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-generator-py-0.22.1-np126py312h01c0cb9_10.conda
+  sha256: 65483554644db2192df6a6d6eb5393a0a28853478f11c164d96556f78f175537
+  md5: fe0f080f01f497e52fd694275f71fd0a
+  depends:
+  - numpy
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ament-cmake-cppcheck
+  - ros-jazzy-ament-cmake-cpplint
+  - ros-jazzy-ament-cmake-flake8
+  - ros-jazzy-ament-cmake-pep257
+  - ros-jazzy-ament-cmake-uncrustify
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-cmake-module
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-typesupport-c
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros-jazzy-rpyutils
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
+  - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - numpy >=1.26.4,<2.0a0
-  - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 59990
-  timestamp: 1759136277836
+  size: 60091
+  timestamp: 1759136396134
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-generator-type-description-4.6.6-np126py312h3bd2861_10.conda
   sha256: 1d01791814ce42808f232d8d7857ab94f21d23084580ac2d84834426dd365ec2
   md5: 159c33cc74b36a7ebfe6e49a416b5d6e
@@ -16012,6 +29476,25 @@ packages:
   license: BSD-3-Clause
   size: 48511
   timestamp: 1759135649822
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-generator-type-description-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: c3d1f9da01bf26599745054d4758814200837fb398f7a6734afa75cca071dd16
+  md5: 55d732d62a2cadb6de2cda843362f9e2
+  depends:
+  - python
+  - ros-jazzy-ament-cmake-core
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-parser
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 48627
+  timestamp: 1759135625796
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-parser-4.6.6-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 60062
   timestamp: 1759135545410
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-parser-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: cc8ab86c6bae13c57e8451653b755b63a549953de0d2ba59f981050046a3ab0d
+  md5: 3241003403650f97ef5d7a0d6bc47273
+  depends:
+  - lark-parser
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-adapter
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 60153
+  timestamp: 1759135479334
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-pycommon-4.6.6-np126py312h3bd2861_10.conda
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@@ -16048,6 +29548,22 @@ packages:
   license: BSD-3-Clause
   size: 25122
   timestamp: 1759135643674
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-pycommon-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: b7cf378ab83003fc9a7931b6f28cd3469e4932b71c1b3821a743e301134151ca
+  md5: f3d1f26f6721c482a856be1e096c5ab9
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-parser
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 25106
+  timestamp: 1759135615425
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-runtime-c-4.6.6-np126py312h3bd2861_10.conda
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@@ -16067,6 +29583,24 @@ packages:
   license: BSD-3-Clause
   size: 83310
   timestamp: 1759135737006
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-runtime-c-4.6.6-np126py312h01c0cb9_10.conda
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+  md5: 0dc712795528fdd17415922fd51b9547
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 87800
+  timestamp: 1759135693518
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-runtime-cpp-4.6.6-np126py312h3bd2861_10.conda
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@@ -16086,6 +29620,24 @@ packages:
   license: BSD-3-Clause
   size: 40765
   timestamp: 1759135826231
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-runtime-cpp-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: cd583e874d309d73ae2a707718e3b8557a22585eb146e74a63a97a214626c530
+  md5: 1fe2f4e386479649ceb9aff4c3a88169
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-c
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 40838
+  timestamp: 1759135842371
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-runtime-py-0.13.1-np126py312h3bd2861_10.conda
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@@ -16106,6 +29658,25 @@ packages:
   license: BSD-3-Clause
   size: 47292
   timestamp: 1759136811336
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-runtime-py-0.13.1-np126py312h01c0cb9_10.conda
+  sha256: fbe4e8a0506f8d6a49ceb6a33ca254320a26c256a52a0bc1da65bbd35ad3e7a4
+  md5: 0c69a0dac1339967d27e7ba56d486d80
+  depends:
+  - numpy
+  - python
+  - pyyaml
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-parser
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 47323
+  timestamp: 1759136957700
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-c-3.2.2-np126py312h3bd2861_10.conda
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   md5: 529f9ffa0a73fcf8c41f1964d16e5022
@@ -16133,6 +29704,33 @@ packages:
   license: BSD-3-Clause
   size: 50864
   timestamp: 1759136231797
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-typesupport-c-3.2.2-np126py312h01c0cb9_10.conda
+  sha256: 2961584450bdd0ce285f15d3e53f225983e66e503d01d3b0725bd314343db176
+  md5: 03c8ab62ac966fb9392740c09675f416
+  depends:
+  - python
+  - ros-jazzy-ament-cmake-core
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-c
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 51036
+  timestamp: 1759136350675
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-cpp-3.2.2-np126py312h3bd2861_10.conda
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   md5: e03c02f670e399757b56a524e89a4090
@@ -16164,6 +29762,35 @@ packages:
   license: BSD-3-Clause
   size: 50085
   timestamp: 1759136271816
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-typesupport-cpp-3.2.2-np126py312h01c0cb9_10.conda
+  sha256: a24c40f0790aa314b1a6eb5831e5764fc122dbffb338fdfe4f54d723989a5880
+  md5: 8ae24ec8d346d73ac9b3600bd563467d
+  depends:
+  - python
+  - ros-jazzy-ament-cmake-core
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rcpputils
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-generator-type-description
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-c
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros-jazzy-rosidl-typesupport-introspection-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 50203
+  timestamp: 1759136390025
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-fastrtps-c-3.6.2-np126py312h3bd2861_10.conda
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@@ -16193,6 +29820,33 @@ packages:
   license: BSD-3-Clause
   size: 51692
   timestamp: 1759136159703
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-typesupport-fastrtps-c-3.6.2-np126py312h01c0cb9_10.conda
+  sha256: 5e486d9d3d150166c0c11431f3af4be569d8735b6580b970781e3e90a0d8cbbf
+  md5: f1e7204db7d07d98586722994cfb06ef
+  depends:
+  - python
+  - ros-jazzy-ament-cmake-ros
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-fastcdr
+  - ros-jazzy-fastrtps-cmake-module
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-fastrtps-cpp
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 52051
+  timestamp: 1759136278003
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-fastrtps-cpp-3.6.2-np126py312h3bd2861_10.conda
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   md5: fafacfc793c18e2fc40e6d5b347d73bc
@@ -16222,6 +29876,33 @@ packages:
   license: BSD-3-Clause
   size: 53698
   timestamp: 1759135981264
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-typesupport-fastrtps-cpp-3.6.2-np126py312h01c0cb9_10.conda
+  sha256: 2c5344c88f9d2abca5158aecb9af67b90f222ee9b21dcd33bf6590d581e7558f
+  md5: bf8783ece42d24a9a2982a4982b615ff
+  depends:
+  - python
+  - ros-jazzy-ament-cmake-ros
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-fastcdr
+  - ros-jazzy-fastrtps-cmake-module
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-generator-cpp
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 54048
+  timestamp: 1759136104346
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-interface-4.6.6-np126py312h3bd2861_10.conda
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@@ -16239,6 +29920,21 @@ packages:
   license: BSD-3-Clause
   size: 29117
   timestamp: 1759135163731
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-typesupport-interface-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: b5be8f82c4aea9d5b95bd00603e703543f18394334f8c2d4d6fa9c2b79a31d54
+  md5: c8340958cc9ffd55dcbe3c34fe556f86
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 29134
+  timestamp: 1759135254126
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-introspection-c-4.6.6-np126py312h3bd2861_10.conda
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   md5: 2ecb6407e4c9b99625e7b9134597ba46
@@ -16264,6 +29960,31 @@ packages:
   license: BSD-3-Clause
   size: 48037
   timestamp: 1759135921391
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-typesupport-introspection-c-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: ad9b17aa8e8c74d862ae0ed397d32197dd82864356abdfdef6617a6061f97572
+  md5: ff9e480193894e2da1ee8dc36bdbb4ab
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-cmake
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 48610
+  timestamp: 1759136036934
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosidl-typesupport-introspection-cpp-4.6.6-np126py312h3bd2861_10.conda
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   md5: c530712c799ea65fa4e9fbdbdd8b295a
@@ -16293,6 +30014,33 @@ packages:
   license: BSD-3-Clause
   size: 48259
   timestamp: 1759135994674
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosidl-typesupport-introspection-cpp-4.6.6-np126py312h01c0cb9_10.conda
+  sha256: 738f9f16f81ee7ac7920bf167e99f5fe075b12230ba50999c5d16a6dbc7736ef
+  md5: 8b69eb9e0f7719153433764b8da2fe83
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-cli
+  - ros-jazzy-rosidl-cmake
+  - ros-jazzy-rosidl-generator-c
+  - ros-jazzy-rosidl-generator-cpp
+  - ros-jazzy-rosidl-parser
+  - ros-jazzy-rosidl-pycommon
+  - ros-jazzy-rosidl-runtime-c
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros-jazzy-rosidl-typesupport-interface
+  - ros-jazzy-rosidl-typesupport-introspection-c
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 48728
+  timestamp: 1759136120894
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosx-introspection-1.0.2-np126py312h3bd2861_10.conda
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   md5: f94ffa8481fec00467f34aa9666ea733
@@ -16314,6 +30062,27 @@ packages:
   license: BSD-3-Clause
   size: 221716
   timestamp: 1759139882376
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rosx-introspection-1.0.2-np126py312h01c0cb9_10.conda
+  sha256: e79f2bfef8f580ac5538893b8751ffa0877eaeb3eef7408401c635b38488c997
+  md5: 21afcad99ad9a26bef7814dfea95e1de
+  depends:
+  - python
+  - rapidjson
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-fastcdr
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 222374
+  timestamp: 1759139483507
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-rot-conv-1.1.0-np126py312h3bd2861_10.conda
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   md5: f48bba5240e3371b99d64fc1e28a9502
@@ -16332,6 +30101,24 @@ packages:
   license: BSD-3-Clause
   size: 61917
   timestamp: 1765488857924
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-rot-conv-1.1.0-np126py312hbb414ff_10.conda
+  sha256: 69bea6aaa944c5d7f3bd61de54315e7dc4a91286735bfbb0f7ca2bde3134c6f4
+  md5: 8ce7708849312cfbebab546cd8db7e5c
+  depends:
+  - eigen
+  - python
+  - ros-jazzy-eigen3-cmake-module
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 66008
+  timestamp: 1767478456710
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rpyutils-0.4.2-np126py312h3bd2861_10.conda
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   md5: e784214b5b2c6ce6c362ba9cc3ce66f1
@@ -16348,6 +30135,22 @@ packages:
   license: BSD-3-Clause
   size: 26130
   timestamp: 1759134487455
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rpyutils-0.4.2-np126py312h01c0cb9_10.conda
+  sha256: 7482d525cdbdee11e4a9749e4a4dbb76aceb05dbebb4351edd8a7d9ef400a5d1
+  md5: 7887e9102c7021377cc9679be4d6dda7
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 26218
+  timestamp: 1759134654093
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-action-2.2.0-np126py312h3bd2861_10.conda
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   md5: 286dc7a6b02e8361b58dd68a91feb152
@@ -16368,6 +30171,26 @@ packages:
   license: BSD-3-Clause
   size: 20418
   timestamp: 1759139523194
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-action-2.2.0-np126py312h01c0cb9_10.conda
+  sha256: fcf6f16172d3c2d8904fffda676d985583018a4fa9ee46098aa5cb4fb192b62e
+  md5: a15c097f0c2c8a3ceaa15e81bff49f7c
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros-jazzy-rqt-msg
+  - ros-jazzy-rqt-py-common
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 20502
+  timestamp: 1759139119380
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-bag-1.5.5-np126py312h3bd2861_10.conda
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   md5: d07828b1dae08ce7f85de8b3a5a6a6ce
@@ -16390,6 +30213,26 @@ packages:
   license: BSD-3-Clause
   size: 136415
   timestamp: 1759141892478
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-bag-1.5.5-np126py312h01c0cb9_10.conda
+  sha256: 87bd1ab41274b5402c6c839054fdf847bb0cbdfd0e47b0b5a80d2a4a7ee2323e
+  md5: 1fae985d9db436ef76707f4b44258882
+  depends:
+  - python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2-py
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 136439
+  timestamp: 1759141046968
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-bag-plugins-1.5.5-np126py312h3bd2861_10.conda
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   md5: fe773d3b2d3d9bfc151c2c3e02afb475
@@ -16419,6 +30262,34 @@ packages:
   license: BSD-3-Clause
   size: 51186
   timestamp: 1759142829809
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-bag-plugins-1.5.5-np126py312h01c0cb9_10.conda
+  sha256: 25ab97b5ee9d04de2d2345bb5693b0cb999ccbe603ab2e36209de41f55bcab37
+  md5: 06fbf0c766e6ae4e1982c90e93e139d9
+  depends:
+  - numpy
+  - pillow
+  - pycairo
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosbag2
+  - ros-jazzy-rqt-bag
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros-jazzy-rqt-plot
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 51186
+  timestamp: 1759142049232
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-common-plugins-1.2.0-np126py312h3bd2861_10.conda
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   md5: 10a9f85c93d6809249f94009904eea58
@@ -16452,6 +30323,37 @@ packages:
   license: BSD-3-Clause
   size: 22889
   timestamp: 1759143187107
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-common-plugins-1.2.0-np126py312h01c0cb9_10.conda
+  sha256: a254a59c155b1c8c9e8028cb7264d9877bf238e700e1b0c95f74624669436461
+  md5: 87338f9b865b8abf1121e2d6b0406bed
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-action
+  - ros-jazzy-rqt-bag
+  - ros-jazzy-rqt-bag-plugins
+  - ros-jazzy-rqt-console
+  - ros-jazzy-rqt-graph
+  - ros-jazzy-rqt-image-view
+  - ros-jazzy-rqt-msg
+  - ros-jazzy-rqt-plot
+  - ros-jazzy-rqt-publisher
+  - ros-jazzy-rqt-py-common
+  - ros-jazzy-rqt-py-console
+  - ros-jazzy-rqt-reconfigure
+  - ros-jazzy-rqt-service-caller
+  - ros-jazzy-rqt-shell
+  - ros-jazzy-rqt-srv
+  - ros-jazzy-rqt-topic
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 22838
+  timestamp: 1759142366420
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-console-2.2.1-np126py312h3bd2861_10.conda
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   md5: 6c3dabb49227ad09b1cc90f148689149
@@ -16476,6 +30378,29 @@ packages:
   license: BSD-3-Clause
   size: 83329
   timestamp: 1759138934134
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-console-2.2.1-np126py312h01c0cb9_10.conda
+  sha256: 0f7036b174db0b9d190ce8113c995803d403082d8b2c30dbf4bf10cf64fd0680
+  md5: b6a4bf5c1a94b6ca917b4b8d235327f3
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros-jazzy-rqt-py-common
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 83369
+  timestamp: 1759138611551
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-graph-1.5.5-np126py312h3bd2861_10.conda
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   md5: a5a5bf5907c7931787e22a1521320ada
@@ -16497,6 +30422,26 @@ packages:
   license: BSD-3-Clause
   size: 69553
   timestamp: 1759138933496
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-graph-1.5.5-np126py312h01c0cb9_10.conda
+  sha256: 06e171247406039cc2b8941fccc138c21b9ca37d7f4471ea35315182b3e2bbe2
+  md5: 361cd3be8d869120c4ec9a93128f1b56
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-qt-dotgraph
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 69575
+  timestamp: 1759138610793
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-gui-1.6.0-np126py312h3bd2861_10.conda
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   md5: 0e03ec507463a98d53756c3b612bc4b1
@@ -16519,6 +30464,26 @@ packages:
   license: BSD-3-Clause
   size: 126702
   timestamp: 1759138254521
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-gui-1.6.0-np126py312h01c0cb9_10.conda
+  sha256: 91c93e50828e33553810c3c37805583e26bc07d6a615ba8a53edfb78e48f57f4
+  md5: 882d126a15280b00e8d82656be057e37
+  depends:
+  - catkin_pkg
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-qt-gui
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 126578
+  timestamp: 1759138063131
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-gui-cpp-1.6.0-np126py312h3bd2861_10.conda
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   md5: a3ea672c84ebd68536968487d7364940
@@ -16546,6 +30511,31 @@ packages:
   license: BSD-3-Clause
   size: 187130
   timestamp: 1759138282403
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-gui-cpp-1.6.0-np126py312h01c0cb9_10.conda
+  sha256: 6f46b8e61c59c1c932d7360a18be5003a62662ecc4b7877114dbb11d6da3f365
+  md5: ae7bfbb13dca53d80c29f6862bd9dced
+  depends:
+  - python
+  - ros-jazzy-pluginlib
+  - ros-jazzy-qt-gui-cpp
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - xorg-libxext >=1.3.6,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libgl >=1.7.0,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  license: BSD-3-Clause
+  size: 186401
+  timestamp: 1759138109302
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-gui-py-1.6.0-np126py312h3bd2861_10.conda
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   md5: ae38bf329c387b61adb6e34d26bcd2f8
@@ -16565,6 +30555,23 @@ packages:
   license: BSD-3-Clause
   size: 49844
   timestamp: 1759138489245
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-gui-py-1.6.0-np126py312h01c0cb9_10.conda
+  sha256: 4d8192d9d622518234d244397e05993f7ef94f17d3497ff8499871c1e97fe278
+  md5: 234157b0d7053500f0cbbc5bc765fdb5
+  depends:
+  - python
+  - ros-jazzy-qt-gui
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-gui
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 49518
+  timestamp: 1759138256437
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-image-view-1.3.0-np126py312h3bd2861_10.conda
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   md5: 88aa588fa8ff7535738200a8d260fae7
@@ -16597,6 +30604,36 @@ packages:
   license: BSD-3-Clause
   size: 295056
   timestamp: 1759139216127
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-image-view-1.3.0-np126py312h01c0cb9_10.conda
+  sha256: 69c5167a60a2e2aa110b433c69ca3f9789ae20ce7776ff223ec2215a32994307
+  md5: c64d08c3fe5cfb5bf06808eed99e150a
+  depends:
+  - python
+  - ros-jazzy-cv-bridge
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-image-transport
+  - ros-jazzy-qt-gui-cpp
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-cpp
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - xorg-libxext >=1.3.6,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 296147
+  timestamp: 1759138865897
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-msg-1.5.1-np126py312h3bd2861_10.conda
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   md5: 8a547f7b06e91cffc57e7083d5cac4aa
@@ -16622,6 +30659,29 @@ packages:
   license: BSD-3-Clause
   size: 30408
   timestamp: 1759139191523
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-msg-1.5.1-np126py312h01c0cb9_10.conda
+  sha256: c4f2002ce73736b3df2944243b0852a411be46d32e090bfda36394c0189d782e
+  md5: f784d08cff08af73ca100f5f12397691
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-py
+  - ros-jazzy-rqt-console
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros-jazzy-rqt-py-common
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 30480
+  timestamp: 1759138845555
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-plot-1.4.4-np126py312h3bd2861_10.conda
   sha256: c530b7d9c6db353c94bcb79bae24c09a1c8290bffdde64d6567a1f44161b18a5
   md5: 71e6d19ece274ab633e708741c89738e
@@ -16650,6 +30710,32 @@ packages:
   license: BSD-3-Clause
   size: 77281
   timestamp: 1759139034195
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-plot-1.4.4-np126py312h01c0cb9_10.conda
+  sha256: 0c72fb29e6e5e96950386578828317613b996edc5695220f5107cc361a99c88b
+  md5: e7cb7289239bbb14507d395614212199
+  depends:
+  - catkin_pkg
+  - matplotlib-base
+  - numpy
+  - python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-qt-gui-py-common
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-py
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros-jazzy-rqt-py-common
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 77180
+  timestamp: 1759138696892
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-publisher-1.7.2-np126py312h3bd2861_10.conda
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   md5: 4e439a21d1de19deadb517e832555c91
@@ -16672,10 +30758,35 @@ packages:
   - libgcc >=14
   - numpy >=1.26.4,<2.0a0
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
-  - python_abi 3.12.* *_cp312
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 42733
+  timestamp: 1759138965274
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-publisher-1.7.2-np126py312h01c0cb9_10.conda
+  sha256: e1f08f11a6ff071078b1b3b3ed993c40c28f6fc2b5d84c89357ec5ed8209e6cb
+  md5: 8ec24b8468131b5853641065eaceb942
+  depends:
+  - numpy
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-qt-gui-py-common
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-py
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros-jazzy-rqt-py-common
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   license: BSD-3-Clause
-  size: 42733
-  timestamp: 1759138965274
+  size: 42751
+  timestamp: 1759138641720
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-py-common-1.6.0-np126py312h3bd2861_10.conda
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   md5: 871534225380fba0b744c0885a5fc340
@@ -16704,6 +30815,33 @@ packages:
   license: BSD-3-Clause
   size: 88049
   timestamp: 1759138273780
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-py-common-1.6.0-np126py312h01c0cb9_10.conda
+  sha256: a83e88258264e582f530924351026a69aff195b337792425e6d3a81530d686e0
+  md5: e9239b19d315f05b1d0ea682ac85951f
+  depends:
+  - python
+  - qt-main
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-qt-gui
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - xorg-libxext >=1.3.6,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  license: BSD-3-Clause
+  size: 87747
+  timestamp: 1759138097053
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-py-console-1.2.2-np126py312h3bd2861_10.conda
   sha256: 7e21bd267b3393c1abdef55d028850d8ca54083b1f51425083cc0752c11db304
   md5: 764881b84f0b45a52a0b0e57f63a7230
@@ -16728,6 +30866,29 @@ packages:
   license: BSD-3-Clause
   size: 25434
   timestamp: 1759138961219
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-py-console-1.2.2-np126py312h01c0cb9_10.conda
+  sha256: fd644a79802aef0bc3fcc01d8668dedc9f559f9b9b17b6bbc8c49afa4eb3e649
+  md5: 7dcfd30f459a43e20eef9022331ff7bb
+  depends:
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-qt-gui
+  - ros-jazzy-qt-gui-py-common
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 25459
+  timestamp: 1759138638086
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-reconfigure-1.6.2-np126py312h3bd2861_10.conda
   sha256: 78e437fa957443f9f8ab4a5e4f48553541ab721c74bed3441698501ae2779bcb
   md5: 84b1c2774cf8be08d71cdd00be6ecee4
@@ -16754,6 +30915,31 @@ packages:
   license: BSD-3-Clause
   size: 78372
   timestamp: 1759139262667
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-reconfigure-1.6.2-np126py312h01c0cb9_10.conda
+  sha256: 85ed4926ad494c276e3a734f16a0c3f8acb115f7874597818a44fb5712afd0e0
+  md5: 1946bfd4886145082134ec5b5883020e
+  depends:
+  - python
+  - pyyaml
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-qt-gui-py-common
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-console
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros-jazzy-rqt-py-common
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 78480
+  timestamp: 1759138926288
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-service-caller-1.2.1-np126py312h3bd2861_10.conda
   sha256: a3533460101e124892dbd9a21e2f5816d0407a931c9ec627d2cc699138d98caf
   md5: 58a40d8c9ef9ab26d3a669f8012047d3
@@ -16774,6 +30960,25 @@ packages:
   license: BSD-3-Clause
   size: 32123
   timestamp: 1759138957166
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-service-caller-1.2.1-np126py312h01c0cb9_10.conda
+  sha256: 1c4068b63dc9cb1b3b502f137e390c66a2d0f1cad99e51ef67399d87eec13618
+  md5: 4e1281cef161cb70844ed8d45f27b5f3
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros-jazzy-rqt-py-common
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 32124
+  timestamp: 1759138634345
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-shell-1.2.2-np126py312h3bd2861_10.conda
   sha256: f6bab953ff3a3e4c1430337edf3b98d449f27c3eea01d2face576e8ebcf3552a
   md5: 2635bd35c4057cc2ae42a21408493e9d
@@ -16797,6 +31002,27 @@ packages:
   license: BSD-3-Clause
   size: 29351
   timestamp: 1759138953056
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-shell-1.2.2-np126py312h01c0cb9_10.conda
+  sha256: 1b9676376bad210ba33b23573d586697d537a70e7d68524a33424302a6e3797e
+  md5: 3bd322301bf090f994e5997eae91a885
+  depends:
+  - catkin_pkg
+  - python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-qt-gui
+  - ros-jazzy-qt-gui-py-common
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 29318
+  timestamp: 1759138630473
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-srv-1.2.2-np126py312h3bd2861_10.conda
   sha256: db7884882489d5371bfba6fe8ce849beed963fbb3a1e3cda3f1684d4b6871fcf
   md5: 7ca8f79685538bf170ba19822f01155a
@@ -16816,6 +31042,24 @@ packages:
   license: BSD-3-Clause
   size: 21381
   timestamp: 1759139519091
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-srv-1.2.2-np126py312h01c0cb9_10.conda
+  sha256: bebb9a80445ac4beff8e05abbe81abad3a3bb771ddabf10df9ec9ecbf7ab33ef
+  md5: 67c7378b866fd9a0565c6e6582d0077a
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros-jazzy-rqt-msg
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 21459
+  timestamp: 1759139114747
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-topic-1.7.3-np126py312h3bd2861_10.conda
   sha256: 2c035e52a5f7642228d359562147369e06a1983e9916187e09c090287f9aa05b
   md5: 807391be62dce610b9c586ab1dce63ee
@@ -16838,6 +31082,28 @@ packages:
   license: BSD-3-Clause
   size: 38628
   timestamp: 1759139211889
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rqt-topic-1.7.3-np126py312h01c0cb9_10.conda
+  sha256: 2cc67bd569c1470962fe47ca6f695720ef4ddeed8994d2c924825fc3e4796161
+  md5: c7e3d69081958716504b2b6ccf9c0df6
+  depends:
+  - python
+  - ros-jazzy-python-qt-binding
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2topic
+  - ros-jazzy-rqt-gui
+  - ros-jazzy-rqt-gui-py
+  - ros-jazzy-rqt-py-common
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 38719
+  timestamp: 1759138859326
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rsl-1.2.0-np126py312hd4d1b83_10.conda
   sha256: cf9f65c0048fc2557946af8a1061c21ef38f2fd0df2bffc52c55d0bce35d1082
   md5: 263ece5872ccdc17d9537870b68ebb29
@@ -16861,6 +31127,29 @@ packages:
   license: BSD-3-Clause
   size: 61146
   timestamp: 1759138254146
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rsl-1.2.0-np126py312hcea3410_10.conda
+  sha256: 46f05091db3c9e7f673245e42d7bcf86b50be17457bda6b4034540ab344df372
+  md5: 035c948f5e0ed73c76dbed121377d420
+  depends:
+  - eigen
+  - fmt
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tcb-span
+  - ros-jazzy-tl-expected
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - graphviz >=13.1.2,<14.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - fmt >=11.2.0,<11.3.0a0
+  license: BSD-3-Clause
+  size: 62294
+  timestamp: 1759138062802
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rti-connext-dds-cmake-module-0.22.1-np126py312h3bd2861_10.conda
   sha256: 939f02511575d68e5e213faf011a2cc83bdde7d158a931259334470a0959a0d2
   md5: a814fd56f1d32c08c552c78599d04971
@@ -16878,6 +31167,22 @@ packages:
   license: BSD-3-Clause
   size: 31364
   timestamp: 1759135460323
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rti-connext-dds-cmake-module-0.22.1-np126py312h01c0cb9_10.conda
+  sha256: db6cbcbace887eaaf3a384599065a632feee8640335cc352079445c8936160bc
+  md5: c02b009af18e7572f415194f6da02b79
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 31459
+  timestamp: 1759135421402
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rttest-0.17.1-np126py312h3bd2861_10.conda
   sha256: 43f469cbbeaa1ecea1b9a2bc84741e71bc14f61c34808370b21f06e736576efe
   md5: dfe3e5c9690bcd2dfb0b813e9368bc6b
@@ -16894,6 +31199,21 @@ packages:
   license: BSD-3-Clause
   size: 53911
   timestamp: 1759135169976
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rttest-0.17.1-np126py312h01c0cb9_10.conda
+  sha256: 04a8a7f11308a26509c6f22acabc4a8be08f26a7f41a0c06ec0e75fd52c1723f
+  md5: 4f9a91a8c1cc12d2fa6dd9001c1cf939
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 54766
+  timestamp: 1759135244788
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ruckig-0.9.2-np126py312h3bd2861_10.conda
   sha256: 57e4ca84966368175bc6abd3fbe2183f36b1a028fbda87fa7fb5b80593313dab
   md5: b0dd2aa627e4ef5522bd90328eecf099
@@ -16910,6 +31230,21 @@ packages:
   license: BSD-3-Clause
   size: 129866
   timestamp: 1759133959060
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-ruckig-0.9.2-np126py312h01c0cb9_10.conda
+  sha256: 5cf5ae62624fcf2ddaa668c19218a6f85d80a557c7c98c0544c50414d59d3c30
+  md5: 0f773bb281e3a4b8b7398e8f3124f098
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 121015
+  timestamp: 1759134204947
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-assimp-vendor-14.1.15-np126py312h3bd2861_10.conda
   sha256: d51251931f0b4be140cc862490d07674c71e43bec253e7cfb48016814410a0a1
   md5: 768c532c8973aafe963b0bf155d07743
@@ -16929,6 +31264,23 @@ packages:
   license: BSD-3-Clause
   size: 24810
   timestamp: 1759135089466
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rviz-assimp-vendor-14.1.15-np126py312h01c0cb9_10.conda
+  sha256: 7a2b3c005e7c25bf7903a993910b641bef0a01a1879b84a437a8204c640c73f1
+  md5: 88b1e1dc562f7bd4cd2b9f5b590cbeed
+  depends:
+  - assimp
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - assimp >=5.4.3,<5.4.4.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 24762
+  timestamp: 1759135172446
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-common-14.1.15-np126py312h3bd2861_10.conda
   sha256: 4148f838974e0dccafb38827221f6ee150f5ad146f4fcb7632d2c3a045583f26
   md5: a2a69da9f9be2fe1158df1260b211c19
@@ -16936,21 +31288,103 @@ packages:
   - python
   - qt-main
   - ros-jazzy-geometry-msgs
-  - ros-jazzy-message-filters
+  - ros-jazzy-message-filters
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-resource-retriever
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rviz-ogre-vendor
+  - ros-jazzy-rviz-rendering
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros-jazzy-std-srvs
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-ros
+  - ros-jazzy-tinyxml2-vendor
+  - ros-jazzy-urdf
+  - ros-jazzy-yaml-cpp-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 889510
+  timestamp: 1759139178899
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rviz-common-14.1.15-np126py312h01c0cb9_10.conda
+  sha256: 05bb78276bbf61f8d1736f280731257195b333700e79095099ab9ccdb0b12af7
+  md5: 056e1256a918ecb6d1a790cf1089b4a8
+  depends:
+  - python
+  - qt-main
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-message-filters
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-resource-retriever
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rviz-ogre-vendor
+  - ros-jazzy-rviz-rendering
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros-jazzy-std-srvs
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-ros
+  - ros-jazzy-tinyxml2-vendor
+  - ros-jazzy-urdf
+  - ros-jazzy-yaml-cpp-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - libopengl >=1.7.0,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - libgl >=1.7.0,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  license: BSD-3-Clause
+  size: 881650
+  timestamp: 1759138821990
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-default-plugins-14.1.15-np126py312h3bd2861_10.conda
+  sha256: b9c6fcede16d94a7d2daf109fab9597d8efbc87ac3daa1574ba0b690bdfca137
+  md5: c87ef245ad83fbf05cd57eb4ccfb9ccd
+  depends:
+  - python
+  - qt-main
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-gz-math-vendor
+  - ros-jazzy-image-transport
+  - ros-jazzy-interactive-markers
+  - ros-jazzy-laser-geometry
+  - ros-jazzy-map-msgs
+  - ros-jazzy-nav-msgs
   - ros-jazzy-pluginlib
+  - ros-jazzy-point-cloud-transport
   - ros-jazzy-rclcpp
   - ros-jazzy-resource-retriever
   - ros-jazzy-ros-workspace
+  - ros-jazzy-rviz-common
   - ros-jazzy-rviz-ogre-vendor
   - ros-jazzy-rviz-rendering
-  - ros-jazzy-sensor-msgs
-  - ros-jazzy-std-msgs
-  - ros-jazzy-std-srvs
   - ros-jazzy-tf2
+  - ros-jazzy-tf2-geometry-msgs
   - ros-jazzy-tf2-ros
-  - ros-jazzy-tinyxml2-vendor
   - ros-jazzy-urdf
-  - ros-jazzy-yaml-cpp-vendor
+  - ros-jazzy-visualization-msgs
   - ros2-distro-mutex 0.11.* jazzy_*
   - xorg-libx11
   - xorg-libxext
@@ -16958,20 +31392,20 @@ packages:
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
   - libgcc >=14
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libgl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
   - libopengl >=1.7.0,<2.0a0
   - xorg-libx11 >=1.8.12,<2.0a0
-  - libgl >=1.7.0,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
   - qt-main >=5.15.15,<5.16.0a0
-  - numpy >=1.26.4,<2.0a0
-  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   license: BSD-3-Clause
-  size: 889510
-  timestamp: 1759139178899
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-default-plugins-14.1.15-np126py312h3bd2861_10.conda
-  sha256: b9c6fcede16d94a7d2daf109fab9597d8efbc87ac3daa1574ba0b690bdfca137
-  md5: c87ef245ad83fbf05cd57eb4ccfb9ccd
+  size: 2285873
+  timestamp: 1759140028444
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rviz-default-plugins-14.1.15-np126py312h01c0cb9_10.conda
+  sha256: 0ecd6713efab7d0b2ddd7062a54ad4a30e105f5312ac57e2b20ef237db7c1deb
+  md5: 8898c1b171ea7eeeb6c1f06991c5ca2a
   depends:
   - python
   - qt-main
@@ -17000,19 +31434,17 @@ packages:
   - xorg-libxext
   - libstdcxx >=14
   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
-  - libgcc >=14
-  - libgl >=1.7.0,<2.0a0
-  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - python_abi 3.12.* *_cp312
+  - libgl >=1.7.0,<2.0a0
   - libopengl >=1.7.0,<2.0a0
   - xorg-libx11 >=1.8.12,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
   - qt-main >=5.15.15,<5.16.0a0
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  size: 2285873
-  timestamp: 1759140028444
+  size: 2306357
+  timestamp: 1759139533264
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-ogre-vendor-14.1.15-np126py312h39124df_10.conda
   sha256: 4081bce459c4d31b506dc3314b9d9032320ddc8c3ffa7c8b625ff6bf5a14a55a
   md5: 9ffd6fc4b4c271d5578b29c8f4725748
@@ -17053,6 +31485,44 @@ packages:
   license: BSD-3-Clause
   size: 5377597
   timestamp: 1759134848838
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rviz-ogre-vendor-14.1.15-np126py312hc3c81ed_10.conda
+  sha256: 3f9f0efcedb871c810d3c7938517b0a8ca3bb36735d5e4c023008f17d6722fb1
+  md5: 8623b4fa079fd2121e82c1368c046c77
+  depends:
+  - assimp
+  - freetype
+  - glew
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxaw
+  - xorg-libxrandr
+  - xorg-xorgproto
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - libglu >=9.0.3,<9.1.0a0
+  - zziplib >=0.13.69,<0.14.0a0
+  - libzlib >=1.3.1,<2.0a0
+  - assimp >=5.4.3,<5.4.4.0a0
+  - xorg-libxrandr >=1.5.4,<2.0a0
+  - glew >=2.1.0,<2.2.0a0
+  - python_abi 3.12.* *_cp312
+  - xorg-libxext >=1.3.6,<2.0a0
+  - freeimage >=3.18.0,<3.19.0a0
+  - libgl >=1.7.0,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libfreetype >=2.14.1
+  - libfreetype6 >=2.14.1
+  - pugixml >=1.15,<1.16.0a0
+  license: BSD-3-Clause
+  size: 5261734
+  timestamp: 1759135005575
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz-rendering-14.1.15-np126py312h3bd2861_10.conda
   sha256: 1d5e4748a83e5515a66f00e8a13626df0c016c1ed2a576dabec66e8005c83609
   md5: 7b499dabea440a986f2b3d4638b48947
@@ -17085,6 +31555,37 @@ packages:
   license: BSD-3-Clause
   size: 937128
   timestamp: 1759135657587
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rviz-rendering-14.1.15-np126py312h01c0cb9_10.conda
+  sha256: 9077806219efba923a5f173a5f50b76dc129e76ba8e9f4ab15c29e85511bc367
+  md5: f81ccb10ad2b53eac1da5a442bf567ef
+  depends:
+  - eigen
+  - python
+  - qt-main
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-eigen3-cmake-module
+  - ros-jazzy-resource-retriever
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rviz-assimp-vendor
+  - ros-jazzy-rviz-ogre-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - glew >=2.1.0,<2.2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
+  license: BSD-3-Clause
+  size: 929753
+  timestamp: 1759135631965
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rviz2-14.1.15-np126py312h3bd2861_10.conda
   sha256: a166b0b2289c9de429818b58f5cc9b0ea35e3c057a1a4c3eb0cf360677f3ab84
   md5: 57345cdcf4230d648e45206218ec3667
@@ -17112,6 +31613,32 @@ packages:
   license: BSD-3-Clause
   size: 76045
   timestamp: 1759140831984
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-rviz2-14.1.15-np126py312h01c0cb9_10.conda
+  sha256: 649ff4a8714e27f12cc548b0b79aae8cb4813f8cee9b9679775364a8f787a750
+  md5: d268cb046c0cdeffcc0b2037e26609e6
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rviz-common
+  - ros-jazzy-rviz-default-plugins
+  - ros-jazzy-rviz-ogre-vendor
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  license: BSD-3-Clause
+  size: 77116
+  timestamp: 1759140185768
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-sdformat-urdf-1.0.2-np126py312h3bd2861_10.conda
   sha256: fe369a69329c26501913e56468d8eb3288588c10379d71b315872d883f73f920
   md5: 9aeffe5785e36b770e15c7e847df45d6
@@ -17137,6 +31664,30 @@ packages:
   license: BSD-3-Clause
   size: 85339
   timestamp: 1759136172745
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-sdformat-urdf-1.0.2-np126py312h01c0cb9_10.conda
+  sha256: 9f94e073c64cd86168bfec906aeb168ffb5d39e2a3d5bc88a943feeaf6e8bb36
+  md5: c47bf8d4fc50f955c44f6e8223ab5f34
+  depends:
+  - python
+  - ros-jazzy-ament-cmake-ros
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sdformat-vendor
+  - ros-jazzy-tinyxml2-vendor
+  - ros-jazzy-urdf
+  - ros-jazzy-urdf-parser-plugin
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - urdfdom_headers
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 88236
+  timestamp: 1759136294120
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-sdformat-vendor-0.0.10-np126py312hbd70b12_10.conda
   sha256: f1d2c875dfb67bedd6cfb1d81b8a71efa8556600e637f986d5f5900c8701c475
   md5: f038a81faa4361e34d814693b2b43838
@@ -17164,6 +31715,33 @@ packages:
   license: BSD-3-Clause
   size: 31837
   timestamp: 1759135760960
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-sdformat-vendor-0.0.10-np126py312hac67124_10.conda
+  sha256: d626fe9846eb12f6c1ce7d6e3f64b340b02e5d82dfaa9a640c2f1a499a89da9a
+  md5: 89187964658d7d685f0456564b357c94
+  depends:
+  - pybind11
+  - python
+  - ros-jazzy-gz-cmake-vendor
+  - ros-jazzy-gz-math-vendor
+  - ros-jazzy-gz-tools-vendor
+  - ros-jazzy-gz-utils-vendor
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-urdfdom
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - sdformat14
+  - tinyxml2
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - libxml2 >=2.13.8,<2.14.0a0
+  - python_abi 3.12.* *_cp312
+  - libsdformat14 >=14.8.0,<15.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - tinyxml2 >=11.0.0,<11.1.0a0
+  license: BSD-3-Clause
+  size: 31803
+  timestamp: 1759135721636
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-sdl2-vendor-3.3.0-np126py312h3bd2861_10.conda
   sha256: 88e8acd0939d054908173adf8acd84deb728c37b6639f9d7056dbe9ce485b83d
   md5: 74fe5dbdd0766d608c1d3f931b5d61f7
@@ -17182,6 +31760,24 @@ packages:
   license: BSD-3-Clause
   size: 28358
   timestamp: 1759134486840
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-sdl2-vendor-3.3.0-np126py312h01c0cb9_10.conda
+  sha256: 283633e590e6c913ef23354220f3d0eed32159a3a4a41857f8db243b12843d62
+  md5: da3e431c613f621c9dd3e234b4f9ad92
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - sdl2
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - sdl2 >=2.32.56,<3.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 28215
+  timestamp: 1759134653986
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-sensor-msgs-5.3.6-np126py312h3bd2861_10.conda
   sha256: 65926e9bd0725c11a170d9263502cd08dbd75f67c69d3ab9b15f8edf0aca0692
   md5: 477cf9584895a578c653b40c0df1da4e
@@ -17203,6 +31799,25 @@ packages:
   license: BSD-3-Clause
   size: 546202
   timestamp: 1759137085566
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-sensor-msgs-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: 33bf4666d07ca56f5fb79b98af38ef792a11eef76166e0d686529609cd947182
+  md5: c0713a9cbb59a59ea5cde0ec578db1f0
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 555650
+  timestamp: 1759137162615
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-sensor-msgs-py-5.3.6-np126py312h3bd2861_10.conda
   sha256: 620c211b274a399b29d8f4e3c9d2cfe74e54ac72d617c49ba3e854663634beda
   md5: 2aa778ab9342a18b183ecadeda6792e5
@@ -17222,6 +31837,24 @@ packages:
   license: BSD-3-Clause
   size: 30492
   timestamp: 1759137231637
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-sensor-msgs-py-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: b56e9ac354f33b5e29f056dffda754cf915a72f0651f540c765b1b87d21b08a3
+  md5: 0199cf9ee7ff95dd643ca5eefdc4a707
+  depends:
+  - numpy
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 30496
+  timestamp: 1759137297438
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-service-msgs-2.0.3-np126py312h3bd2861_10.conda
   sha256: 58f5a585a42773ac153529a7a23b63bfbf5a4c5fa1299c6bb9af671847582934
   md5: a0c36bf475e340a819d8b781bd798058
@@ -17241,6 +31874,24 @@ packages:
   license: BSD-3-Clause
   size: 80559
   timestamp: 1759136384945
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-service-msgs-2.0.3-np126py312h01c0cb9_10.conda
+  sha256: ee1fe9f6205d3d24498e925392bb11ea1c26c3e81acbaca8cef23da6c976d272
+  md5: 90cb8922664a65f0881714bd0be6780e
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-core-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 84335
+  timestamp: 1759136527452
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-shape-msgs-5.3.6-np126py312h3bd2861_10.conda
   sha256: c5d5df98bb2eccca01963ae67a4d0b13ec5ad125029dac7e57df7d1bae28e539
   md5: b58fd8c09ca808f2de434fba37f849b1
@@ -17260,6 +31911,24 @@ packages:
   license: BSD-3-Clause
   size: 128005
   timestamp: 1759137079790
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-shape-msgs-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: 77b941360e0eaabd07746ab832f40274507129d4fba60046fefe57f1bc541b77
+  md5: b8889c5ab5e2b2d5f75feb42445c5af4
+  depends:
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 132927
+  timestamp: 1759137191794
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-field-map-generator-0.0.0-np126py312h5cbfcd5_10.conda
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   - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
-  - python_abi 3.12.* *_cp312
-  - numpy >=1.26.4,<2.0a0
+  - __glibc >=2.17,<3.0.a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - py-opencv >=4.11.0,<5.0a0
+  - libopencv >=4.11.0,<4.11.1.0a0
+  - tk >=8.6.13,<8.7.0a0
+  license: BSD-3-Clause
+  size: 60392
+  timestamp: 1765488858064
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-soccer-field-map-generator-0.0.0-np126py312hc6bb781_10.conda
+  sha256: c62400555494a151c6da853749a52312af5594e701baf4c6378b31704fd9a3b4
+  md5: e13397e90231b8a7b25191b7a1f8f1b3
+  depends:
+  - libopencv
+  - numpy
+  - pillow
+  - py-opencv
+  - python
+  - pyyaml
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - scipy
+  - tk
+  - python 3.12.* *_cpython
+  - libstdcxx >=14
+  - libgcc >=14
   - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
   - py-opencv >=4.11.0,<5.0a0
   - libopencv >=4.11.0,<4.11.1.0a0
   - tk >=8.6.13,<8.7.0a0
+  - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  size: 60392
-  timestamp: 1765488858064
+  size: 63712
+  timestamp: 1767478456574
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-ipm-0.0.0-np126py312h3bd2861_10.conda
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@@ -17313,6 +32008,33 @@ packages:
   license: BSD-3-Clause
   size: 35849
   timestamp: 1765488858141
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-soccer-ipm-0.0.0-np126py312hbb414ff_10.conda
+  sha256: 0243b1aeaa83a670d6988e26501c3b4d715abdfca4cd1f5241cb0ab17934a85a
+  md5: 2e9f9a13d0e7a82b8e4b5dda5b41cebf
+  depends:
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+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ipm-library
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-shape-msgs
+  - ros-jazzy-soccer-vision-2d-msgs
+  - ros-jazzy-soccer-vision-3d-msgs
+  - ros-jazzy-std-msgs
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-geometry-msgs
+  - ros-jazzy-tf2-sensor-msgs
+  - ros-jazzy-vision-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - python 3.12.* *_cpython
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 40324
+  timestamp: 1767479400094
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-2d-msgs-1.0.0-np126py312h3bd2861_10.conda
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@@ -17332,6 +32054,25 @@ packages:
   license: BSD-3-Clause
   size: 234137
   timestamp: 1765488857933
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-soccer-vision-2d-msgs-1.0.0-np126py312hbb414ff_10.conda
+  sha256: f316096275ca8d1ee8e8eb0f3b33b55127957cbe64136d28066d9ce3cfba2ab0
+  md5: 9b860285151eaf6fc568fe067a513500
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-soccer-vision-attribute-msgs
+  - ros-jazzy-vision-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - python 3.12.* *_cpython
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 245680
+  timestamp: 1767479400045
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-3d-msgs-1.0.0-np126py312h3bd2861_10.conda
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@@ -17351,6 +32092,25 @@ packages:
   license: BSD-3-Clause
   size: 233656
   timestamp: 1765488857911
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-soccer-vision-3d-msgs-1.0.0-np126py312hbb414ff_10.conda
+  sha256: aa9efbbf5c4ef5f8beba847e1c50208b9a3e73f67669412b8913805f1b865ec3
+  md5: cf7baa053ff4b9f6755890a4313502b6
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-soccer-vision-attribute-msgs
+  - ros-jazzy-vision-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 245136
+  timestamp: 1767478456679
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-3d-rviz-markers-1.0.0-np126py312h3bd2861_10.conda
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@@ -17371,6 +32131,26 @@ packages:
   license: BSD-3-Clause
   size: 215394
   timestamp: 1765488858069
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-soccer-vision-3d-rviz-markers-1.0.0-np126py312hbb414ff_10.conda
+  sha256: 367c9d43d1716fbcf6cccde720ae0712cf530d9d6a7029b58672646853e03157
+  md5: 07912aacb06f620e80c0c8dca460b17c
+  depends:
+  - python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-soccer-vision-3d-msgs
+  - ros-jazzy-soccer-vision-attribute-msgs
+  - ros-jazzy-visualization-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - python 3.12.* *_cpython
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 219906
+  timestamp: 1767478827514
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-soccer-vision-attribute-msgs-1.0.0-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 97377
   timestamp: 1765488857987
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-soccer-vision-attribute-msgs-1.0.0-np126py312hbb414ff_10.conda
+  sha256: 74034d49fc5541e488210e168a0093e04e40ab46f5ea3a873d986fd82c2f4001
+  md5: 1c7eea7730641f347e388da2763585dc
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python 3.12.* *_cpython
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 108485
+  timestamp: 1767478456876
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-spdlog-vendor-1.6.1-np126py312he340118_10.conda
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@@ -17407,6 +32204,24 @@ packages:
   license: BSD-3-Clause
   size: 26975
   timestamp: 1759135131375
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-spdlog-vendor-1.6.1-np126py312hbd405f3_10.conda
+  sha256: 2d0654b10d7f8f9291d936aa01f02debfd4756edbad0e4435f88e7b378f81cb2
+  md5: ed960b36f9238d7c087b3577bd76fb12
+  depends:
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+  - ros2-distro-mutex 0.11.* jazzy_*
+  - spdlog
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - spdlog >=1.15.3,<1.16.0a0
+  license: BSD-3-Clause
+  size: 27031
+  timestamp: 1759135205832
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-sqlite3-vendor-0.26.9-np126py312h3bd2861_10.conda
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@@ -17426,6 +32241,24 @@ packages:
   license: BSD-3-Clause
   size: 24382
   timestamp: 1759134522950
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-sqlite3-vendor-0.26.9-np126py312h01c0cb9_10.conda
+  sha256: c2135f346a84f260bcd6b25a385c634b697412d8ad8518e669ae3a0647f49320
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+  depends:
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+  - libstdcxx >=14
+  - libgcc >=14
+  - libsqlite >=3.50.4,<4.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 24392
+  timestamp: 1759134708598
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-srdfdom-2.0.7-np126py312h3bd2861_10.conda
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@@ -17450,6 +32283,28 @@ packages:
   license: BSD-3-Clause
   size: 112904
   timestamp: 1759138489301
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-srdfdom-2.0.7-np126py312h01c0cb9_10.conda
+  sha256: 44330ff0744d0a30bc092a2bc86e01887d34a992f29f13ec8370f70e5a6396d9
+  md5: b8d887f71a5fa0a6ca6600e7d2090805
+  depends:
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+  - python
+  - ros-jazzy-console-bridge-vendor
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tinyxml2-vendor
+  - ros-jazzy-urdf
+  - ros-jazzy-urdfdom-py
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+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - libboost >=1.86.0,<1.87.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - console_bridge >=1.0.2,<1.1.0a0
+  license: BSD-3-Clause
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-sros2-0.13.4-np126py312h3bd2861_10.conda
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@@ -17473,6 +32328,28 @@ packages:
   license: BSD-3-Clause
   size: 75538
   timestamp: 1759139553332
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-sros2-0.13.4-np126py312h01c0cb9_10.conda
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+  md5: 1a04cc1c9fa14bbeb5007ab0e4351c20
+  depends:
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+  - cryptography
+  - importlib_resources
+  - lxml
+  - python
+  - ros-jazzy-ament-index-python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 75482
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-sros2-cmake-0.13.4-np126py312h3bd2861_10.conda
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@@ -17492,6 +32369,24 @@ packages:
   license: BSD-3-Clause
   size: 39480
   timestamp: 1759139957743
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-sros2-cmake-0.13.4-np126py312h01c0cb9_10.conda
+  sha256: cfccec548dfdf2f3a07849b60014c6c680b646d203516e44fffe85f6d4ee07c1
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+  depends:
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+  - ros-jazzy-sros2
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+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-statistics-msgs-2.0.3-np126py312h3bd2861_10.conda
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@@ -17511,6 +32406,24 @@ packages:
   license: BSD-3-Clause
   size: 108933
   timestamp: 1759136704465
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-statistics-msgs-2.0.3-np126py312h01c0cb9_10.conda
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+  depends:
+  - python
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+  - ros-jazzy-ros-workspace
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+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 113552
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-std-msgs-5.3.6-np126py312h3bd2861_10.conda
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@@ -17530,6 +32443,23 @@ packages:
   license: BSD-3-Clause
   size: 339951
   timestamp: 1759136657294
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-std-msgs-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: 32ad7a6e0452ac9e1a55f2acf954b138d94aada0ebc5601f9911cb041434f5b5
+  md5: ed561ac70ba4330fcc48f158913e506a
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+  - python
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+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
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+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 345695
+  timestamp: 1759136869473
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-std-srvs-5.3.6-np126py312h3bd2861_10.conda
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@@ -17548,6 +32478,22 @@ packages:
   license: BSD-3-Clause
   size: 168725
   timestamp: 1759136576806
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-std-srvs-5.3.6-np126py312h01c0cb9_10.conda
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+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 174017
+  timestamp: 1759136807876
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-stereo-msgs-5.3.6-np126py312h3bd2861_10.conda
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@@ -17568,6 +32514,25 @@ packages:
   license: BSD-3-Clause
   size: 83543
   timestamp: 1759137382359
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-stereo-msgs-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: 10936b27bf97865b3e70968a8b2553b3ee405d4efa26072f9df43cb98f84713b
+  md5: 3c1cad91d70566daf5080e80b886bd49
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 86878
+  timestamp: 1759137424600
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tango-icons-vendor-0.3.0-np126py312h3bd2861_10.conda
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   md5: f287ae107ff25ff18f5fcb8b968c6885
@@ -17585,6 +32550,22 @@ packages:
   license: BSD-3-Clause
   size: 26272
   timestamp: 1759135165169
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tango-icons-vendor-0.3.0-np126py312h01c0cb9_10.conda
+  sha256: df6bdd6760ff540ae073aeb7c9f126e03c7ba4ae03e17ac1454ce34d94758bba
+  md5: 49a99b37d5222fb72a4c93f8a653b1a4
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 26294
+  timestamp: 1759135307876
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tcb-span-1.0.2-np126py312h3bd2861_10.conda
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   md5: dd48f9089f5c916d5512a4b33662d3a5
@@ -17602,6 +32583,22 @@ packages:
   license: BSD-3-Clause
   size: 27768
   timestamp: 1759134511066
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tcb-span-1.0.2-np126py312h01c0cb9_10.conda
+  sha256: dbbb85bbb96041644ba2bd9354f0e3831fad8b002426478e01547c811e88eddb
+  md5: c95648c8270bd7822a0299b6762a56a8
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 27746
+  timestamp: 1759134683699
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-teleop-twist-joy-2.6.5-np126py312h3bd2861_10.conda
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   md5: 50ebee9a66553e7058d8f5110abbd9b6
@@ -17623,6 +32620,27 @@ packages:
   license: BSD-3-Clause
   size: 221803
   timestamp: 1759138982345
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-teleop-twist-joy-2.6.5-np126py312h01c0cb9_10.conda
+  sha256: 384f59aaa4f51cdf49de9fe4473c3631fd1ae081a3cb0a853814b0ad9fa3e556
+  md5: 929a9526f0974dae3ae14fcc1a436a17
+  depends:
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-joy
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 216726
+  timestamp: 1759138661261
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-teleop-twist-keyboard-2.4.1-np126py312h3bd2861_10.conda
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   md5: 83bc205faee9646f89104839f24352eb
@@ -17633,15 +32651,34 @@ packages:
   - ros-jazzy-rclpy
   - ros-jazzy-ros-workspace
   - ros2-distro-mutex 0.11.* jazzy_*
-  - __glibc >=2.17,<3.0.a0
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 24077
+  timestamp: 1759138325262
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-teleop-twist-keyboard-2.4.1-np126py312h01c0cb9_10.conda
+  sha256: 51636337965527e14d97a110a104d35b57038655d26db56088075a9668490eff
+  md5: 9df31e3094ab73600fbc5b454c7be919
+  depends:
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
   - libstdcxx >=14
   - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - python_abi 3.12.* *_cp312
   - numpy >=1.26.4,<2.0a0
-  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   license: BSD-3-Clause
-  size: 24077
-  timestamp: 1759138325262
+  size: 24168
+  timestamp: 1759138138709
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-test-msgs-2.0.3-np126py312h3bd2861_10.conda
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   md5: a5b049c63831c75b5c2532b076048b92
@@ -17661,6 +32698,23 @@ packages:
   license: BSD-3-Clause
   size: 903533
   timestamp: 1759136556318
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-test-msgs-2.0.3-np126py312h01c0cb9_10.conda
+  sha256: 30b72b307c3bbcab227247ed66ed2eb6b46ce7b50e54e604b273480b8e796e67
+  md5: 7d5f1d6c19a74a77068cd61f67194cbc
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 902493
+  timestamp: 1759136793679
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf-transformations-1.1.0-np126py312h3bd2861_10.conda
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   md5: 3ab9539daa9e2fbd636e14907c7d7337
@@ -17679,6 +32733,22 @@ packages:
   license: BSD-3-Clause
   size: 38534
   timestamp: 1759134319227
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf-transformations-1.1.0-np126py312h01c0cb9_10.conda
+  sha256: 4694e3b5345bac7e7e3ec9b556977ba8f3c1497ee7c1be4d6cca220f8acdea2e
+  md5: ff43f277b2151f2bc4162ad49f1281b8
+  depends:
+  - numpy
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 38523
+  timestamp: 1759134519431
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-0.36.14-np126py312h3bd2861_10.conda
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   md5: 023d8670910a31fb8952ed211d1edaa9
@@ -17700,6 +32770,25 @@ packages:
   license: BSD-3-Clause
   size: 135313
   timestamp: 1759137051595
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: 68476da4e238c0088e75b95f518fae8c16a2f8cbbb160a583b200aa8f3ea8002
+  md5: c9bf050a6886372212fb4c2f47457056
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-runtime-cpp
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 132153
+  timestamp: 1759137149958
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-bullet-0.36.14-np126py312h3bd2861_10.conda
   sha256: 76c891cf32f746179de831f0fdb54195d441335fe03fe22b0c938a98d87c572a
   md5: 235c13736d054c2347651dc17ec843bd
@@ -17721,6 +32810,25 @@ packages:
   license: BSD-3-Clause
   size: 44369
   timestamp: 1759139173611
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-bullet-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: f842d40da119627851f90c4051f7f76c81b0f029eeab4b3c4d9fc1c4092d09f9
+  md5: 043ee64c610e3c25c85fbcc02bfa387d
+  depends:
+  - bullet
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 44270
+  timestamp: 1759138821979
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-eigen-0.36.14-np126py312h3bd2861_10.conda
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   md5: e11c0996f2e94d4aa9b5675aa7c46343
@@ -17742,6 +32850,25 @@ packages:
   license: BSD-3-Clause
   size: 45726
   timestamp: 1759139209962
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-eigen-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: a4fa5caab7079fad70f03c4f1ae9c22698455017cd8f120746de684548766943
+  md5: 4efa72efd25b817d8696dc5428e25ad6
+  depends:
+  - eigen
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-ros
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 45608
+  timestamp: 1759138865358
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-eigen-kdl-0.36.14-np126py312h3bd2861_10.conda
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   md5: 90cbb5675ddac6725557265f1584aec7
@@ -17762,6 +32889,25 @@ packages:
   license: BSD-3-Clause
   size: 41287
   timestamp: 1759137269359
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-eigen-kdl-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: cefe9a206560957320ae926b52ced5877d6b2285607aa38f4e5b68c1e7b099fa
+  md5: e3e06a6c1929f0060fd45fb4076e6a76
+  depends:
+  - eigen
+  - python
+  - ros-jazzy-orocos-kdl-vendor
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 41685
+  timestamp: 1759137333065
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-geometry-msgs-0.36.14-np126py312h3bd2861_10.conda
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   md5: eed7a734010d4d468415fe2bd03312c8
@@ -17784,6 +32930,28 @@ packages:
   license: BSD-3-Clause
   size: 57650
   timestamp: 1759139173325
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-geometry-msgs-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: 3ff292196bfb22af40fdf6705af909816751abab085df365b2f8b79d110999a3
+  md5: 21695987ca8fd39db7608afadd483479
+  depends:
+  - numpy
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-orocos-kdl-vendor
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-ros
+  - ros-jazzy-tf2-ros-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 57569
+  timestamp: 1759138821081
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-kdl-0.36.14-np126py312h3bd2861_10.conda
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   md5: a848b4fc65282fe6f55578e58c489c96
@@ -17807,6 +32975,28 @@ packages:
   license: BSD-3-Clause
   size: 47225
   timestamp: 1759139203220
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-kdl-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: 89974d129fae7169674b9fad905e7c80b502f584059f6ec720012778d4b360db
+  md5: bc55c90f826cd3c8c761516f33aac38a
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-orocos-kdl-vendor
+  - ros-jazzy-python-orocos-kdl-vendor
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-ros
+  - ros-jazzy-tf2-ros-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 47039
+  timestamp: 1759138853852
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-msgs-0.36.14-np126py312h3bd2861_10.conda
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   md5: a11bc4a57bc7cb43d5a144b8aba6b18b
@@ -17827,6 +33017,24 @@ packages:
   license: BSD-3-Clause
   size: 256026
   timestamp: 1759137020823
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-msgs-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: d3b2481150a0472efcc8eace4df15c256e70b247400606d598a485edf6ad2552
+  md5: 0eec4906240263ae596ca4aae64690d8
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 262117
+  timestamp: 1759137109346
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-py-0.36.14-np126py312h3bd2861_10.conda
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   md5: c4d17504df0d4cfc2546f0c94b85ffd8
@@ -17848,6 +33056,27 @@ packages:
   license: BSD-3-Clause
   size: 58858
   timestamp: 1759138282022
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-py-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: ded463c6a7a55c860137e114ae0484bf362c6741d5fd7b6e459683cebb9ea7f7
+  md5: 9e943b3fdd91d5ae4a97d6745dfe1711
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rpyutils
+  - ros-jazzy-tf2
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 57166
+  timestamp: 1759138087222
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-ros-0.36.14-np126py312h3bd2861_10.conda
   sha256: 5abb275a02ee9dbaa3ea35cdf79040c9c080a5af961eff471ad2ceb53c8ebf21
   md5: 17efb45a654c668411f121bd2b1d01cd
@@ -17874,6 +33103,30 @@ packages:
   license: BSD-3-Clause
   size: 466480
   timestamp: 1759138967417
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-ros-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: 102d42c9473e82968e5ef7d65e981c9dcabdfeeb220150f70ddd8db6e7d0b828
+  md5: 38df7768caf669726349992173812f32
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-message-filters
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-action
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 475453
+  timestamp: 1759138651921
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-ros-py-0.36.14-np126py312h3bd2861_10.conda
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   md5: b480decf703ef801b0c591ebd08c5624
@@ -17898,6 +33151,28 @@ packages:
   license: BSD-3-Clause
   size: 48787
   timestamp: 1759138495464
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-ros-py-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: 79f63b1d65f2e32c73e5c21762f59ce72b0d4afd59cdce50ce4f8e204bee5170
+  md5: 4df7830f99b20ba1a4850d12c01b0d96
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros-jazzy-tf2-msgs
+  - ros-jazzy-tf2-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 48676
+  timestamp: 1759138254072
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-sensor-msgs-0.36.14-np126py312h3bd2861_10.conda
   sha256: a1b64da83229c31844b62593daa15f181f5e1e63d5dfd6067c581ea596c18f61
   md5: 9b191e4d7d70b792d28be7d04d266d42
@@ -17925,6 +33200,31 @@ packages:
   license: BSD-3-Clause
   size: 49843
   timestamp: 1759139390039
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-sensor-msgs-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: a47d1f04caf63e51522a085816be8907f51f2ee3ebb8aee3e57d74ec05701960
+  md5: 8bcb2ab30d77172fe3d7fc346b14d48f
+  depends:
+  - eigen
+  - numpy
+  - python
+  - ros-jazzy-eigen3-cmake-module
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-sensor-msgs-py
+  - ros-jazzy-std-msgs
+  - ros-jazzy-tf2
+  - ros-jazzy-tf2-ros
+  - ros-jazzy-tf2-ros-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 49767
+  timestamp: 1759138982825
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tf2-tools-0.36.14-np126py312h3bd2861_10.conda
   sha256: 2bc39da305fccacaa4ec7d83bc5b6c9ee8a7b20c6ece56eba6c12a727d569c95
   md5: 3c56b870db4cdcebed6ff6769c588514
@@ -17947,6 +33247,27 @@ packages:
   license: BSD-3-Clause
   size: 24008
   timestamp: 1759139016782
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tf2-tools-0.36.14-np126py312h01c0cb9_10.conda
+  sha256: 21d3817b7ec5da01586619328d618c0a747c88a0506d35ddc9fb76b936437b27
+  md5: be87b3a6004463dbe0d4ecc26a0f2aad
+  depends:
+  - graphviz
+  - python
+  - pyyaml
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tf2-msgs
+  - ros-jazzy-tf2-py
+  - ros-jazzy-tf2-ros-py
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 23997
+  timestamp: 1759138716430
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-theora-image-transport-4.0.6-np126py312h5cbfcd5_10.conda
   sha256: 33e93f2409ebf4421074c0e1ac35bb63d2c8048faca2a10d228bbc31df2c1323
   md5: c62541d547d5ffc287c409bfe6f0ddd1
@@ -17977,15 +33298,53 @@ packages:
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   - ros2-distro-mutex >=0.11.0,<0.12.0a0
   - libopengl >=1.7.0,<2.0a0
-  - libtheora >=1.1.1,<1.2.0a0
+  - libtheora >=1.1.1,<1.2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - libopencv >=4.11.0,<4.11.1.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - libogg >=1.3.5,<1.4.0a0
+  license: BSD-3-Clause
+  size: 437632
+  timestamp: 1759139418139
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-theora-image-transport-4.0.6-np126py312hc06382c_10.conda
+  sha256: 87e463e933945fb759ca9f4769539b2daf37248f27fdab062295518be33f8f55
+  md5: cad7ab6cc2eecb4fdbfb1fb9b95bf590
+  depends:
+  - libogg
+  - libopencv
+  - libtheora
+  - py-opencv
+  - python
+  - ros-jazzy-cv-bridge
+  - ros-jazzy-image-transport
+  - ros-jazzy-pluginlib
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rcutils
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - py-opencv >=4.11.0,<5.0a0
+  - libogg >=1.3.5,<1.4.0a0
+  - libopengl >=1.7.0,<2.0a0
   - libgl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
   - libopencv >=4.11.0,<4.11.1.0a0
+  - xorg-libx11 >=1.8.12,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
-  - python_abi 3.12.* *_cp312
-  - libogg >=1.3.5,<1.4.0a0
+  - libtheora >=1.1.1,<1.2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
   license: BSD-3-Clause
-  size: 437632
-  timestamp: 1759139418139
+  size: 444678
+  timestamp: 1759139011757
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tinyxml2-vendor-0.9.1-np126py312h3bd2861_10.conda
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   md5: 3e859a033dd175dddd2864a10824f247
@@ -18005,6 +33364,23 @@ packages:
   license: BSD-3-Clause
   size: 24332
   timestamp: 1759134515660
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tinyxml2-vendor-0.9.1-np126py312h01c0cb9_10.conda
+  sha256: c15be9182dc82c32e8fa6cf89deec0a9c01608b54a47bced9044ae1f1b634389
+  md5: 947fe562574c4a7173a66e7ca8256696
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - tinyxml2
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - tinyxml2 >=11.0.0,<11.1.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 24288
+  timestamp: 1759134687841
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tl-expected-1.0.2-np126py312h3bd2861_10.conda
   sha256: bb9d5816cb3c635b8ea7f76900d44232c7e77e9f29201ca568219e7e5b0377b6
   md5: 2c2a73c15c6ebf9615e9255bc6fe4684
@@ -18021,6 +33397,22 @@ packages:
   license: BSD-3-Clause
   size: 33353
   timestamp: 1759134506272
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tl-expected-1.0.2-np126py312h01c0cb9_10.conda
+  sha256: 0e5c34848602577e49c0c3102f330d2ca251ef886c1058fb998452edc393dd04
+  md5: 3f2efd03d498af37b2d61654924fbce3
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 33340
+  timestamp: 1759134679194
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tlsf-0.9.0-np126py312h3bd2861_10.conda
   sha256: bc0bc093a129c741fcba2cc3dfd93ce73d221b8cf91c8db4b1bec456e098774a
   md5: 7d0b957bc23d73c4a52bdf473e22d036
@@ -18038,6 +33430,22 @@ packages:
   license: BSD-3-Clause
   size: 32866
   timestamp: 1759135164380
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tlsf-0.9.0-np126py312h01c0cb9_10.conda
+  sha256: 058877b97e6621bda73615bbf81dc985e5ce48e266e553937a2eaeb5ccd352b3
+  md5: 705d807eab6fd70f114e5c85ca16a967
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 32804
+  timestamp: 1759135238269
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tlsf-cpp-0.17.1-np126py312h3bd2861_10.conda
   sha256: 31e57a0cfe8e2dd0739457d6742ba6460c851b5e20b10d6380835971bba5d0db
   md5: 5828d1b5cb97433c92ee519d36eba18d
@@ -18060,6 +33468,27 @@ packages:
   license: BSD-3-Clause
   size: 186047
   timestamp: 1759138281588
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tlsf-cpp-0.17.1-np126py312h01c0cb9_10.conda
+  sha256: a2c113df4a5d1f1a5665c015ec075f3a7680b8794464582b0908bbe095a14015
+  md5: 79847fe7f7f6808ff8ab6dc0ddd8036a
+  depends:
+  - python
+  - ros-jazzy-ament-cmake
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rmw
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros-jazzy-tlsf
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 187742
+  timestamp: 1759138094095
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-topic-monitor-0.33.7-np126py312h3bd2861_10.conda
   sha256: 0cbcac924387a6fa2e248962ce23e0e0e23ce25e57adfcba632c54cae30e4b91
   md5: ebea8f4e5cfc1719fba66a5f263873a2
@@ -18080,6 +33509,25 @@ packages:
   license: BSD-3-Clause
   size: 49500
   timestamp: 1759138607334
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-topic-monitor-0.33.7-np126py312h01c0cb9_10.conda
+  sha256: a023cca3dd783aeec34c3831a9659deee91aa2a90512b5e07a496e9bb3eaddd9
+  md5: dfcc2b79ce7a81d3692e857d5042f74f
+  depends:
+  - python
+  - ros-jazzy-launch
+  - ros-jazzy-launch-ros
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 49416
+  timestamp: 1759138374529
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-topic-tools-1.3.3-np126py312h3bd2861_10.conda
   sha256: d8d673615be66b9c7f8a8243fe68553f7423dac4583b9939f759d060dfaac828
   md5: 81093487d13241f7564e53d721b28812
@@ -18103,6 +33551,27 @@ packages:
   license: BSD-3-Clause
   size: 281826
   timestamp: 1759138528240
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-topic-tools-1.3.3-np126py312h01c0cb9_10.conda
+  sha256: 698ed4417e781d77d10338fd14c9a0d6854d862513a267df2fc10a09a0cb64c1
+  md5: b450ea34f4d6b868fbca590358f48bba
+  depends:
+  - python
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-components
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-ros2cli
+  - ros-jazzy-rosidl-runtime-py
+  - ros-jazzy-topic-tools-interfaces
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 283132
+  timestamp: 1759138304191
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-topic-tools-interfaces-1.3.3-np126py312h3bd2861_10.conda
   sha256: d5589c2c7a1a4dfffa85528613f7f4ff573295cbe3fb7dc81b837f7ba30a1340
   md5: fcee7459888efc4d7e993bc65b81e6a0
@@ -18121,6 +33590,23 @@ packages:
   license: BSD-3-Clause
   size: 317261
   timestamp: 1759136535421
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-topic-tools-interfaces-1.3.3-np126py312h01c0cb9_10.conda
+  sha256: 5bed90f0a620a634dcc1817678267dfa1cf1c4583e001b05cc3e264766933ad9
+  md5: 83901c42e91de5651c2bd49c695fa09f
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 323101
+  timestamp: 1759136767427
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tracetools-8.2.4-np126py312h3bd2861_10.conda
   sha256: f25d0f1a214c27118745c3ca772ffa64631489be4e9868c9daaf300ca11b26af
   md5: af1df22dc8dd175c42fe14c84fcfb71b
@@ -18140,6 +33626,24 @@ packages:
   license: BSD-3-Clause
   size: 72568
   timestamp: 1759135552746
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tracetools-8.2.4-np126py312h01c0cb9_10.conda
+  sha256: 1557d87bdbcbe26ac4910b45b4feebe59686406a432d4c4aec3567a483705e8d
+  md5: 42d53e18ac90fcc680a287ab6514dcf9
+  depends:
+  - lttng-ust
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  - lttng-ust >=2.13.9,<2.14.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 72387
+  timestamp: 1759135490446
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-tracetools-image-pipeline-5.0.11-np126py312h3bd2861_10.conda
   sha256: 17755537e03ad358d416a25389aeb600f56ccdc06204059f9dc778952c8d746d
   md5: e337b46c5fa86921d937401719d869c4
@@ -18157,6 +33661,21 @@ packages:
   license: BSD-3-Clause
   size: 36898
   timestamp: 1759135559338
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-tracetools-image-pipeline-5.0.11-np126py312h01c0cb9_10.conda
+  sha256: 9d587ae1cce905bc19189cc7c56b63eeda286d544696b7f5dfdf810bd533474e
+  md5: 90eafccb33652663b7f78de125b92428
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 37722
+  timestamp: 1759135499737
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-trajectory-msgs-5.3.6-np126py312h3bd2861_10.conda
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   license: BSD-3-Clause
   size: 150323
   timestamp: 1759137139092
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-trajectory-msgs-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: fd5e521dd23db919cf127c97a1add10faad065a4ff7f5f0e92b75b08cdd04834
+  md5: 05be1eb0417adfe1be0566d5b029f9b9
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 153991
+  timestamp: 1759137202836
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-transmission-interface-4.37.0-np126py312h3bd2861_10.conda
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@@ -18198,6 +33737,26 @@ packages:
   license: BSD-3-Clause
   size: 103420
   timestamp: 1759139866191
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-transmission-interface-4.37.0-np126py312h01c0cb9_10.conda
+  sha256: f69d72493c00a3c15257424e3a5a27dfeb04e56074e5e5256eae101cec0e7d3b
+  md5: 17df4b227907546b8504bb6de0475989
+  depends:
+  - fmt
+  - python
+  - ros-jazzy-hardware-interface
+  - ros-jazzy-pluginlib
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - fmt >=11.2.0,<11.3.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 102889
+  timestamp: 1759139463738
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-turtlesim-1.8.3-np126py312h3bd2861_10.conda
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@@ -18231,6 +33790,37 @@ packages:
   license: BSD-3-Clause
   size: 905827
   timestamp: 1759138544824
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-turtlesim-1.8.3-np126py312h01c0cb9_10.conda
+  sha256: e053d5bc92219582c723d30a477a8f237dfb06c97c64a65676c0a360285eec9b
+  md5: 62eb88f7e4fbbb1afd1dcf4212bd306f
+  depends:
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+  - qt-main
+  - ros-jazzy-ament-index-cpp
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-rcl-interfaces
+  - ros-jazzy-rclcpp
+  - ros-jazzy-rclcpp-action
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros-jazzy-std-srvs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - xorg-libx11 >=1.8.12,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - libgl >=1.7.0,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  license: BSD-3-Clause
+  size: 929874
+  timestamp: 1759138320044
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-type-description-interfaces-2.0.3-np126py312h3bd2861_10.conda
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@@ -18249,6 +33839,23 @@ packages:
   license: BSD-3-Clause
   size: 232014
   timestamp: 1759136425687
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-type-description-interfaces-2.0.3-np126py312h01c0cb9_10.conda
+  sha256: 070a97a4abb0995a5fd0aa0145536714046c179816c2aef323c4b7fcda9c3736
+  md5: 48a5bf4208ba26f7b628621c57026ed3
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-core-runtime
+  - ros-jazzy-service-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 237255
+  timestamp: 1759136569268
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-udp-bridge-0.0.0-np126py312h3bd2861_10.conda
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   md5: a53322045b353073bebc166575e61c0a
@@ -18267,6 +33874,24 @@ packages:
   license: BSD-3-Clause
   size: 45946
   timestamp: 1765488858132
+- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-udp-bridge-0.0.0-np126py312hbb414ff_10.conda
+  sha256: 53969e108dfb276847092f3e47e3d5b9d910175533c00b518d731eed70a8f44e
+  md5: 37b97c0edee728115fa219fe0d7881b4
+  depends:
+  - cryptography
+  - python
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - python 3.12.* *_cpython
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 53002
+  timestamp: 1767478827645
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-uncrustify-vendor-3.0.1-np126py312h3bd2861_10.conda
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@@ -18286,6 +33911,23 @@ packages:
   license: BSD-3-Clause
   size: 22961
   timestamp: 1759134500513
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-uncrustify-vendor-3.0.1-np126py312h01c0cb9_10.conda
+  sha256: a2208176da92450b608aff4df74a9434eafcc1750eaeebbeb98cc9ff38ebd40c
+  md5: 6dc7a38cca4caf5010fd72d70b8c2a9d
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - uncrustify
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - uncrustify >=0.81.0,<0.82.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 22911
+  timestamp: 1759134669184
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-unique-identifier-msgs-2.5.0-np126py312h3bd2861_10.conda
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@@ -18304,6 +33946,22 @@ packages:
   license: BSD-3-Clause
   size: 74184
   timestamp: 1759136346004
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-unique-identifier-msgs-2.5.0-np126py312h01c0cb9_10.conda
+  sha256: 6304fd771eac13d5a79c33cae14ff9d71fd3d59121df3accefe9de45451de3b8
+  md5: 55308a8e9e8eedeb8ff64dd04e087cff
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-core-runtime
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 77638
+  timestamp: 1759136480421
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-urdf-2.10.0-np126py312h3bd2861_10.conda
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   md5: 03ddeb2220090ded429a18fcb63b2eb5
@@ -18326,6 +33984,26 @@ packages:
   license: BSD-3-Clause
   size: 155698
   timestamp: 1759136011042
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-urdf-2.10.0-np126py312h01c0cb9_10.conda
+  sha256: 6a0a4c24820e281438aba7cbcd88f9a3dd82501153596801a63ee851aaba4e5f
+  md5: 1ddae0d867e0fa5e95a95518cf33e1bd
+  depends:
+  - python
+  - ros-jazzy-pluginlib
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tinyxml2-vendor
+  - ros-jazzy-urdf-parser-plugin
+  - ros-jazzy-urdfdom
+  - ros-jazzy-urdfdom-headers
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 155006
+  timestamp: 1759136134429
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-urdf-parser-plugin-2.10.0-np126py312h3bd2861_10.conda
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@@ -18343,6 +34021,22 @@ packages:
   license: BSD-3-Clause
   size: 31820
   timestamp: 1759135533626
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-urdf-parser-plugin-2.10.0-np126py312h01c0cb9_10.conda
+  sha256: 7b23419ff387fb4bfbad7b60432b263195305fd53e8e07b9f46ca7c52d58d034
+  md5: bc42b57d9a656c1644075fa52951526c
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-urdfdom-headers
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 31822
+  timestamp: 1759135464294
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-urdfdom-4.0.1-py312h24bf083_10.conda
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@@ -18363,6 +34057,26 @@ packages:
   license: BSD-3-Clause
   size: 8062
   timestamp: 1759135655375
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-urdfdom-4.0.1-py312h9804fc4_10.conda
+  sha256: 546ae5d343a1d00106c0ac39e724ee186bd625c3020b383a7e563c49b00bbd5d
+  md5: 026754a1b78aaa438d58c93238945f4f
+  depends:
+  - console_bridge
+  - python
+  - ros-jazzy-console-bridge-vendor
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-tinyxml2-vendor
+  - ros-jazzy-urdfdom-headers
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - tinyxml2
+  - urdfdom >=4.0.1,<4.1.0a0
+  - python_abi 3.12.* *_cp312
+  - tinyxml2 >=11.0.0,<11.1.0a0
+  - console_bridge >=1.0.2,<1.1.0a0
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 7922
+  timestamp: 1759135630565
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-urdfdom-headers-1.1.2-py312h24bf083_10.conda
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@@ -18376,6 +34090,19 @@ packages:
   license: BSD-3-Clause
   size: 7285
   timestamp: 1759133953538
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-urdfdom-headers-1.1.2-py312h9804fc4_10.conda
+  sha256: ed46cbd4757deb30edabdee68e98935aed1c62eb5413a3ac915557b301ab60d1
+  md5: 283e25bb19a5af3d51d29f8d1a4070a1
+  depends:
+  - python
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - urdfdom_headers >=1.1.2,<1.2.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 7164
+  timestamp: 1759134196506
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-urdfdom-py-1.2.1-py312h24bf083_10.conda
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@@ -18392,6 +34119,22 @@ packages:
   license: BSD-3-Clause
   size: 7293
   timestamp: 1759138309440
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-urdfdom-py-1.2.1-py312h9804fc4_10.conda
+  sha256: dc9663464c543ad9a9c716cca819c5b0eb0406d71b2b3feb3b8845ebf14066d3
+  md5: 565f1d5d0b91da1e8b44cbb12fe2c529
+  depends:
+  - lxml
+  - python
+  - pyyaml
+  - ros-jazzy-rclpy
+  - ros-jazzy-ros-workspace
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - urdfdom-py >=1.2.1,<1.3.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  license: BSD-3-Clause
+  size: 7161
+  timestamp: 1759138112674
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-vision-msgs-4.1.1-np126py312h3bd2861_10.conda
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@@ -18412,6 +34155,24 @@ packages:
   license: BSD-3-Clause
   size: 261145
   timestamp: 1759137117056
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-vision-msgs-4.1.1-np126py312h01c0cb9_10.conda
+  sha256: a47ebf535203884e1900c85803232b8977297b87400d9adc49e53a3cab29729f
+  md5: ac571b574d59cd9e91812d6dcf1b9552
+  depends:
+  - python
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 265798
+  timestamp: 1759137201405
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-vision-opencv-4.1.0-np126py312h3bd2861_10.conda
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@@ -18430,6 +34191,23 @@ packages:
   license: BSD-3-Clause
   size: 22199
   timestamp: 1759138540069
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-vision-opencv-4.1.0-np126py312h01c0cb9_10.conda
+  sha256: c1d6b02bc9cb6b76117cf6d06065fd717a52769f85ef4a97980192db61bff771
+  md5: 151fed6846fff2c03267e64ee4e6405b
+  depends:
+  - python
+  - ros-jazzy-cv-bridge
+  - ros-jazzy-image-geometry
+  - ros-jazzy-ros-workspace
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+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 22170
+  timestamp: 1759138315013
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-visualization-msgs-5.3.6-np126py312h3bd2861_10.conda
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@@ -18451,6 +34229,26 @@ packages:
   license: BSD-3-Clause
   size: 369545
   timestamp: 1759137347430
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-aarch64/ros-jazzy-visualization-msgs-5.3.6-np126py312h01c0cb9_10.conda
+  sha256: 879193b015ab5244d95d8bf99304393a38f243234912eb7c475b6d24a765430b
+  md5: 15aa8a90b583c279d62b79dd29f60508
+  depends:
+  - python
+  - ros-jazzy-builtin-interfaces
+  - ros-jazzy-geometry-msgs
+  - ros-jazzy-ros-workspace
+  - ros-jazzy-rosidl-default-runtime
+  - ros-jazzy-sensor-msgs
+  - ros-jazzy-std-msgs
+  - ros2-distro-mutex 0.11.* jazzy_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 377839
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+  sha256: 8a1efaf97a00d62d68939abe40f7a35ace8910eec777d5535b8c32d0079750bd
+  md5: 5676806bba055c901a62f969cb3fbe02
+  depends:
+  - libstdcxx >=14
+  - libgcc >=14
+  - krb5 >=1.21.3,<1.22.0a0
+  - libsodium >=1.0.20,<1.0.21.0a0
+  license: MPL-2.0
+  license_family: MOZILLA
+  purls: []
+  size: 350254
+  timestamp: 1757370867477
 - conda: https://conda.anaconda.org/conda-forge/noarch/zipp-3.23.0-pyhcf101f3_1.conda
   sha256: b4533f7d9efc976511a73ef7d4a2473406d7f4c750884be8e8620b0ce70f4dae
   md5: 30cd29cb87d819caead4d55184c1d115
@@ -20097,6 +36971,17 @@ packages:
   purls: []
   size: 92286
   timestamp: 1727963153079
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/zlib-1.3.1-h86ecc28_2.conda
+  sha256: b4f649aa3ecdae384d5dad7074e198bff120edd3dfb816588e31738fc6d627b1
+  md5: bc230abb5d21b63ff4799b0e75204783
+  depends:
+  - libgcc >=13
+  - libzlib 1.3.1 h86ecc28_2
+  license: Zlib
+  license_family: Other
+  purls: []
+  size: 95582
+  timestamp: 1727963203597
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zstandard-0.25.0-py312h5253ce2_1.conda
   sha256: c2bcb8aa930d6ea3c9c7a64fc4fab58ad7bcac483a9a45de294f67d2f447f413
   md5: 02738ff9855946075cbd1b5274399a41
@@ -20114,6 +36999,23 @@ packages:
   - pkg:pypi/zstandard?source=compressed-mapping
   size: 467133
   timestamp: 1762512686069
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/zstandard-0.25.0-py312hd41f8a7_1.conda
+  sha256: 815181891e73adbda6a7db79bf9279a70f0b7b5fcc15c38d97a18a11615aebfb
+  md5: 4acea03c550a782f0ee70440303b3af5
+  depends:
+  - python
+  - cffi >=1.11
+  - zstd >=1.5.7,<1.5.8.0a0
+  - python 3.12.* *_cpython
+  - libgcc >=14
+  - zstd >=1.5.7,<1.6.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/zstandard?source=hash-mapping
+  size: 458596
+  timestamp: 1762512720677
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
   sha256: 68f0206ca6e98fea941e5717cec780ed2873ffabc0e1ed34428c061e2c6268c7
   md5: 4a13eeac0b5c8e5b8ab496e6c4ddd829
@@ -20125,6 +37027,16 @@ packages:
   purls: []
   size: 601375
   timestamp: 1764777111296
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/zstd-1.5.7-h85ac4a6_6.conda
+  sha256: 569990cf12e46f9df540275146da567d9c618c1e9c7a0bc9d9cfefadaed20b75
+  md5: c3655f82dcea2aa179b291e7099c1fcc
+  depends:
+  - libzlib >=1.3.1,<2.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 614429
+  timestamp: 1764777145593
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zziplib-0.13.69-he45264a_2.conda
   sha256: a7c3ba25f384c7eb30c4f4c2d390f62714e0b4946d315aa852749f927b4b03ff
   md5: 6d2d107e0fb8bc381acd4e9c68dbeae7
@@ -20135,3 +37047,13 @@ packages:
   purls: []
   size: 106915
   timestamp: 1719242059793
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/zziplib-0.13.69-h650d8d0_2.conda
+  sha256: 9e3764d1fb2b509bc43ebb059a5bb77ba11af56bb78a5960e1ba8a21aa1939a6
+  md5: 133bf2541e6bc4f7bb7c4e0546776138
+  depends:
+  - libgcc-ng >=12
+  - libzlib >=1.3.1,<2.0a0
+  license: LGPL-2.0-or-later OR MPL-1.1
+  purls: []
+  size: 115725
+  timestamp: 1719242037690
diff --git a/pixi.toml b/pixi.toml
index 6311bd2f1..42a625f7f 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -7,7 +7,7 @@ channels = [
     "conda-forge"  # General conda-forge channel
 ]
 name = "bitbots_main"
-platforms = ["linux-64"]
+platforms = ["linux-64", "linux-aarch64"]
 preview = ["pixi-build"]
 version = "0.1.0"
 
@@ -77,7 +77,6 @@ sysroot_linux-64 = ">=2.28,<3"
 transforms3d = ">=0.4.2,<0.5"
 ipython = ">=9.7.0,<10"
 yaml-cpp = ">=0.8.0,<0.9"
-webots = ">=2022b,<2023a"
 
 # Official ROS 2 packages
 colcon-common-extensions = ">=0.3.0,<0.4"
@@ -195,6 +194,10 @@ setuptools = "==68.1.2"  # Pinning setuptools to avoid issues with colcon build
 git = ">=2.52.0,<3"  # Otherwise the system git might be used causing ABI issues
 curl = ">=8.17.0,<9"
 
+[feature.ros.target.linux-64.dependencies]
+# For now Webots is only packaged for x86-64 Linux
+webots = ">=2022b,<2023a"
+
 [feature.format.dependencies]
 clang-format = ">=21.1.0,<22"
 cppcheck = ">=2.18.3,<3"
@@ -206,8 +209,14 @@ syrupy = ">=5.0.0, <6"
 exhale = ">=0.3.7, <0.4"
 mycroft-mimic3-tts = ">=0.2.4, <0.3"
 pyttsx3 = ">=2.99, <3"
+
+[feature.ros.target.linux-64.pypi-dependencies]
 onnxruntime-webgpu = ">=1.24.0.dev20251218001, <2"
 
+[feature.ros.target.linux-aarch64.pypi-dependencies]
+# Currently onnxruntime-webgpu is not available on ARM, so we fallback to CPU onnx for now
+onnxruntime = ">=1.23.2, <2"
+
 [feature.robot.pypi-dependencies]
 # These are only needed on the robot
 pyamdgpuinfo = ">=2.1.7, <3"

From 2f5552ea8c8d70fb5177b8da311983fab541136e Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Thu, 8 Jan 2026 00:02:51 +0100
Subject: [PATCH 90/90] Pixi fixes for bitbots education

---
 pixi.lock                                     | 951 +++++++++++++++++-
 pixi.toml                                     |   9 +-
 .../bitbots_education/launch/education.launch |   6 +-
 .../launch/education_simulation.launch        |   4 +
 .../bitbots_education/templates/base.html     |   1 -
 5 files changed, 915 insertions(+), 56 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index 47bce389c..8321fe3dc 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -19,6 +19,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/alabaster-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.14-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/appdirs-1.4.4-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.6.3-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-3.0.1-pyhd8ed1ab_0.conda
@@ -27,6 +28,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.2-h39aace5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-25.4.0-pyhcf101f3_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/automat-25.4.16-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/babel-2.17.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bcrypt-5.0.0-py312h868fb18_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.9-pyhd8ed1ab_0.conda
@@ -36,6 +38,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45-default_h4852527_104.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_2.conda
       - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/blinker-1.9.0-pyhff2d567_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hb03c661_4.conda
@@ -68,6 +71,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-devtools-0.3.0-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-library-path-0.2.1-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-metadata-0.2.5-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/colcon-notification-0.3.0-py312he626ec8_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-output-0.2.13-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-information-0.4.0-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-selection-0.2.10-pyhd8ed1ab_1.conda
@@ -84,6 +88,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.11.0-ha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-he8ccf15_16.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/constantly-15.1.0-py_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.3-py312hd9148b4_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/coverage-7.13.0-py312h8a5da7c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.18.3-py312h014360a_1.conda
@@ -95,10 +100,12 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.28-hd9c7081_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.16.2-h3c4dab8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-python-1.3.2-py312h7347394_6.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/decorator-5.2.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/deprecated-1.3.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/distlib-0.4.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/distro-1.9.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/dnspython-2.8.0-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/docstring_parser-0.17.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/docutils-0.21.2-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/double-conversion-3.3.1-h5888daf_0.conda
@@ -120,6 +127,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-import-order-0.19.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-quotes-3.4.0-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/flann-1.9.2-hc299af7_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flask-3.1.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.2.0-h07f6e7f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
@@ -183,6 +191,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/hpack-4.1.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/humanfriendly-10.0-pyh707e725_8.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/hyperframe-6.1.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/hyperlink-21.0.0-pyh29332c3_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-75.1-he02047a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/identify-2.6.15-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/idna-3.11-pyhd8ed1ab_0.conda
@@ -190,10 +199,12 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/imath-3.1.12-h7955e40_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/importlib-metadata-8.7.0-pyhe01879c_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/importlib_resources-6.5.2-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/incremental-24.11.0-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/iniconfig-2.3.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/invoke-2.2.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ipython-9.8.0-pyh53cf698_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ipython_pygments_lexers-1.1.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/itsdangerous-2.2.0-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/jack-1.9.22-hf4617a5_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/jasper-4.2.8-he3c4edf_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/jaxtyping-0.3.2-pyhd8ed1ab_0.conda
@@ -374,6 +385,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.13.2-h171cf75_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/nlohmann_json-3.12.0-h54a6638_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/nodeenv-1.9.1-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/notify2-0.3.1-pyhd8ed1ab_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/nspr-4.38-h29cc59b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/nss-3.118-h445c969_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/numpy-1.26.4-py312heda63a1_0.conda
@@ -402,6 +414,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/noarch/pexpect-4.9.0-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pillow-11.3.0-py312h7b42cdd_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pip-25.3-pyh8b19718_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pixman-0.46.4-h54a6638_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pkg-config-0.29.2-h4bc722e_1009.conda
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@@ -420,6 +433,8 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/py-opencv-4.11.0-qt6_py312h0c4a6be_609.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pyasn1-0.6.1-pyhd8ed1ab_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pyasn1-modules-0.4.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pybind11-3.0.1-pyh7a1b43c_0.conda
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@@ -431,7 +446,9 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.19.2-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/pymongo-4.15.5-py312h1289d80_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pynacl-1.6.1-py312h4c3975b_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pyopenssl-25.3.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.2.5-pyhcf101f3_0.conda
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rosbag2-0.26.9-np126py312h3bd2861_10.conda
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+  - ros2-distro-mutex >=0.11.0,<0.12.0a0
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+- conda: https://conda.anaconda.org/conda-forge/noarch/service_identity-24.2.0-hd8ed1ab_1.conda
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@@ -35417,6 +36162,71 @@ packages:
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+  - pip
+  - pyasn1
+  - pyopenssl >=23.2.0
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  - service_identity >=18.1.0
+  - typing-extensions >=3.6.5
+  - zope.interface >=4.4.2
+  constrains:
+  - h2 >=3.0,<5.0
+  - pyserial >=3.0
+  - priority >=1.1.0,<2.0
+  license: MIT
+  license_family: MIT
+  purls:
+  - pkg:pypi/twisted?source=hash-mapping
+  size: 6291631
+  timestamp: 1760319868229
 - conda: https://conda.anaconda.org/conda-forge/noarch/typeguard-4.4.4-pyhd8ed1ab_0.conda
   sha256: 591e03a61b4966a61b15a99f91d462840b6e77bf707ecb48690b24649fee921a
   md5: 8b2613dbfd4e2bc9080b2779b53fc210
@@ -35931,14 +36741,30 @@ packages:
   license: Apache-2.0
   size: 172089694
   timestamp: 1765723527936
-- pypi: https://files.pythonhosted.org/packages/2f/f9/9e082990c2585c744734f85bec79b5dae5df9c974ffee58fe421652c8e91/werkzeug-3.1.4-py3-none-any.whl
-  name: werkzeug
-  version: 3.1.4
-  sha256: 2ad50fb9ed09cc3af22c54698351027ace879a0b60a3b5edf5730b2f7d876905
-  requires_dist:
-  - markupsafe>=2.1.1
-  - watchdog>=2.3 ; extra == 'watchdog'
-  requires_python: '>=3.9'
+- conda: https://conda.anaconda.org/conda-forge/noarch/werkzeug-3.1.4-pyhcf101f3_0.conda
+  sha256: 0c4a30a4713347ff822d73d2349fd9ef67a6f34993e7ae3434cdee7047e9ee1e
+  md5: de082192dffe45d19aff3d86a4d06a24
+  depends:
+  - markupsafe >=2.1.1
+  - python >=3.10
+  - python
+  license: BSD-3-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/werkzeug?source=hash-mapping
+  size: 256621
+  timestamp: 1764423417723
+- conda: https://conda.anaconda.org/conda-forge/noarch/wheel-0.45.1-pyhd8ed1ab_1.conda
+  sha256: 1b34021e815ff89a4d902d879c3bd2040bc1bd6169b32e9427497fa05c55f1ce
+  md5: 75cb7132eb58d97896e173ef12ac9986
+  depends:
+  - python >=3.9
+  license: MIT
+  license_family: MIT
+  purls:
+  - pkg:pypi/wheel?source=hash-mapping
+  size: 62931
+  timestamp: 1733130309598
 - conda: https://conda.anaconda.org/conda-forge/linux-64/wrapt-1.17.3-py312h4c3975b_1.conda
   sha256: 8320d5af37eb8933e5d129884ea013b2687e75b08aff5216193df3378eaea92f
   md5: 8af3faf88325836e46c6cb79828e058c
@@ -36982,6 +37808,33 @@ packages:
   purls: []
   size: 95582
   timestamp: 1727963203597
+- conda: https://conda.anaconda.org/conda-forge/linux-64/zope.interface-8.0.1-py312h5253ce2_1.conda
+  sha256: 3ec38ef454f7fbc08f65bd020cf1056205024699d997d2e7b82a26c04b68eac5
+  md5: 60e3dd28d3e9f875967e6804751e9b98
+  depends:
+  - python
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - python_abi 3.12.* *_cp312
+  license: ZPL-2.1
+  purls:
+  - pkg:pypi/zope-interface?source=hash-mapping
+  size: 410766
+  timestamp: 1762507349594
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/zope.interface-8.0.1-py312hefbd42c_1.conda
+  sha256: 50ffa44d7fce44384557491eb745a677bd7a887fe9fdca570dcc923d18230d4b
+  md5: bd3817ffdabc3efd816f2012f7490040
+  depends:
+  - libgcc >=14
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  - setuptools
+  license: ZPL-2.1
+  license_family: Other
+  purls:
+  - pkg:pypi/zope-interface?source=hash-mapping
+  size: 388046
+  timestamp: 1762507589056
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zstandard-0.25.0-py312h5253ce2_1.conda
   sha256: c2bcb8aa930d6ea3c9c7a64fc4fab58ad7bcac483a9a45de294f67d2f447f413
   md5: 02738ff9855946075cbd1b5274399a41
diff --git a/pixi.toml b/pixi.toml
index 42a625f7f..263c6c09f 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -38,16 +38,19 @@ readline = ">=8.2.999"  # This is needed because we want to install an empty rea
 
 [feature.ros.dependencies]
 # Misc dependencies for our ROS 2 packages
-compilers = ">=1.11.0,<2"
 beartype = ">=0.22.6,<0.23"
 breathe = ">=4.36.0,<5"
 cmake = "<3.30"  # Constraint to avoid issues with deprecated features in newer cmake versions
 colorama = ">=0.4.6,<0.5"
+compilers = ">=1.11.0,<2"
 eigen = ">=3.4.0,<4"
 fabric = ">=3.2.2,<4"
+flask = ">=3.1.2,<4"
 gitpython = ">=3.1.45,<4"
 invoke = ">=2.2.1,<3"
+ipython = ">=9.7.0,<10"
 jaxtyping = ">=0.3.2,<0.4"
+jinja2 = ">=3.1.6,<4"
 libboost-devel = ">=1.86.0,<2"
 libnuma = ">=2.0.18,<3"
 libopencv = ">=4.11.0,<5"
@@ -75,11 +78,11 @@ simpleeval = ">=1.0.3,<2"
 sphinx-rtd-theme = ">=3.0.2,<4"
 sysroot_linux-64 = ">=2.28,<3"
 transforms3d = ">=0.4.2,<0.5"
-ipython = ">=9.7.0,<10"
 yaml-cpp = ">=0.8.0,<0.9"
 
 # Official ROS 2 packages
 colcon-common-extensions = ">=0.3.0,<0.4"
+colcon-notification = ">=0.3.0,<0.4"
 ros-jazzy-action-msgs = ">=2.0.3,<3"
 ros-jazzy-ament-cmake = ">=2.5.4,<3"
 ros-jazzy-ament-cmake-mypy = ">=0.17.3,<0.18"
@@ -126,6 +129,7 @@ ros-jazzy-rclpy = ">=7.1.5,<8"
 ros-jazzy-robot-state-publisher = ">=3.3.3,<4"
 ros-jazzy-ros2launch = ">=0.26.9,<0.27"
 ros-jazzy-rosbag2 = ">=0.26.9,<0.27"
+ros-jazzy-rosbridge-suite = ">=2.3.0,<3"
 ros-jazzy-rosgraph-msgs = ">=2.0.3,<3"
 ros-jazzy-rosidl-default-generators = ">=1.6.0,<2"
 ros-jazzy-rosidl-default-runtime = ">=1.6.0,<2"
@@ -148,6 +152,7 @@ ros-jazzy-urdf = ">=2.10.0,<3"
 ros-jazzy-urdfdom-py = ">=1.2.1,<2"
 ros-jazzy-vision-opencv = ">=4.1.0,<5"
 ros-jazzy-visualization-msgs = ">=5.3.6,<6"
+ros-jazzy-web-video-server = ">=2.1.1,<3"
 ros-jazzy-xacro = ">=2.1.1,<3"
 
 # Bit-Bots vendor packages
diff --git a/src/bitbots_misc/bitbots_education/launch/education.launch b/src/bitbots_misc/bitbots_education/launch/education.launch
index 9d18d2147..059c8dd78 100644
--- a/src/bitbots_misc/bitbots_education/launch/education.launch
+++ b/src/bitbots_misc/bitbots_education/launch/education.launch
@@ -1,13 +1,11 @@
 <?xml version="1.0"?>
 <launch>
-    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
-        <arg name="delay_between_messages" value="0.0"/>
-    </include>
+    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml"></include>
     <node pkg="web_video_server" exec="web_video_server" name="web_video_server_education">
         <param name="port" value="8081"/>
     </node>
     <node pkg="bitbots_education" exec="webserver" name="education_webserver" output="screen">
     </node>
-    
+
     <executable cmd="ros2 param set bitbots_vision component_debug_image_active true --timeout 20000" name="education_vision_debug_activator" output="screen"/>
 </launch>
diff --git a/src/bitbots_misc/bitbots_education/launch/education_simulation.launch b/src/bitbots_misc/bitbots_education/launch/education_simulation.launch
index 44222759b..851adcf2f 100644
--- a/src/bitbots_misc/bitbots_education/launch/education_simulation.launch
+++ b/src/bitbots_misc/bitbots_education/launch/education_simulation.launch
@@ -4,6 +4,10 @@
     </include>
     <include file="$(find-pkg-share bitbots_webots_sim)/launch/simulation.launch">
     </include>
+    <include file="$(find-pkg-share bitbots_bringup)/launch/vision.launch">
+        <arg name="sim" value="true"/>
+        <arg name="camera" value="false"/>
+    </include>
     <include file="$(find-pkg-share bitbots_bringup)/launch/motion_standalone.launch">
         <arg name="sim" value="true"/>
     </include>
diff --git a/src/bitbots_misc/bitbots_education/templates/base.html b/src/bitbots_misc/bitbots_education/templates/base.html
index 7b961b334..418939c9f 100644
--- a/src/bitbots_misc/bitbots_education/templates/base.html
+++ b/src/bitbots_misc/bitbots_education/templates/base.html
@@ -7,7 +7,6 @@
   <script type="text/javascript" src="https://cdn.jsdelivr.net/npm/eventemitter2@6.4.9/lib/eventemitter2.min.js"></script>
   <script type="text/javascript" src="https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js"></script>
   <script src="https://cdn.jsdelivr.net/npm/@tailwindcss/browser@4"></script>
-  <script src="https://unpkg.com/htmx.org@2.0.4" integrity="sha384-HGfztofotfshcF7+8n44JQL2oJmowVChPTg48S+jvZoztPfvwD79OC/LTtG6dMp+" crossorigin="anonymous"></script>
   <script defer src="https://cdn.jsdelivr.net/npm/alpinejs@3.x.x/dist/cdn.min.js"></script>
 
   <script type="text/javascript" >