diff --git a/.DS_Store b/.DS_Store
index b65b5f1..885449c 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/workspace/build/.built_by b/workspace/build/.built_by
new file mode 100644
index 0000000..06e74ac
--- /dev/null
+++ b/workspace/build/.built_by
@@ -0,0 +1 @@
+colcon
diff --git a/workspace/build/COLCON_IGNORE b/workspace/build/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py b/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py b/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py
new file mode 100644
index 0000000..6eb5678
--- /dev/null
+++ b/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py
@@ -0,0 +1,1048 @@
+import rclpy
+from rclpy.node import Node
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+from sensor_msgs.msg import JointState
+from rcl_interfaces.msg import Log
+from osc4py3.as_allthreads import *
+from osc4py3 import oscmethod as osm
+import xml.etree.ElementTree as ET
+import numpy as np
+import spatialmath as sm
+import roboticstoolbox as rtb
+from osc4py3 import oscbuildparse
+import time
+import os
+import re
+import socket
+
+class JointNameListener(Node):
+    def __init__(self):
+        super().__init__('joint_name_listener')
+        self.subscription = self.create_subscription(
+            JointState,
+            '/joint_states',
+            self.joint_state_callback,
+            1
+        )
+        self.joint_names = None
+
+    def joint_state_callback(self, msg: JointState):
+        self.joint_names = list(msg.name)
+
+class OSC_ROS2_interface(Node):
+    """Node to publish joint trajectories based on OSC messages."""
+    
+    def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask):
+        super().__init__('scaled_joint_trajectory_publisher')
+        
+
+        self.subscription = self.create_subscription(
+            JointState,
+            '/joint_states',
+            self.joint_states_callback,
+            1
+        )
+
+        self.subscription = self.create_subscription(
+            Log,
+            '/rosout',
+            self.log_callback,
+            100
+        )
+
+        # Store received joint positions
+        self.current_joint_positions = None
+        self.joint_names = joint_names
+        self.joint_velocity_limits = joint_velocity_limits
+        self.cost_mask = cost_mask
+        self.robot = robot
+        self.desired = None
+        self.previous_desired = None
+        self.log_dict = {
+            10: "DEBUG",
+            20: "INFO",
+            30: "WARN",
+            40: "ERROR",
+            50: "FATAL",
+        }
+        self.speed_scaling = 0.2
+        self.new = False
+        self.n_joints = len(joint_names)   
+
+        if robot:
+            while True:
+                print('+-' * 50)
+                set_limits = input("Do you want to set limit for x, y and z? (y/n): ").strip().lower()
+                if set_limits == 'y':
+                    while True:
+                                try:
+                                    self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()]
+                                    self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()]
+                                    self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()]
+                                    
+                                    if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2:
+                                        print("Invalid input. Please enter exactly two values (or leave blank) for each limit.")
+                                        continue
+                                    
+                                    if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \
+                                    (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \
+                                    (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]):
+                                        print("Invalid input. Lower limit must be less than upper limit for each axis.")
+                                        continue
+                                    
+                                    print(f"Current limits:")
+                                    print(f"x: {self.x_limits}")
+                                    print(f"y: {self.y_limits}")
+                                    print(f"z: {self.z_limits}")
+                                    con = True
+                                    while con:
+                                        confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower()
+                                        if confirm == 'y':
+                                            break
+                                        elif confirm == 'n':
+                                            print("Please re-enter the limits.")
+                                            con = False
+                                        else:
+                                            print("Invalid input. Please enter 'y' or 'n'.")
+                                    if con: break
+                                except ValueError:
+                                    print("Invalid input. Please enter numeric values only.")
+                    break
+                elif set_limits == 'n': 
+                    self.x_limits = [None, None]
+                    self.y_limits = [None, None]
+                    self.z_limits = [None, None]
+                    break
+                print("Invalid input. Please enter 'y' or 'n'.")
+                        # Ask the user if they want to set new joint limits
+            while True:
+                update_limits = input("Do you want to set new joint limits? (y/n): ").strip().lower()
+                if update_limits == 'y':
+                    for i in range(len(self.joint_names)):
+                        while True:
+                            try:
+                                lim = self.robot.qlim.copy()
+                                # Find the link corresponding to the joint name
+                                print("-" * 50)
+                                print(f"Current position limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad")
+                                lower_limit = input(f"Enter the new lower limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip()
+                                upper_limit = input(f"Enter the new upper limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip()
+                                
+                                if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit):
+                                    print("Invalid input. Lower limit must be less than upper limit.")
+                                    continue
+                                lower_limit = float(lower_limit) if lower_limit!="" else None
+                                upper_limit = float(upper_limit) if upper_limit!="" else None
+                                if lower_limit!=None:
+                                    if lower_limit<lim[0][i]:
+                                        while True:
+                                            sure = input(f"Are you sure you want to set the lower limit to {lower_limit} rad which is less than the default limit {lim[0][i]} (y/n)?: ").strip().lower()
+                                            if sure == 'y':
+                                                lim[0][i] = float(lower_limit)
+                                                break
+                                            elif sure == 'n':
+                                                print("Lower limit not changed.")
+                                                break
+                                            print("Invalid input. Please enter 'y' or 'n'.")
+                                    else: lim[0][i] = float(lower_limit)
+                                if upper_limit!=None:
+                                    if upper_limit>lim[1][i]:
+                                        while True:
+                                            sure = input(f"Are you sure you want to set the upper limit to {upper_limit} rad which is more than the default limit {lim[1][i]} (y/n)?: ").strip().lower()
+                                            if sure == 'y':
+                                                lim[1][i] = float(upper_limit)
+                                                break
+                                            elif sure == 'n':
+                                                print("Upper limit not changed.")
+                                                break
+                                            print("Invalid input. Please enter 'y' or 'n'.")
+                                    else: lim[1][i] = float(upper_limit)
+                                self.robot.qlim = lim
+                                print(f"New limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad")
+                                print("-" * 50)
+                                break
+                            except ValueError:
+                                print("Invalid input. Please enter numeric values or leave blank to keep current limits.")
+                    break
+                if update_limits == 'n':
+                    break
+                print("Invalid input. Please enter 'y' or 'n'.")
+            '''
+            use_link_mask = input("Do you want to use a link mask? (y/n): ").strip().lower()
+            if use_link_mask == 'y':
+                while True:
+                    try:
+    '''
+        else:
+            while True:
+                print('+-' * 50)
+                update_limits = input("Do you want to set joint limits? (y/n): ").strip().lower()
+                if update_limits == 'y':
+                    self.joint_lim = [[None]*self.n_joints,[None]*self.n_joints]
+                    for i, joint in enumerate(self.joint_names):
+                        while True:
+                            try:
+                                print("-" * 50)
+                                lower_limit = input(f"Enter the new lower limit for joint '{joint}' (or press Enter to keep current): ").strip()
+                                upper_limit = input(f"Enter the new upper limit for joint '{joint}' (or press Enter to keep current): ").strip()
+                                
+                                if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit):
+                                    print('--' * 50)
+                                    print("      !!!      Invalid input. Lower limit must be less than upper limit.      !!!      ")
+                                    continue
+                                self.joint_lim[0][i] = float(lower_limit) if lower_limit!="" else None
+                                self.joint_lim[1][i] = float(upper_limit) if upper_limit!="" else None
+                                break
+                            except ValueError:
+                                print("Invalid input. Please enter numeric values or leave blank to keep current limits.")
+                    break
+                elif update_limits == 'n':
+                    self.joint_lim = None
+                    break
+                print("Invalid input. Please enter 'y' or 'n'.")
+                
+            print(f'New limits for joint:\n lower: {self.joint_lim[0]}\n upper: {self.joint_lim[1]}')
+
+
+        while True:
+            try:
+                print('+-' * 50)
+                self.trajectory_topic_name = input("Enter the topic name to which the joint trajectory should be sent (press Enter for default: '/scaled_joint_trajectory_controller/joint_trajectory'): ").strip()
+                if self.trajectory_topic_name == "":
+                    self.trajectory_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory'
+                    break
+                elif self.trajectory_topic_name.startswith("/"):
+                    break
+                else:
+                    print("Invalid topic name. A valid topic name should start with '/'.")
+            except Exception as e:
+                print(f"An error occurred: {e}")
+
+        # ROS2 Publisher
+        self.publisher = self.create_publisher(
+            JointTrajectory, 
+            self.trajectory_topic_name, 
+            1
+        )
+
+        while True:
+            try:
+                print('+-' * 50)
+                log_ip = str(input("Enter the target IP on which you want to recieve the log as OSC Messages (or press Enter for default: '127.0.0.1'): "))
+                if log_ip == "":
+                    log_ip = "127.0.0.1"
+                print('--' * 50)
+                log_port = input("Enter the target port for the log messages (or press Enter for default: 5005): ")
+                if log_port == "":
+                    log_port = 5005
+                else:
+                    log_port = int(log_port)
+                break
+            except ValueError:
+                print("Invalid input. Please enter a valid IP address.")
+                continue
+        while True:
+            try:
+                print('+-' * 50)
+                state_ip = str(input("Enter the target IP on which you want to recieve the joint states as OSC Messages (or press Enter for default: '127.0.0.1'): "))
+                if state_ip == "":
+                    state_ip = "127.0.0.1"
+                print('--' * 50)
+                state_port = input("Enter the target port for the joint state messages (or press Enter for default: 7000): ")
+                if state_port == "":
+                    state_port = 7000
+                else:
+                    state_port = int(state_port)
+                break
+            except ValueError:
+                print("Invalid input. Please enter a valid IP address.")
+                continue
+        while True:
+            try:
+                print('+-' * 50)
+                commands_port = input("Enter the port you want to send your commands to (or press Enter for default: 8000): ")
+                if commands_port == state_port:
+                    print("The commands port must be different from the state port.")
+                    continue
+                if commands_port == "":
+                    commands_port = 8000
+                else:
+                    commands_port = int(commands_port)
+                break
+            except ValueError:
+                print("Invalid input. Please enter a valid port.")
+                continue
+                                
+
+        osc_startup()
+
+        osc_udp_client(state_ip, state_port, "osc_client")
+
+        osc_udp_client(log_ip, log_port, "osc_log_client")
+
+        osc_udp_server('0.0.0.0', commands_port, "osc_server")
+
+        # Register OSC handler
+        osc_method("/joint_positions", self.joint_positions_handler, argscheme=osm.OSCARG_DATAUNPACK)
+        osc_method("/joint_position/*", self.joint_position_handler, argscheme=osm.OSCARG_ADDRESS+osm.OSCARG_DATAUNPACK)
+        osc_method("/tcp_coordinates", self.tcp_coordinates_handler, argscheme=osm.OSCARG_DATAUNPACK)
+        osc_method("/joint_trajectory", self.joint_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK)
+        osc_method("/cartesian_trajectory", self.cartesian_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK)
+        osc_method("/speed_scaling", self.speed_scaling_handler, argscheme=osm.OSCARG_DATAUNPACK)
+        print('--' * 50)
+        while True:
+            try:
+                print('+-' * 50)
+                self.hz = input("Enter the desired refresh frequency (Hz) (or press Enter for default: 100): ")
+                if self.hz == "":
+                    self.hz = 100
+                else:
+                    self.hz = float(self.hz)
+                break
+            except ValueError:
+                print("Invalid input. Please enter a valid number.")
+                continue
+        print()
+        print('=-=' * 50)
+        print()
+        print(f'Sending joint states to {state_ip}:{state_port}')
+        print()
+        print('=-=' * 50)
+        print()
+        print(f'Sending log messages to {log_ip}:{log_port}')
+        print()
+        print('=-=' * 50)
+        print()
+        print(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}')
+        print()
+        print('=-=' * 50)
+        print()
+
+        self.get_logger().info(f"Publishing joint trajectory to {self.trajectory_topic_name}")
+        self.get_logger().info(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}')
+        self.get_logger().info(f'Sending joint states to {state_ip}:{state_port}')
+        self.get_logger().info(f'Sending log messages to {log_ip}:{log_port}')
+        self.create_timer(1/self.hz, self.update_position)  # Timer to update the position
+        self.create_timer(3, self.reset_prev)  # reset the previous desired position
+
+    def reset_prev(self): self.previous_desired = None
+
+    def speed_scaling_handler(self, *args):
+        """Handles incoming OSC messages for speed scaling."""
+        try:
+            if len(args) == 1:
+                if args[0] < 0:
+                    self.speed_scaling = -float(args[0])
+                else:
+                    self.speed_scaling = float(args[0])
+                if self.speed_scaling > 1:
+                    self.get_logger().warn(f"speed_scaling_handler: Attention! Speed scaling {self.speed_scaling} is greater than 1!")
+                self.get_logger().info(f"Speed scaling set to {self.speed_scaling}")
+            else:
+                self.get_logger().warn(f"Invalid number of arguments for speed scaling. Expected 1, but got {len(args)}.")
+        except Exception as e:
+            self.get_logger().fatal(f"speed_scaling_handler: {e}")
+    
+    def joint_trajectory_handler(self, *args):
+        try:
+                if len(args[0]) == 6:
+                    points = [[float(j) for j in i] for i in args]
+                elif len(args[0]) >= 7:
+                    points = [[float(j) for j in i[:6]] for i in args]
+                    self.get_logger().warn(f"joint_trajectory_handler: Duration is not supported for joint trajectory yet. Ignoring duration.")
+                else:
+                    self.get_logger().warn(f"joint_trajectory_handler: Invalid number of arguments for joint trajectory. Expected {self.n_joints} ([q0, q1, q2, ..., q{self.n_joints}]) or {self.n_joints+1} ([q0, q1, q2, ..., q{self.n_joints}, duration]), but got {len(args[0])}.")
+                    return
+
+                self.desired = ["joint_trajectory"] + points
+                self.new = True
+        except Exception as e:
+            self.get_logger().fatal(f"joint_trajectory_handler: {e}")
+
+    def joint_position_handler(self, address, *args):
+        """Handles incoming OSC messages for joint positions."""
+        try:
+            joint_name = address.split("/")[-1]
+            
+            if joint_name in self.joint_names:
+                if len(args) == 1:
+                    position = float(args[0])
+                    index = self.joint_names.index(joint_name)
+                    if self.robot:
+                        if position < self.robot.qlim[0][index]:
+                            position = self.robot.qlim[0][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[0][index]}."
+                            )
+                        elif position > self.robot.qlim[1][index]:
+                            position = self.robot.qlim[1][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[1][index]}."
+                            )
+                    else:
+                        if self.joint_lim[0][index] is not None and position < self.joint_lim[0][index]:
+                            position = self.joint_lim[0][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[0][index]}."
+                            )
+                        elif self.joint_lim[1][index] is not None and position > self.joint_lim[1][index]:
+                            position = self.joint_lim[1][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[1][index]}."
+                            )
+                    desired_joint_positions = self.current_joint_positions
+                    desired_joint_positions[index] = position
+                    self.desired = ["joint_positions"] + desired_joint_positions
+                    self.new = True
+                elif len(args) == 2:
+                    position = float(args[0])
+                    duration = float(args[1])
+                    index = self.joint_names.index(joint_name)
+                    if self.robot:
+                        if position < self.robot.qlim[0][index]:
+                            position = self.robot.qlim[0][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[0][index]}."
+                            )
+                        elif position > self.robot.qlim[1][index]:
+                            position = self.robot.qlim[1][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[1][index]}."
+                            )
+                    else:
+                        if self.joint_lim[0][index] is not None and position < self.joint_lim[0][index]:
+                            position = self.joint_lim[0][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[0][index]}."
+                            )
+                        elif self.joint_lim[1][index] is not None and position > self.joint_lim[1][index]:
+                            position = self.joint_lim[1][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[1][index]}."
+                            )
+                    desired_joint_positions = self.current_joint_positions
+                    desired_joint_positions[index] = position
+                    self.desired = ["joint_positions"] + desired_joint_positions + [duration]
+                    self.new = True
+                else:
+                    self.get_logger().warn(f"joint_position_handler: Invalid number of arguments for joint position. Expected 1, but got {len(args)}.")
+            else:
+                self.get_logger().warn(f"joint_position_handler: Joint '{joint_name}' not found in the robot model.")
+        except Exception as e:
+            self.get_logger().fatal(f"joint_position_handler: {e}")
+        
+
+    def cartesian_trajectory_handler(self, *args):
+        """Handles incoming OSC messages for cartesian trajectory."""
+        if self.robot:
+            try:
+                if len(args[0]) == 6:
+                    points = [[float(j) for j in i] for i in args]
+                elif len(args[0]) >= 7:
+                    points = [[float(j) for j in i[:6]] for i in args]
+                    self.get_logger().warn(f"cartesian_trajectory_handler: Duration is not supported for cartesian trajectory yet. Ignoring duration.")
+                else:
+                    self.get_logger().warn(f"cartesian_trajectory_handler: Invalid number of arguments for cartesian trajectory. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args[0])}.")
+                    return
+
+                self.desired = ["cartesian_trajectory"] + points
+                self.new = True
+            except Exception as e:
+                self.get_logger().fatal(f"cartesian_trajectory_handler: {e}")
+        else:
+            self.get_logger().warn("cartesian_trajectory_handler: No robot model provided. Cannot handle cartesian trajectory.")
+            return
+
+    def joint_positions_handler(self, *args):
+        """Handles incoming OSC messages for joint positions."""
+        try:
+            if len(args) == len(self.joint_names):
+                desired_joint_positions = [float(i) for i in list(args)]
+            elif len(args) == len(self.joint_names) + 1:
+                desired_joint_positions = [float(i) for i in list(args)]
+            else:
+                self.get_logger().warn(f"joint_positions_handler: Invalid number of arguments for joint positions. Expected {len(self.joint_names)} ([q0, q1, q2, ... q{len(self.joint_names)}]) or {len(self.joint_names)+1} ([q0, q1, q2, ... q{len(self.joint_names)}, duration]), but got {len(args)}.")
+                return
+
+            # Check if joint positions exceed limits
+            if self.robot:
+                for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]):  # Exclude duration if present
+                    if position < self.robot.qlim[0][i]:
+                        desired_joint_positions[i] = self.robot.qlim[0][i]
+                        self.get_logger().warn(
+                            f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.robot.qlim[0][i]}."
+                        )
+                    elif position > self.robot.qlim[1][i]:
+                        desired_joint_positions[i] = self.robot.qlim[1][i]
+                        self.get_logger().warn(
+                            f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.robot.qlim[1][i]}."
+                        )
+            else:
+                for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]):
+                    if self.joint_lim[0][i] is not None and position < self.joint_lim[0][i]:
+                        desired_joint_positions[i] = self.joint_lim[0][i]
+                        self.get_logger().warn(
+                            f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[0][i]}."
+                        )
+                    elif self.joint_lim[1][i] is not None and position > self.joint_lim[1][i]:
+                        desired_joint_positions[i] = self.joint_lim[1][i]
+                        self.get_logger().warn(
+                            f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[1][i]}."
+                        )
+
+            self.desired = ["joint_positions"] + desired_joint_positions
+            self.new = True
+        except Exception as e:
+            self.get_logger().fatal(f"joint_positions_handler: {e}")
+            return
+
+    def tcp_coordinates_handler(self, *args):
+    # Ensure the desired joint positions are within the specified limits
+        if self.robot:
+            try:
+                if len(args) == 6:
+                    x, y, z, r, p, yaw = [float(i) for i in list(args)]
+                    duration = None
+                elif len(args) >= 7:
+                    x, y, z, r, p, yaw, duration, *_ = [float(i) for i in list(args)]
+                else:
+                    self.get_logger().warn(f"tcp_coordinates_handler: Invalid number of arguments for TCP coordinates. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args)}.")
+                    return
+
+                if self.x_limits[0] is not None:
+                    x = max(self.x_limits[0], x)
+                if self.x_limits[1] is not None:
+                    x = min(self.x_limits[1], x)
+                if self.y_limits[0] is not None:
+                    y = max(self.y_limits[0], y)
+                if self.y_limits[1] is not None:
+                    y = min(self.y_limits[1], y)
+                if self.z_limits[0] is not None:
+                    z = max(self.z_limits[0], z)
+                if self.z_limits[1] is not None:
+                    z = min(self.z_limits[1], z)
+
+                if x != args[0] or y != args[1] or z != args[2]:
+                    self.get_logger().warn(
+                    f"tcp_coordinates_handler: Desired joint positions adjusted to fit within limits: "
+                    f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})"
+                    )
+
+                self.desired = ["tcp_coordinates", x, y, z, r, p, yaw, duration]
+                self.new = True
+            except Exception as e:
+                self.get_logger().fatal(f"tcp_coordinates_handler: {e}")
+        else:
+            self.get_logger().warn("tcp_coordinates_handler: No robot model provided. Cannot handle TCP coordinates.")
+            return
+            
+
+    def joint_states_callback(self, msg: JointState):
+        """Callback function to handle incoming joint states."""
+        try:
+            msg_time = oscbuildparse.OSCMessage(f"/time", ',s', [str(time.time())])
+            osc_send(msg_time, "osc_client")
+            if not(self.joint_names): self.joint_names = msg.name
+            joint_position_dict = dict(zip(msg.name, msg.position))
+            self.current_joint_positions = [float(joint_position_dict[name]) for name in self.joint_names]
+            joint_position_dict = dict(zip(msg.name, msg.velocity))
+            self.current_joint_velocities = [float(joint_position_dict[name]) for name in self.joint_names]
+
+            if self.robot:
+                tcp_position = self.robot.fkine(self.current_joint_positions).t
+                tcp_orientation = self.robot.fkine(self.current_joint_positions).rpy()
+
+                msg_tcp = oscbuildparse.OSCMessage(f"/tcp_coordinates", ',ffffff', [tcp_position[0], tcp_position[1], tcp_position[2], tcp_orientation[0], tcp_orientation[1], tcp_orientation[2]])
+                #msg_x = oscbuildparse.OSCMessage(f"/tcp_coordinates/x", ',f', [tcp_position[0]])
+                #msg_y = oscbuildparse.OSCMessage(f"/tcp_coordinates/y", ',f', [tcp_position[1]])
+                #msg_z = oscbuildparse.OSCMessage(f"/tcp_coordinates/z", ',f', [tcp_position[2]])
+                #msg_roll = oscbuildparse.OSCMessage(f"/tcp_coordinates/roll", ',f', [tcp_orientation[0]])
+                #msg_pitch = oscbuildparse.OSCMessage(f"/tcp_coordinates/pitch", ',f', [tcp_orientation[1]])
+                #msg_yaw = oscbuildparse.OSCMessage(f"/tcp_coordinates/yaw", ',f', [tcp_orientation[2]])
+                #bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_tcp, msg_x, msg_y, msg_z, msg_roll, msg_pitch, msg_yaw])
+                #osc_send(bun, "osc_client") 
+                osc_send(msg_tcp, "osc_client")
+            
+            msg_position = oscbuildparse.OSCMessage(f"/joint_state/position", f',{"f"*self.n_joints}', [i for i in msg.position])
+            msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity", f',{"f"*self.n_joints}', [i for i in msg.velocity])
+            msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort", f',{"f"*self.n_joints}', [i for i in msg.effort])
+            msg_name = oscbuildparse.OSCMessage(f"/joint_state/name", f',{"s"*self.n_joints}', [i for i in msg.name])
+            bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_name, msg_position, msg_velocity, msg_effort])
+            osc_send(bun, "osc_client")
+
+            #for i, name in enumerate(msg.name):
+            #    msg_position = oscbuildparse.OSCMessage(f"/joint_state/position/{name}", ',f', [msg.position[i]])
+            #    msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity/{name}", ',f', [msg.velocity[i]])
+            #    msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort/{name}", ',f', [msg.effort[i]])
+            #    bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_position, msg_velocity, msg_effort])
+            #    osc_send(bun, "osc_client")
+
+        except Exception as e:
+            self.get_logger().fatal(f"joint_states_callback: {e}")
+
+    def send_joint_positions(self):
+        self.previous_desired = None
+        self.new = False
+        try:
+            if len(self.desired) == len(self.joint_names) + 2:
+                desired_joint_positions = [float(i) for i in self.desired[1:-1]]
+                duration = self.desired[-1]
+                msg = JointTrajectory()
+                msg.joint_names = self.joint_names
+                point = JointTrajectoryPoint()
+                point.positions = desired_joint_positions
+                point.time_from_start.sec = int(duration)
+                point.time_from_start.nanosec = int((duration - int(duration)) * 1e9)
+                msg.points.append(point)
+                self.publisher.publish(msg)
+            elif len(self.desired) == len(self.joint_names) + 1:
+                desired_joint_positions = [float(i) for i in self.desired[1:]]
+                msg = JointTrajectory()
+                msg.joint_names = self.joint_names
+                point = JointTrajectoryPoint()
+                point.positions = desired_joint_positions
+                duration = 0
+                for p1, p2, max_vel in zip(desired_joint_positions, self.current_joint_positions, self.joint_velocity_limits.values()):
+                    duration = max(duration, abs(p1 - p2) / max_vel)
+                duration = duration + min(2, 0.2*duration)
+                duration /= self.speed_scaling
+                if duration == 0:
+                    self.get_logger().warn("send_joint_positions: Duration is 0.")
+                    return
+                point.time_from_start.sec = int(duration)
+                point.time_from_start.nanosec = int((duration - int(duration)) * 1e9)
+                msg.points.append(point)
+                self.publisher.publish(msg)
+            else: 
+                self.get_logger().warn(f"send_joint_positions: Invalid number of arguments for joint positions. Expected {len(self.joint_names)+1} ([q0, q1, q2, ... q{len(self.joint_names)}, duration]) or {len(self.joint_names)} ([q0, q1, q2, ... q{len(self.joint_names)}]), but got {len(self.desired)}.")
+                return
+        except Exception as e:
+            self.get_logger().fatal(f"send_joint_positions: {e}")
+            return
+
+    def trapezoidal_timestamps(self, num_points,total_duration,  flat_ratio = 0.3):
+        
+        if num_points == 2:
+            return [0, total_duration]
+        n = int(num_points*(1-flat_ratio)/2)
+        start = np.cos(np.linspace(0, np.pi, n))+2
+        end = np.cos(np.linspace(-np.pi, 0, n))+2
+        flat = np.ones(num_points-2*n)
+
+        timestamps = np.concatenate((start, flat, end))
+        timestamps *= total_duration / timestamps.sum()
+        timestamps = np.cumsum(timestamps)
+
+        return timestamps.tolist()
+
+
+    def send_tcp_coordinates(self):
+        """Send the desired TCP coordinates to the robot."""
+        try:
+            self.new = False
+            msg = JointTrajectory()
+            msg.joint_names = self.joint_names
+            steps_per_m = 100
+            if self.previous_desired == None: 
+                [x,y,z] = self.robot.fkine(self.current_joint_positions).t
+                [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy()
+            else:
+                [x,y,z] = self.previous_desired[1:4]
+                [roll, pitch, yaw] = self.previous_desired[4:-1]
+            x1, y1, z1, roll1, pitch1, yaw1 = self.desired[1:7]
+            self.previous_desired = self.desired
+            steps = int(np.linalg.norm(np.array([x1, y1, z1])- self.robot.fkine(self.current_joint_positions).t) * steps_per_m)
+            if steps < 2: steps = 2
+            cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)]
+            '''if self.previous_desired:
+                [x,y,z] = self.previous_desired[1:4]
+                q0 = sm.UnitQuaternion.RPY(self.previous_desired[3], self.previous_desired[4], self.previous_desired[5])        
+            else: 
+                [x, y, z] = self.robot.fkine(self.current_joint_positions).t
+                q0 = sm.UnitQuaternion(self.robot.fkine(self.current_joint_positions).R)
+
+            x1, y1, z1, roll1, pitch1, yaw1 = self.desired[1:7]
+            q1 = sm.UnitQuaternion.RPY(roll1, pitch1, yaw1)
+
+            steps = int(np.linalg.norm(np.array([x1, y1, z1]) - self.robot.fkine(self.current_joint_positions).t) * steps_per_m)
+            if steps < 2:
+                steps = 2
+            
+            cart_traj = []
+            for i in range(steps):
+                alpha = i / (steps - 1)
+
+                # Convert to arrays for robust interpolation if needed
+                q0_array = q0.vec
+                q1_array = q1.vec
+                dot = np.dot(q0_array, q1_array)
+                dot = np.clip(dot, -1.0, 1.0)
+
+                if abs(dot) > 0.9995:
+                    # Linear interpolation + normalization
+                    q_interp_array = (1 - alpha) * q0_array + alpha * q1_array
+                    q_interp_array = q_interp_array / np.linalg.norm(q_interp_array)
+                    q_interp = sm.UnitQuaternion(q_interp_array)
+                else:
+                    q_interp = q0.interp(q1, alpha)
+
+                # Interpolate translation
+                pos_interp = [
+                    x + (x1 - x) * alpha,
+                    y + (y1 - y) * alpha,
+                    z + (z1 - z) * alpha
+                ]
+
+                # Compose SE3 transform
+                cart_traj.append(sm.SE3(pos_interp) * q_interp.SE3())'''
+
+
+            
+            if self.desired[-1]:
+                timestamps = self.trapezoidal_timestamps(steps, self.desired[-1], 0.8)
+                for j in range(steps):
+                    sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan')
+                    if sol[1] == 1:
+                        fowards = self.robot.fkine_all(sol[0])
+                        out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False)
+                        if np.any(out_of_bounds):
+                            #print(fowards.t)
+                            #indices = np.where(out_of_bounds)[0]
+                            #print(f"indices: {indices}")
+                            self.get_logger().warn("send_tcp_coordinates: One or more links moved out of bounds!")
+                            '''
+                            for i in indices:
+                                try:
+                                    print(f"Joint {self.robot.links[i].name} is out of bounds: (x,y,z) = {fowards.t[i]}")
+                                except IndexError:
+                                    print(f"index {i} is out of bounds, but no corresponding joint found.")
+                            self.previous_desired_tcp_position = self.desired_tcp_position
+                            '''
+                            break
+                        duration = timestamps[j]
+                        if duration == 0:
+                            prev_sol = list(sol[0])
+                            continue
+                        point = JointTrajectoryPoint()
+                        point.positions = list(sol[0])
+                        point.time_from_start.sec = int(duration)
+                        point.time_from_start.nanosec = int((duration - int(duration)) * 1e9)
+                        msg.points.append(point)
+                        prev_sol = list(sol[0])
+                    else:
+                        self.get_logger().warn(f"send_tcp_coordinates: IK could not find a solution for (x,y,z) = {cart_traj[j].t} and (r,p,y) = {cart_traj[j].rpy()}!")
+                        prev_sol = self.current_joint_positions
+                if len(msg.points) == 0:
+                    self.get_logger().warn("send_tcp_coordinates: The resulting trajectory is empty. Either the IK failed or the trajectory is too short.")
+                    self.previous_desired = self.desired    
+                    return
+                msg.header.stamp = self.get_clock().now().to_msg()
+                self.publisher.publish(msg)
+                self.previous_desired = self.desired
+
+
+
+            else:
+                prev_duration = 0
+                '''
+                if self.previous_desired == None: 
+                    [x,y,z] = self.robot.fkine(self.current_joint_positions).t
+                    [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy()
+                else:
+                    [x,y,z] = self.previous_desired[:3]
+                    [roll, pitch, yaw] = self.previous_desired[3:]
+                '''
+                for j in range(steps):
+                    sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan')
+                    if sol[1] == 1:
+                        fowards = self.robot.fkine_all(sol[0])
+                        out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False)
+                        if np.any(out_of_bounds):
+                            #print(fowards.t)
+                            #indices = np.where(out_of_bounds)[0]
+                            #print(f"indices: {indices}")
+                            self.get_logger().warn("send_tcp_coordinates: One or more links moved out of bounds!")
+                            '''
+                            for i in indices:
+                                try:
+                                    print(f"Joint {self.robot.links[i].name} is out of bounds: (x,y,z) = {fowards.t[i]}")
+                                except IndexError:
+                                    print(f"index {i} is out of bounds, but no corresponding joint found.")
+                            self.previous_desired_tcp_position = self.desired_tcp_position
+                            '''
+                            break
+                        duration = 0
+                        prev = self.current_joint_positions if j == 0 else prev_sol
+                        for p1, p2, max_vel in zip(sol[0], prev, self.joint_velocity_limits.values()):
+                            duration = max(duration, abs(p1 - p2) / max_vel)#, 1/self.hz) # as minimun
+                        prev_sol = list(sol[0])
+                        if duration == 0:
+                            continue
+                        point = JointTrajectoryPoint()
+                        point.positions = list(sol[0])
+                        duration *= 1.2
+                        duration /= self.speed_scaling
+                        duration += prev_duration
+                        prev_duration = duration
+                        point.time_from_start.sec = int(duration)
+                        point.time_from_start.nanosec = int((duration - int(duration)) * 1e9)
+                        msg.points.append(point)
+                    else:
+                        self.get_logger().warn(f"send_tcp_coordinates: IK could not find a solution for (x,y,z) = {cart_traj[j].t} and (r,p,y) = {cart_traj[j].rpy()}!")
+                        prev_sol = self.current_joint_positions
+                if len(msg.points) == 0:
+                    self.get_logger().warn("send_tcp_coordinates: The resulting trajectory is empty. Either the IK failed or the trajectory is too short.")
+                    self.previous_desired = self.desired    
+                    return
+                msg.header.stamp = self.get_clock().now().to_msg()
+                self.publisher.publish(msg)
+                self.previous_desired = self.desired
+        except Exception as e:
+            self.get_logger().fatal(f"send_tcp_coordinates: {e}")
+
+    def send_joint_trajectory(self):
+        
+        try:
+            self.new = False
+            viapoints = np.array([i for i in self.desired[1:]])
+            msg = JointTrajectory()
+            msg.joint_names = self.joint_names
+            traj = rtb.mstraj(viapoints, q0 = self.current_joint_positions ,dt=0.01, tacc=1.5/self.speed_scaling, qdmax=[self.speed_scaling*i for i in self.joint_velocity_limits.values()])
+            msg.points = []
+            for i in range(len(traj.q)):
+                    point = JointTrajectoryPoint()
+                    point.positions = list(traj.q[i])
+                    point.time_from_start.sec = int(traj.t[i])
+                    point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9)
+                    msg.points.append(point)
+            msg.header.stamp = self.get_clock().now().to_msg()
+            self.publisher.publish(msg)
+            self.previous_desired = None
+        except Exception as e:
+            print(f'Error in joint_angles_handler: {e}')
+
+    def send_cartesian_trajectory(self):
+        
+        try:
+            self.new = False
+            viapoints = np.array([i[:6] for i in self.desired[1:]])
+            msg = JointTrajectory()
+            msg.joint_names = self.joint_names
+            x,y,z = self.robot.fkine(self.current_joint_positions).t
+            r,p,yaw = self.robot.fkine(self.current_joint_positions).rpy()
+            q0 = [x, y, z, r, p, yaw]
+            traj = rtb.mstraj(viapoints, q0 = q0 ,dt=0.01, tacc=1.5/self.speed_scaling, qdmax=2*self.speed_scaling)
+            msg.points = []
+            prev_sol = self.current_joint_positions
+            n = max(int(len(traj.q)/200), 1)
+            for i in range(len(traj.q)):
+                T = sm.SE3(traj.q[i][:3]) * sm.SE3.RPY(traj.q[i][3:], order='xyz')
+                sol = self.robot.ik_LM(T, q0=prev_sol, mask = self.cost_mask, joint_limits = True)
+                if sol[1] == 1:
+                    point = JointTrajectoryPoint()
+                    point.positions = list(sol[0])
+                    point.time_from_start.sec = int(traj.t[i])
+                    if traj.t[i] == 0:
+                        continue
+                    point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9)
+                    msg.points.append(point)
+                    prev_sol = list(sol[0])
+                else: self.get_logger().warn(f"send_cartesian_trajectory: IK could not find a solution for (x,y,z) = {traj.q[i][:3]} and (r,p,y) = {traj.q[i][3:]}!")
+            msg.header.stamp = self.get_clock().now().to_msg()
+            msg.points = msg.points[::n]
+            self.publisher.publish(msg)
+            self.previous_desired = None
+        except Exception as e:
+            print(f'Error in joint_angles_handler: {e}')
+
+        self.previous_desired = None
+
+    def update_position(self):
+        """Calls the appropriate function to update the robot's position."""
+        try:
+            if self.desired is None or not(self.new):
+                return
+
+            if self.desired[0] == "joint_positions":
+                self.new = False
+                self.send_joint_positions()
+                return
+            elif self.desired[0] == "tcp_coordinates":
+                self.new = False
+                self.send_tcp_coordinates()
+                return
+            elif self.desired[0] == "joint_trajectory":
+                self.new = False
+                self.send_joint_trajectory()
+                return
+            elif self.desired[0] == "cartesian_trajectory":
+                self.new = False
+                self.send_cartesian_trajectory()
+                return
+            else:
+                self.get_logger().warn(f"update_position: Unknown desired type '{self.desired[0]}'.")
+                return
+
+
+        except Exception as e:
+            self.get_logger().fatal(f'update_position: {e}')
+                
+
+    def clean_log_string(self, s):
+
+        s = str(s)
+
+        # Remove ANSI escape sequences (e.g., \x1b[31m)
+        ansi_escape = re.compile(r'\x1B(?:[@-Z\\-_]|\[[0-?]*[ -/]*[@-~])')
+        s = ansi_escape.sub('', s)
+
+        # Replace tabs/newlines with spaces
+        s = s.replace('\n', ' ').replace('\r', ' ').replace('\t', ' ').replace("'", ' '). replace('"', ' ').replace('`', ' ').replace('´', ' ').replace('`', ' ').replace('“', ' ').replace('”', ' ').replace('‘', ' ').replace('’', ' ').replace('´', ' ').replace('`', ' ').replace('“', ' ').replace('”', ' ').replace('‘', ' ').replace('’', ' ')
+
+        # Strip leading/trailing whitespace
+        s = s.strip()
+
+        # Optionally enforce ASCII only (replace non-ASCII chars with '?')
+        s = s.encode('ascii', 'replace').decode('ascii')
+
+        return s
+
+    
+    def log_callback(self, msg: Log):
+        """Callback function to handle incoming log messages."""
+
+        # Send the log message as an OSC message
+        msg_log = oscbuildparse.OSCMessage(f"/log/{self.log_dict.get(msg.level, 'UNKNOWN')}", ',isss', [int(msg.level), str(msg.stamp.sec+msg.stamp.nanosec*1e-9) , str(msg.name), self.clean_log_string(msg.msg)])
+        osc_send(msg_log, "osc_log_client")
+
+
+def main():
+    """Main function to get joint names and start the ROS 2 & OSC system."""
+    rclpy.init()
+    while True:
+        use_urdf = input("Do you have a URDF file you want to use? (y/n): ").strip().lower()
+        if use_urdf == 'y':
+            while True:
+                robot_urdf = input("Enter the absolute path to the URDF file: ")
+                if os.path.isfile(robot_urdf):
+                    if not robot_urdf.endswith('.urdf'):
+                        print("The file is not a URDF file. Please enter a valid URDF file.")
+                        continue
+                    break
+                else:
+                    print("Invalid path. Please enter a valid path to the URDF file.")
+            tree = ET.parse(robot_urdf)
+            root = tree.getroot()
+            robot = rtb.ERobot.URDF(robot_urdf)
+            joint_names = [joint.get('name') for joint in root.findall('joint') if joint.get('type') == 'revolute' or joint.get('type') == 'continuous' or joint.get('type') == 'prismatic']
+            print(robot)
+            joint_velocity_limits = {}
+
+            # Iterate over all joints in the URDF
+            for joint in root.findall('.//joint'):
+                joint_name = joint.get('name')  # Get the name of the joint
+                
+                # Look for the <limit> tag under each joint
+                limit = joint.find('limit')
+                
+                if limit is not None:
+                    # Extract the velocity limit (if it exists)
+                    velocity_limit = limit.get('velocity')
+                    
+                    if velocity_limit is not None:
+                        joint_velocity_limits[joint_name] = float(velocity_limit)
+            
+            while True:
+                try:
+                    print('-+'*50)
+                    print("The cost mask determines which coordinates are used for the IK.\nEach element of the cost mask corresponds to a Cartesian coordinate [x, y, z, roll, pitch, yaw].")
+                    print("The cost mask 111000 means that the IK will only consider translation and no rotaion.")
+                    cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")]
+                    if sum(cost_mask) <= robot.n and len(cost_mask) == 6:
+                        break
+                    else:
+                        print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.")
+                except ValueError:
+                    print("Invalid input. Please enter integers only.")
+            print(f"The following coordinates will be used for the IK: {[j for i,j in enumerate(['x','y','z','roll','pitch','yaw']) if cost_mask[i]==1]}")
+            break
+        elif use_urdf == 'n':
+            node = JointNameListener()
+            print("Wainting 10 sec for JointState messages to extract joint names...")
+            rclpy.spin_once(node)
+            counter = 0
+            while not(node.joint_names):
+                if counter > 100:
+                    joint_names = None
+                    break
+                counter+=1
+                time.sleep(0.1)
+                rclpy.spin_once(node)
+            joint_names = node.joint_names
+            node.destroy_node()
+            if joint_names:
+                correct_names = input("The following joint names were found:\n" + "\n".join(joint_names) + "\nAre these correct? (y/n): ").strip().lower()
+                while True:
+                    if correct_names == 'y':
+                        break
+                    elif correct_names == 'n':
+                        joint_names = None
+                        break
+                    correct_names = input("Invalid input. Please enter 'y' or 'n'.")
+            if not(joint_names):
+                print("Please enter the joint names manually.")
+                while True:
+                        joint_names = []
+                        print('-+'*50)
+                        print("Enter the joint names manually one by one. Type 'done' when you are finished:")
+                        print("Attention: The order of the joints is important. It should be the same in which you want to send the joint positions.")
+                        while True:
+                            print('-'*50)
+                            joint_name = input("Enter joint name (or 'done' to finish): ").strip()
+                            if joint_name.lower() == 'done':
+                                break
+                            if joint_name:
+                                joint_names.append(joint_name)
+                        print('-+'*50)
+                        correct_names = input(f"Are those the joint names as defined in your JointTrajectroy recieving Node?: {joint_names}. (y/n)?: ").strip()
+                        if correct_names.lower() == 'y':
+                            break
+                        else:
+                            print("Please re-enter the joint names.")
+            while True:
+                try:
+                    joint_velocity_limits = {}
+                    for name in joint_names:
+                        while True:
+                            try:
+                                print('--'*50)
+                                limit = input(f"Enter the velocity limit for joint '{name}': ").strip()
+                                if limit == "":
+                                    continue
+                                else:
+                                    joint_velocity_limits[name] = float(limit)
+                                    break
+                            except ValueError:
+                                print("Invalid input. Please enter a numeric value or press Enter to skip.")
+                    break
+                except ValueError:
+                    print("Invalid input. Please enter numeric values or leave blank to skip.")
+            robot = None
+            cost_mask = None
+            break
+        print("Invalid input. Please enter 'y' or 'n'.")
+
+
+    node = OSC_ROS2_interface(joint_names, joint_velocity_limits, robot, cost_mask)
+    
+    # Run ROS 2 spin, and osc_process will be handled by the timer
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("")
+    finally:
+        node.destroy_node()
+        osc_terminate()
+
+if __name__ == '__main__':
+    main()
diff --git a/workspace/build/osc_ros2/colcon_build.rc b/workspace/build/osc_ros2/colcon_build.rc
new file mode 100644
index 0000000..573541a
--- /dev/null
+++ b/workspace/build/osc_ros2/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh b/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh
new file mode 100644
index 0000000..f9867d5
--- /dev/null
+++ b/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh.env b/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh.env
new file mode 100644
index 0000000..c73f6a0
--- /dev/null
+++ b/workspace/build/osc_ros2/colcon_command_prefix_setup_py.sh.env
@@ -0,0 +1,19 @@
+AMENT_PREFIX_PATH=/opt/ros/humble
+COLCON=1
+HOME=/root
+HOSTNAME=0e38e264ac6b
+LANG=C.UTF-8
+LC_ALL=C.UTF-8
+LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+OLDPWD=/BA
+PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+PWD=/BA/workspace/build/osc_ros2
+PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+ROS_DISTRO=humble
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHLVL=1
+TERM=xterm
+_=/usr/bin/colcon
diff --git a/workspace/build/osc_ros2/install.log b/workspace/build/osc_ros2/install.log
new file mode 100644
index 0000000..8ab07e3
--- /dev/null
+++ b/workspace/build/osc_ros2/install.log
@@ -0,0 +1,14 @@
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__pycache__/osc_ros2.cpython-310.pyc
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__pycache__/__init__.cpython-310.pyc
+/BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages/osc_ros2
+/BA/workspace/install/osc_ros2/share/osc_ros2/package.xml
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/PKG-INFO
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/zip-safe
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/SOURCES.txt
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/entry_points.txt
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/requires.txt
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/top_level.txt
+/BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/dependency_links.txt
+/BA/workspace/install/osc_ros2/lib/osc_ros2/interface
diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/PKG-INFO b/workspace/build/osc_ros2/osc_ros2.egg-info/PKG-INFO
new file mode 100644
index 0000000..275623c
--- /dev/null
+++ b/workspace/build/osc_ros2/osc_ros2.egg-info/PKG-INFO
@@ -0,0 +1,12 @@
+Metadata-Version: 2.1
+Name: osc-ros2
+Version: 1.0.0
+Summary: Creates an interface for communication between OSC and Ros2
+Home-page: UNKNOWN
+Maintainer: Alexander Schaefer
+Maintainer-email: a.schaefer@tuhh.de
+License: Apache-2.0
+Platform: UNKNOWN
+
+UNKNOWN
+
diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/SOURCES.txt b/workspace/build/osc_ros2/osc_ros2.egg-info/SOURCES.txt
new file mode 100644
index 0000000..650a016
--- /dev/null
+++ b/workspace/build/osc_ros2/osc_ros2.egg-info/SOURCES.txt
@@ -0,0 +1,16 @@
+package.xml
+setup.cfg
+setup.py
+../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO
+../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt
+../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt
+../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt
+../../build/osc_ros2/osc_ros2.egg-info/requires.txt
+../../build/osc_ros2/osc_ros2.egg-info/top_level.txt
+../../build/osc_ros2/osc_ros2.egg-info/zip-safe
+osc_ros2/__init__.py
+osc_ros2/osc_ros2.py
+resource/osc_ros2
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
\ No newline at end of file
diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/dependency_links.txt b/workspace/build/osc_ros2/osc_ros2.egg-info/dependency_links.txt
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/workspace/build/osc_ros2/osc_ros2.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/entry_points.txt b/workspace/build/osc_ros2/osc_ros2.egg-info/entry_points.txt
new file mode 100644
index 0000000..008581c
--- /dev/null
+++ b/workspace/build/osc_ros2/osc_ros2.egg-info/entry_points.txt
@@ -0,0 +1,3 @@
+[console_scripts]
+interface = osc_ros2.osc_ros2:main
+
diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/requires.txt b/workspace/build/osc_ros2/osc_ros2.egg-info/requires.txt
new file mode 100644
index 0000000..c78337e
--- /dev/null
+++ b/workspace/build/osc_ros2/osc_ros2.egg-info/requires.txt
@@ -0,0 +1,6 @@
+numpy==1.22.4
+osc4py3
+roboticstoolbox-python==1.1.1
+scipy==1.7.3
+setuptools
+spatialmath-python==1.1.14
diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/top_level.txt b/workspace/build/osc_ros2/osc_ros2.egg-info/top_level.txt
new file mode 100644
index 0000000..99ee4eb
--- /dev/null
+++ b/workspace/build/osc_ros2/osc_ros2.egg-info/top_level.txt
@@ -0,0 +1 @@
+osc_ros2
diff --git a/workspace/build/osc_ros2/osc_ros2.egg-info/zip-safe b/workspace/build/osc_ros2/osc_ros2.egg-info/zip-safe
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/workspace/build/osc_ros2/osc_ros2.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/workspace/build/osc_ros2/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/workspace/build/osc_ros2/prefix_override/__pycache__/sitecustomize.cpython-310.pyc
new file mode 100644
index 0000000..2f82eeb
Binary files /dev/null and b/workspace/build/osc_ros2/prefix_override/__pycache__/sitecustomize.cpython-310.pyc differ
diff --git a/workspace/build/osc_ros2/prefix_override/sitecustomize.py b/workspace/build/osc_ros2/prefix_override/sitecustomize.py
new file mode 100644
index 0000000..e2319f7
--- /dev/null
+++ b/workspace/build/osc_ros2/prefix_override/sitecustomize.py
@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+    sys.real_prefix = sys.prefix
+    sys.prefix = sys.exec_prefix = '/BA/workspace/install/osc_ros2'
diff --git a/workspace/install/.colcon_install_layout b/workspace/install/.colcon_install_layout
new file mode 100644
index 0000000..3aad533
--- /dev/null
+++ b/workspace/install/.colcon_install_layout
@@ -0,0 +1 @@
+isolated
diff --git a/workspace/install/COLCON_IGNORE b/workspace/install/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/workspace/install/_local_setup_util_ps1.py b/workspace/install/_local_setup_util_ps1.py
new file mode 100644
index 0000000..3c6d9e8
--- /dev/null
+++ b/workspace/install/_local_setup_util_ps1.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = ''  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = ''  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basenames = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # append even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # prepend even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)
diff --git a/workspace/install/_local_setup_util_sh.py b/workspace/install/_local_setup_util_sh.py
new file mode 100644
index 0000000..f67eaa9
--- /dev/null
+++ b/workspace/install/_local_setup_util_sh.py
@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
+FORMAT_STR_USE_ENV_VAR = '${name}'
+FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi'  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi'  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basenames = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # append even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # prepend even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)
diff --git a/workspace/install/local_setup.bash b/workspace/install/local_setup.bash
new file mode 100644
index 0000000..03f0025
--- /dev/null
+++ b/workspace/install/local_setup.bash
@@ -0,0 +1,121 @@
+# generated from colcon_bash/shell/template/prefix.bash.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_bash_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
+  unset _colcon_prefix_bash_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_bash_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX
diff --git a/workspace/install/local_setup.ps1 b/workspace/install/local_setup.ps1
new file mode 100644
index 0000000..6f68c8d
--- /dev/null
+++ b/workspace/install/local_setup.ps1
@@ -0,0 +1,55 @@
+# generated from colcon_powershell/shell/template/prefix.ps1.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# check environment variable for custom Python executable
+if ($env:COLCON_PYTHON_EXECUTABLE) {
+  if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
+    echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    exit 1
+  }
+  $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
+} else {
+  # use the Python executable known at configure time
+  $_colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
+    if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
+      echo "error: unable to find python3 executable"
+      exit 1
+    }
+    $_colcon_python_executable="python3"
+  }
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_powershell_source_script {
+  param (
+    $_colcon_prefix_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
+  }
+}
+
+# get all commands in topological order
+$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
+
+# execute all commands in topological order
+if ($env:COLCON_TRACE) {
+  echo "Execute generated script:"
+  echo "<<<"
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
+  echo ">>>"
+}
+if ($_colcon_ordered_commands) {
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
+}
diff --git a/workspace/install/local_setup.sh b/workspace/install/local_setup.sh
new file mode 100644
index 0000000..5c15896
--- /dev/null
+++ b/workspace/install/local_setup.sh
@@ -0,0 +1,137 @@
+# generated from colcon_core/shell/template/prefix.sh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/BA/workspace/install"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+else
+  _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_sh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
+  unset _colcon_prefix_sh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_sh_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "_colcon_prefix_sh_source_script() {
+    if [ -f \"\$1\" ]; then
+      if [ -n \"\$COLCON_TRACE\" ]; then
+        echo \"# . \\\"\$1\\\"\"
+      fi
+      . \"\$1\"
+    else
+      echo \"not found: \\\"\$1\\\"\" 1>&2
+    fi
+  }"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
diff --git a/workspace/install/local_setup.zsh b/workspace/install/local_setup.zsh
new file mode 100644
index 0000000..b648710
--- /dev/null
+++ b/workspace/install/local_setup.zsh
@@ -0,0 +1,134 @@
+# generated from colcon_zsh/shell/template/prefix.zsh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+_colcon_prefix_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_zsh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # workaround SH_WORD_SPLIT not being set
+  _colcon_prefix_zsh_convert_to_array _values
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
+  unset _colcon_prefix_zsh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_zsh_prepend_unique_value
+unset _colcon_prefix_zsh_convert_to_array
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX
diff --git a/workspace/install/osc_ros2/lib/osc_ros2/interface b/workspace/install/osc_ros2/lib/osc_ros2/interface
new file mode 100755
index 0000000..61d20a1
--- /dev/null
+++ b/workspace/install/osc_ros2/lib/osc_ros2/interface
@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'osc-ros2==1.0.0','console_scripts','interface'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'osc-ros2==1.0.0'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('osc-ros2==1.0.0', 'console_scripts', 'interface')())
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/PKG-INFO b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/PKG-INFO
new file mode 100644
index 0000000..275623c
--- /dev/null
+++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/PKG-INFO
@@ -0,0 +1,12 @@
+Metadata-Version: 2.1
+Name: osc-ros2
+Version: 1.0.0
+Summary: Creates an interface for communication between OSC and Ros2
+Home-page: UNKNOWN
+Maintainer: Alexander Schaefer
+Maintainer-email: a.schaefer@tuhh.de
+License: Apache-2.0
+Platform: UNKNOWN
+
+UNKNOWN
+
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/SOURCES.txt b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/SOURCES.txt
new file mode 100644
index 0000000..650a016
--- /dev/null
+++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/SOURCES.txt
@@ -0,0 +1,16 @@
+package.xml
+setup.cfg
+setup.py
+../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO
+../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt
+../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt
+../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt
+../../build/osc_ros2/osc_ros2.egg-info/requires.txt
+../../build/osc_ros2/osc_ros2.egg-info/top_level.txt
+../../build/osc_ros2/osc_ros2.egg-info/zip-safe
+osc_ros2/__init__.py
+osc_ros2/osc_ros2.py
+resource/osc_ros2
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
\ No newline at end of file
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/dependency_links.txt b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/dependency_links.txt
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/entry_points.txt b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/entry_points.txt
new file mode 100644
index 0000000..008581c
--- /dev/null
+++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/entry_points.txt
@@ -0,0 +1,3 @@
+[console_scripts]
+interface = osc_ros2.osc_ros2:main
+
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/requires.txt b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/requires.txt
new file mode 100644
index 0000000..c78337e
--- /dev/null
+++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/requires.txt
@@ -0,0 +1,6 @@
+numpy==1.22.4
+osc4py3
+roboticstoolbox-python==1.1.1
+scipy==1.7.3
+setuptools
+spatialmath-python==1.1.14
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/top_level.txt b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/top_level.txt
new file mode 100644
index 0000000..99ee4eb
--- /dev/null
+++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/top_level.txt
@@ -0,0 +1 @@
+osc_ros2
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/zip-safe b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/zip-safe
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info/zip-safe
@@ -0,0 +1 @@
+
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__pycache__/__init__.cpython-310.pyc b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__pycache__/__init__.cpython-310.pyc
new file mode 100644
index 0000000..030e934
Binary files /dev/null and b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__pycache__/__init__.cpython-310.pyc differ
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__pycache__/osc_ros2.cpython-310.pyc b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__pycache__/osc_ros2.cpython-310.pyc
new file mode 100644
index 0000000..5fd4a39
Binary files /dev/null and b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__pycache__/osc_ros2.cpython-310.pyc differ
diff --git a/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py
new file mode 100644
index 0000000..6eb5678
--- /dev/null
+++ b/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py
@@ -0,0 +1,1048 @@
+import rclpy
+from rclpy.node import Node
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+from sensor_msgs.msg import JointState
+from rcl_interfaces.msg import Log
+from osc4py3.as_allthreads import *
+from osc4py3 import oscmethod as osm
+import xml.etree.ElementTree as ET
+import numpy as np
+import spatialmath as sm
+import roboticstoolbox as rtb
+from osc4py3 import oscbuildparse
+import time
+import os
+import re
+import socket
+
+class JointNameListener(Node):
+    def __init__(self):
+        super().__init__('joint_name_listener')
+        self.subscription = self.create_subscription(
+            JointState,
+            '/joint_states',
+            self.joint_state_callback,
+            1
+        )
+        self.joint_names = None
+
+    def joint_state_callback(self, msg: JointState):
+        self.joint_names = list(msg.name)
+
+class OSC_ROS2_interface(Node):
+    """Node to publish joint trajectories based on OSC messages."""
+    
+    def __init__(self, joint_names, joint_velocity_limits, robot, cost_mask):
+        super().__init__('scaled_joint_trajectory_publisher')
+        
+
+        self.subscription = self.create_subscription(
+            JointState,
+            '/joint_states',
+            self.joint_states_callback,
+            1
+        )
+
+        self.subscription = self.create_subscription(
+            Log,
+            '/rosout',
+            self.log_callback,
+            100
+        )
+
+        # Store received joint positions
+        self.current_joint_positions = None
+        self.joint_names = joint_names
+        self.joint_velocity_limits = joint_velocity_limits
+        self.cost_mask = cost_mask
+        self.robot = robot
+        self.desired = None
+        self.previous_desired = None
+        self.log_dict = {
+            10: "DEBUG",
+            20: "INFO",
+            30: "WARN",
+            40: "ERROR",
+            50: "FATAL",
+        }
+        self.speed_scaling = 0.2
+        self.new = False
+        self.n_joints = len(joint_names)   
+
+        if robot:
+            while True:
+                print('+-' * 50)
+                set_limits = input("Do you want to set limit for x, y and z? (y/n): ").strip().lower()
+                if set_limits == 'y':
+                    while True:
+                                try:
+                                    self.x_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for x (space-separated, enter 'x' for no limit): ").split()]
+                                    self.y_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for y (space-separated, enter 'x' for no limit): ").split()]
+                                    self.z_limits = [float(i) if i != 'x' else None for i in input("Enter the lower and upper limits for z (space-separated, enter 'x' for no limit): ").split()]
+                                    
+                                    if len(self.x_limits) != 2 or len(self.y_limits) != 2 or len(self.z_limits) != 2:
+                                        print("Invalid input. Please enter exactly two values (or leave blank) for each limit.")
+                                        continue
+                                    
+                                    if (self.x_limits[0] is not None and self.x_limits[1] is not None and self.x_limits[0] >= self.x_limits[1]) or \
+                                    (self.y_limits[0] is not None and self.y_limits[1] is not None and self.y_limits[0] >= self.y_limits[1]) or \
+                                    (self.z_limits[0] is not None and self.z_limits[1] is not None and self.z_limits[0] >= self.z_limits[1]):
+                                        print("Invalid input. Lower limit must be less than upper limit for each axis.")
+                                        continue
+                                    
+                                    print(f"Current limits:")
+                                    print(f"x: {self.x_limits}")
+                                    print(f"y: {self.y_limits}")
+                                    print(f"z: {self.z_limits}")
+                                    con = True
+                                    while con:
+                                        confirm = input("Do you want your robot to move in this range? (y/n): ").strip().lower()
+                                        if confirm == 'y':
+                                            break
+                                        elif confirm == 'n':
+                                            print("Please re-enter the limits.")
+                                            con = False
+                                        else:
+                                            print("Invalid input. Please enter 'y' or 'n'.")
+                                    if con: break
+                                except ValueError:
+                                    print("Invalid input. Please enter numeric values only.")
+                    break
+                elif set_limits == 'n': 
+                    self.x_limits = [None, None]
+                    self.y_limits = [None, None]
+                    self.z_limits = [None, None]
+                    break
+                print("Invalid input. Please enter 'y' or 'n'.")
+                        # Ask the user if they want to set new joint limits
+            while True:
+                update_limits = input("Do you want to set new joint limits? (y/n): ").strip().lower()
+                if update_limits == 'y':
+                    for i in range(len(self.joint_names)):
+                        while True:
+                            try:
+                                lim = self.robot.qlim.copy()
+                                # Find the link corresponding to the joint name
+                                print("-" * 50)
+                                print(f"Current position limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad")
+                                lower_limit = input(f"Enter the new lower limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip()
+                                upper_limit = input(f"Enter the new upper limit for joint '{self.joint_names[i]}' (or press Enter to keep current): ").strip()
+                                
+                                if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit):
+                                    print("Invalid input. Lower limit must be less than upper limit.")
+                                    continue
+                                lower_limit = float(lower_limit) if lower_limit!="" else None
+                                upper_limit = float(upper_limit) if upper_limit!="" else None
+                                if lower_limit!=None:
+                                    if lower_limit<lim[0][i]:
+                                        while True:
+                                            sure = input(f"Are you sure you want to set the lower limit to {lower_limit} rad which is less than the default limit {lim[0][i]} (y/n)?: ").strip().lower()
+                                            if sure == 'y':
+                                                lim[0][i] = float(lower_limit)
+                                                break
+                                            elif sure == 'n':
+                                                print("Lower limit not changed.")
+                                                break
+                                            print("Invalid input. Please enter 'y' or 'n'.")
+                                    else: lim[0][i] = float(lower_limit)
+                                if upper_limit!=None:
+                                    if upper_limit>lim[1][i]:
+                                        while True:
+                                            sure = input(f"Are you sure you want to set the upper limit to {upper_limit} rad which is more than the default limit {lim[1][i]} (y/n)?: ").strip().lower()
+                                            if sure == 'y':
+                                                lim[1][i] = float(upper_limit)
+                                                break
+                                            elif sure == 'n':
+                                                print("Upper limit not changed.")
+                                                break
+                                            print("Invalid input. Please enter 'y' or 'n'.")
+                                    else: lim[1][i] = float(upper_limit)
+                                self.robot.qlim = lim
+                                print(f"New limits for joint '{self.joint_names[i]}': [{self.robot.qlim[0][i]} {self.robot.qlim[1][i]}] rad")
+                                print("-" * 50)
+                                break
+                            except ValueError:
+                                print("Invalid input. Please enter numeric values or leave blank to keep current limits.")
+                    break
+                if update_limits == 'n':
+                    break
+                print("Invalid input. Please enter 'y' or 'n'.")
+            '''
+            use_link_mask = input("Do you want to use a link mask? (y/n): ").strip().lower()
+            if use_link_mask == 'y':
+                while True:
+                    try:
+    '''
+        else:
+            while True:
+                print('+-' * 50)
+                update_limits = input("Do you want to set joint limits? (y/n): ").strip().lower()
+                if update_limits == 'y':
+                    self.joint_lim = [[None]*self.n_joints,[None]*self.n_joints]
+                    for i, joint in enumerate(self.joint_names):
+                        while True:
+                            try:
+                                print("-" * 50)
+                                lower_limit = input(f"Enter the new lower limit for joint '{joint}' (or press Enter to keep current): ").strip()
+                                upper_limit = input(f"Enter the new upper limit for joint '{joint}' (or press Enter to keep current): ").strip()
+                                
+                                if lower_limit and upper_limit and float(lower_limit) >= float(upper_limit):
+                                    print('--' * 50)
+                                    print("      !!!      Invalid input. Lower limit must be less than upper limit.      !!!      ")
+                                    continue
+                                self.joint_lim[0][i] = float(lower_limit) if lower_limit!="" else None
+                                self.joint_lim[1][i] = float(upper_limit) if upper_limit!="" else None
+                                break
+                            except ValueError:
+                                print("Invalid input. Please enter numeric values or leave blank to keep current limits.")
+                    break
+                elif update_limits == 'n':
+                    self.joint_lim = None
+                    break
+                print("Invalid input. Please enter 'y' or 'n'.")
+                
+            print(f'New limits for joint:\n lower: {self.joint_lim[0]}\n upper: {self.joint_lim[1]}')
+
+
+        while True:
+            try:
+                print('+-' * 50)
+                self.trajectory_topic_name = input("Enter the topic name to which the joint trajectory should be sent (press Enter for default: '/scaled_joint_trajectory_controller/joint_trajectory'): ").strip()
+                if self.trajectory_topic_name == "":
+                    self.trajectory_topic_name = '/scaled_joint_trajectory_controller/joint_trajectory'
+                    break
+                elif self.trajectory_topic_name.startswith("/"):
+                    break
+                else:
+                    print("Invalid topic name. A valid topic name should start with '/'.")
+            except Exception as e:
+                print(f"An error occurred: {e}")
+
+        # ROS2 Publisher
+        self.publisher = self.create_publisher(
+            JointTrajectory, 
+            self.trajectory_topic_name, 
+            1
+        )
+
+        while True:
+            try:
+                print('+-' * 50)
+                log_ip = str(input("Enter the target IP on which you want to recieve the log as OSC Messages (or press Enter for default: '127.0.0.1'): "))
+                if log_ip == "":
+                    log_ip = "127.0.0.1"
+                print('--' * 50)
+                log_port = input("Enter the target port for the log messages (or press Enter for default: 5005): ")
+                if log_port == "":
+                    log_port = 5005
+                else:
+                    log_port = int(log_port)
+                break
+            except ValueError:
+                print("Invalid input. Please enter a valid IP address.")
+                continue
+        while True:
+            try:
+                print('+-' * 50)
+                state_ip = str(input("Enter the target IP on which you want to recieve the joint states as OSC Messages (or press Enter for default: '127.0.0.1'): "))
+                if state_ip == "":
+                    state_ip = "127.0.0.1"
+                print('--' * 50)
+                state_port = input("Enter the target port for the joint state messages (or press Enter for default: 7000): ")
+                if state_port == "":
+                    state_port = 7000
+                else:
+                    state_port = int(state_port)
+                break
+            except ValueError:
+                print("Invalid input. Please enter a valid IP address.")
+                continue
+        while True:
+            try:
+                print('+-' * 50)
+                commands_port = input("Enter the port you want to send your commands to (or press Enter for default: 8000): ")
+                if commands_port == state_port:
+                    print("The commands port must be different from the state port.")
+                    continue
+                if commands_port == "":
+                    commands_port = 8000
+                else:
+                    commands_port = int(commands_port)
+                break
+            except ValueError:
+                print("Invalid input. Please enter a valid port.")
+                continue
+                                
+
+        osc_startup()
+
+        osc_udp_client(state_ip, state_port, "osc_client")
+
+        osc_udp_client(log_ip, log_port, "osc_log_client")
+
+        osc_udp_server('0.0.0.0', commands_port, "osc_server")
+
+        # Register OSC handler
+        osc_method("/joint_positions", self.joint_positions_handler, argscheme=osm.OSCARG_DATAUNPACK)
+        osc_method("/joint_position/*", self.joint_position_handler, argscheme=osm.OSCARG_ADDRESS+osm.OSCARG_DATAUNPACK)
+        osc_method("/tcp_coordinates", self.tcp_coordinates_handler, argscheme=osm.OSCARG_DATAUNPACK)
+        osc_method("/joint_trajectory", self.joint_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK)
+        osc_method("/cartesian_trajectory", self.cartesian_trajectory_handler, argscheme=osm.OSCARG_DATAUNPACK)
+        osc_method("/speed_scaling", self.speed_scaling_handler, argscheme=osm.OSCARG_DATAUNPACK)
+        print('--' * 50)
+        while True:
+            try:
+                print('+-' * 50)
+                self.hz = input("Enter the desired refresh frequency (Hz) (or press Enter for default: 100): ")
+                if self.hz == "":
+                    self.hz = 100
+                else:
+                    self.hz = float(self.hz)
+                break
+            except ValueError:
+                print("Invalid input. Please enter a valid number.")
+                continue
+        print()
+        print('=-=' * 50)
+        print()
+        print(f'Sending joint states to {state_ip}:{state_port}')
+        print()
+        print('=-=' * 50)
+        print()
+        print(f'Sending log messages to {log_ip}:{log_port}')
+        print()
+        print('=-=' * 50)
+        print()
+        print(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}')
+        print()
+        print('=-=' * 50)
+        print()
+
+        self.get_logger().info(f"Publishing joint trajectory to {self.trajectory_topic_name}")
+        self.get_logger().info(f'Ready to receive OSC messages on {socket.gethostbyname(socket.gethostname())}:{commands_port}')
+        self.get_logger().info(f'Sending joint states to {state_ip}:{state_port}')
+        self.get_logger().info(f'Sending log messages to {log_ip}:{log_port}')
+        self.create_timer(1/self.hz, self.update_position)  # Timer to update the position
+        self.create_timer(3, self.reset_prev)  # reset the previous desired position
+
+    def reset_prev(self): self.previous_desired = None
+
+    def speed_scaling_handler(self, *args):
+        """Handles incoming OSC messages for speed scaling."""
+        try:
+            if len(args) == 1:
+                if args[0] < 0:
+                    self.speed_scaling = -float(args[0])
+                else:
+                    self.speed_scaling = float(args[0])
+                if self.speed_scaling > 1:
+                    self.get_logger().warn(f"speed_scaling_handler: Attention! Speed scaling {self.speed_scaling} is greater than 1!")
+                self.get_logger().info(f"Speed scaling set to {self.speed_scaling}")
+            else:
+                self.get_logger().warn(f"Invalid number of arguments for speed scaling. Expected 1, but got {len(args)}.")
+        except Exception as e:
+            self.get_logger().fatal(f"speed_scaling_handler: {e}")
+    
+    def joint_trajectory_handler(self, *args):
+        try:
+                if len(args[0]) == 6:
+                    points = [[float(j) for j in i] for i in args]
+                elif len(args[0]) >= 7:
+                    points = [[float(j) for j in i[:6]] for i in args]
+                    self.get_logger().warn(f"joint_trajectory_handler: Duration is not supported for joint trajectory yet. Ignoring duration.")
+                else:
+                    self.get_logger().warn(f"joint_trajectory_handler: Invalid number of arguments for joint trajectory. Expected {self.n_joints} ([q0, q1, q2, ..., q{self.n_joints}]) or {self.n_joints+1} ([q0, q1, q2, ..., q{self.n_joints}, duration]), but got {len(args[0])}.")
+                    return
+
+                self.desired = ["joint_trajectory"] + points
+                self.new = True
+        except Exception as e:
+            self.get_logger().fatal(f"joint_trajectory_handler: {e}")
+
+    def joint_position_handler(self, address, *args):
+        """Handles incoming OSC messages for joint positions."""
+        try:
+            joint_name = address.split("/")[-1]
+            
+            if joint_name in self.joint_names:
+                if len(args) == 1:
+                    position = float(args[0])
+                    index = self.joint_names.index(joint_name)
+                    if self.robot:
+                        if position < self.robot.qlim[0][index]:
+                            position = self.robot.qlim[0][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[0][index]}."
+                            )
+                        elif position > self.robot.qlim[1][index]:
+                            position = self.robot.qlim[1][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[1][index]}."
+                            )
+                    else:
+                        if self.joint_lim[0][index] is not None and position < self.joint_lim[0][index]:
+                            position = self.joint_lim[0][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[0][index]}."
+                            )
+                        elif self.joint_lim[1][index] is not None and position > self.joint_lim[1][index]:
+                            position = self.joint_lim[1][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[1][index]}."
+                            )
+                    desired_joint_positions = self.current_joint_positions
+                    desired_joint_positions[index] = position
+                    self.desired = ["joint_positions"] + desired_joint_positions
+                    self.new = True
+                elif len(args) == 2:
+                    position = float(args[0])
+                    duration = float(args[1])
+                    index = self.joint_names.index(joint_name)
+                    if self.robot:
+                        if position < self.robot.qlim[0][index]:
+                            position = self.robot.qlim[0][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[0][index]}."
+                            )
+                        elif position > self.robot.qlim[1][index]:
+                            position = self.robot.qlim[1][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.robot.qlim[1][index]}."
+                            )
+                    else:
+                        if self.joint_lim[0][index] is not None and position < self.joint_lim[0][index]:
+                            position = self.joint_lim[0][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[0][index]}."
+                            )
+                        elif self.joint_lim[1][index] is not None and position > self.joint_lim[1][index]:
+                            position = self.joint_lim[1][index]
+                            self.get_logger().warn(
+                                f"joint_position_handler: Joint '{joint_name}' position {position} is out of bounds. Using {self.joint_lim[1][index]}."
+                            )
+                    desired_joint_positions = self.current_joint_positions
+                    desired_joint_positions[index] = position
+                    self.desired = ["joint_positions"] + desired_joint_positions + [duration]
+                    self.new = True
+                else:
+                    self.get_logger().warn(f"joint_position_handler: Invalid number of arguments for joint position. Expected 1, but got {len(args)}.")
+            else:
+                self.get_logger().warn(f"joint_position_handler: Joint '{joint_name}' not found in the robot model.")
+        except Exception as e:
+            self.get_logger().fatal(f"joint_position_handler: {e}")
+        
+
+    def cartesian_trajectory_handler(self, *args):
+        """Handles incoming OSC messages for cartesian trajectory."""
+        if self.robot:
+            try:
+                if len(args[0]) == 6:
+                    points = [[float(j) for j in i] for i in args]
+                elif len(args[0]) >= 7:
+                    points = [[float(j) for j in i[:6]] for i in args]
+                    self.get_logger().warn(f"cartesian_trajectory_handler: Duration is not supported for cartesian trajectory yet. Ignoring duration.")
+                else:
+                    self.get_logger().warn(f"cartesian_trajectory_handler: Invalid number of arguments for cartesian trajectory. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args[0])}.")
+                    return
+
+                self.desired = ["cartesian_trajectory"] + points
+                self.new = True
+            except Exception as e:
+                self.get_logger().fatal(f"cartesian_trajectory_handler: {e}")
+        else:
+            self.get_logger().warn("cartesian_trajectory_handler: No robot model provided. Cannot handle cartesian trajectory.")
+            return
+
+    def joint_positions_handler(self, *args):
+        """Handles incoming OSC messages for joint positions."""
+        try:
+            if len(args) == len(self.joint_names):
+                desired_joint_positions = [float(i) for i in list(args)]
+            elif len(args) == len(self.joint_names) + 1:
+                desired_joint_positions = [float(i) for i in list(args)]
+            else:
+                self.get_logger().warn(f"joint_positions_handler: Invalid number of arguments for joint positions. Expected {len(self.joint_names)} ([q0, q1, q2, ... q{len(self.joint_names)}]) or {len(self.joint_names)+1} ([q0, q1, q2, ... q{len(self.joint_names)}, duration]), but got {len(args)}.")
+                return
+
+            # Check if joint positions exceed limits
+            if self.robot:
+                for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]):  # Exclude duration if present
+                    if position < self.robot.qlim[0][i]:
+                        desired_joint_positions[i] = self.robot.qlim[0][i]
+                        self.get_logger().warn(
+                            f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.robot.qlim[0][i]}."
+                        )
+                    elif position > self.robot.qlim[1][i]:
+                        desired_joint_positions[i] = self.robot.qlim[1][i]
+                        self.get_logger().warn(
+                            f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.robot.qlim[1][i]}."
+                        )
+            else:
+                for i, position in enumerate(desired_joint_positions[:len(self.joint_names)]):
+                    if self.joint_lim[0][i] is not None and position < self.joint_lim[0][i]:
+                        desired_joint_positions[i] = self.joint_lim[0][i]
+                        self.get_logger().warn(
+                            f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[0][i]}."
+                        )
+                    elif self.joint_lim[1][i] is not None and position > self.joint_lim[1][i]:
+                        desired_joint_positions[i] = self.joint_lim[1][i]
+                        self.get_logger().warn(
+                            f"joint_positions_handler: Joint '{self.joint_names[i]}' position {position} is out of bounds. Using {self.joint_lim[1][i]}."
+                        )
+
+            self.desired = ["joint_positions"] + desired_joint_positions
+            self.new = True
+        except Exception as e:
+            self.get_logger().fatal(f"joint_positions_handler: {e}")
+            return
+
+    def tcp_coordinates_handler(self, *args):
+    # Ensure the desired joint positions are within the specified limits
+        if self.robot:
+            try:
+                if len(args) == 6:
+                    x, y, z, r, p, yaw = [float(i) for i in list(args)]
+                    duration = None
+                elif len(args) >= 7:
+                    x, y, z, r, p, yaw, duration, *_ = [float(i) for i in list(args)]
+                else:
+                    self.get_logger().warn(f"tcp_coordinates_handler: Invalid number of arguments for TCP coordinates. Expected 6 ([x, y, z, roll, pitch, yaw]) or 7 ([x, y, z, roll, pitch, yaw, duration]), but got {len(args)}.")
+                    return
+
+                if self.x_limits[0] is not None:
+                    x = max(self.x_limits[0], x)
+                if self.x_limits[1] is not None:
+                    x = min(self.x_limits[1], x)
+                if self.y_limits[0] is not None:
+                    y = max(self.y_limits[0], y)
+                if self.y_limits[1] is not None:
+                    y = min(self.y_limits[1], y)
+                if self.z_limits[0] is not None:
+                    z = max(self.z_limits[0], z)
+                if self.z_limits[1] is not None:
+                    z = min(self.z_limits[1], z)
+
+                if x != args[0] or y != args[1] or z != args[2]:
+                    self.get_logger().warn(
+                    f"tcp_coordinates_handler: Desired joint positions adjusted to fit within limits: "
+                    f"x={x}, y={y}, z={z} (original: x={args[0]}, y={args[1]}, z={args[2]})"
+                    )
+
+                self.desired = ["tcp_coordinates", x, y, z, r, p, yaw, duration]
+                self.new = True
+            except Exception as e:
+                self.get_logger().fatal(f"tcp_coordinates_handler: {e}")
+        else:
+            self.get_logger().warn("tcp_coordinates_handler: No robot model provided. Cannot handle TCP coordinates.")
+            return
+            
+
+    def joint_states_callback(self, msg: JointState):
+        """Callback function to handle incoming joint states."""
+        try:
+            msg_time = oscbuildparse.OSCMessage(f"/time", ',s', [str(time.time())])
+            osc_send(msg_time, "osc_client")
+            if not(self.joint_names): self.joint_names = msg.name
+            joint_position_dict = dict(zip(msg.name, msg.position))
+            self.current_joint_positions = [float(joint_position_dict[name]) for name in self.joint_names]
+            joint_position_dict = dict(zip(msg.name, msg.velocity))
+            self.current_joint_velocities = [float(joint_position_dict[name]) for name in self.joint_names]
+
+            if self.robot:
+                tcp_position = self.robot.fkine(self.current_joint_positions).t
+                tcp_orientation = self.robot.fkine(self.current_joint_positions).rpy()
+
+                msg_tcp = oscbuildparse.OSCMessage(f"/tcp_coordinates", ',ffffff', [tcp_position[0], tcp_position[1], tcp_position[2], tcp_orientation[0], tcp_orientation[1], tcp_orientation[2]])
+                #msg_x = oscbuildparse.OSCMessage(f"/tcp_coordinates/x", ',f', [tcp_position[0]])
+                #msg_y = oscbuildparse.OSCMessage(f"/tcp_coordinates/y", ',f', [tcp_position[1]])
+                #msg_z = oscbuildparse.OSCMessage(f"/tcp_coordinates/z", ',f', [tcp_position[2]])
+                #msg_roll = oscbuildparse.OSCMessage(f"/tcp_coordinates/roll", ',f', [tcp_orientation[0]])
+                #msg_pitch = oscbuildparse.OSCMessage(f"/tcp_coordinates/pitch", ',f', [tcp_orientation[1]])
+                #msg_yaw = oscbuildparse.OSCMessage(f"/tcp_coordinates/yaw", ',f', [tcp_orientation[2]])
+                #bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_tcp, msg_x, msg_y, msg_z, msg_roll, msg_pitch, msg_yaw])
+                #osc_send(bun, "osc_client") 
+                osc_send(msg_tcp, "osc_client")
+            
+            msg_position = oscbuildparse.OSCMessage(f"/joint_state/position", f',{"f"*self.n_joints}', [i for i in msg.position])
+            msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity", f',{"f"*self.n_joints}', [i for i in msg.velocity])
+            msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort", f',{"f"*self.n_joints}', [i for i in msg.effort])
+            msg_name = oscbuildparse.OSCMessage(f"/joint_state/name", f',{"s"*self.n_joints}', [i for i in msg.name])
+            bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_name, msg_position, msg_velocity, msg_effort])
+            osc_send(bun, "osc_client")
+
+            #for i, name in enumerate(msg.name):
+            #    msg_position = oscbuildparse.OSCMessage(f"/joint_state/position/{name}", ',f', [msg.position[i]])
+            #    msg_velocity = oscbuildparse.OSCMessage(f"/joint_state/velocity/{name}", ',f', [msg.velocity[i]])
+            #    msg_effort = oscbuildparse.OSCMessage(f"/joint_state/effort/{name}", ',f', [msg.effort[i]])
+            #    bun = oscbuildparse.OSCBundle(oscbuildparse.OSC_IMMEDIATELY, [msg_position, msg_velocity, msg_effort])
+            #    osc_send(bun, "osc_client")
+
+        except Exception as e:
+            self.get_logger().fatal(f"joint_states_callback: {e}")
+
+    def send_joint_positions(self):
+        self.previous_desired = None
+        self.new = False
+        try:
+            if len(self.desired) == len(self.joint_names) + 2:
+                desired_joint_positions = [float(i) for i in self.desired[1:-1]]
+                duration = self.desired[-1]
+                msg = JointTrajectory()
+                msg.joint_names = self.joint_names
+                point = JointTrajectoryPoint()
+                point.positions = desired_joint_positions
+                point.time_from_start.sec = int(duration)
+                point.time_from_start.nanosec = int((duration - int(duration)) * 1e9)
+                msg.points.append(point)
+                self.publisher.publish(msg)
+            elif len(self.desired) == len(self.joint_names) + 1:
+                desired_joint_positions = [float(i) for i in self.desired[1:]]
+                msg = JointTrajectory()
+                msg.joint_names = self.joint_names
+                point = JointTrajectoryPoint()
+                point.positions = desired_joint_positions
+                duration = 0
+                for p1, p2, max_vel in zip(desired_joint_positions, self.current_joint_positions, self.joint_velocity_limits.values()):
+                    duration = max(duration, abs(p1 - p2) / max_vel)
+                duration = duration + min(2, 0.2*duration)
+                duration /= self.speed_scaling
+                if duration == 0:
+                    self.get_logger().warn("send_joint_positions: Duration is 0.")
+                    return
+                point.time_from_start.sec = int(duration)
+                point.time_from_start.nanosec = int((duration - int(duration)) * 1e9)
+                msg.points.append(point)
+                self.publisher.publish(msg)
+            else: 
+                self.get_logger().warn(f"send_joint_positions: Invalid number of arguments for joint positions. Expected {len(self.joint_names)+1} ([q0, q1, q2, ... q{len(self.joint_names)}, duration]) or {len(self.joint_names)} ([q0, q1, q2, ... q{len(self.joint_names)}]), but got {len(self.desired)}.")
+                return
+        except Exception as e:
+            self.get_logger().fatal(f"send_joint_positions: {e}")
+            return
+
+    def trapezoidal_timestamps(self, num_points,total_duration,  flat_ratio = 0.3):
+        
+        if num_points == 2:
+            return [0, total_duration]
+        n = int(num_points*(1-flat_ratio)/2)
+        start = np.cos(np.linspace(0, np.pi, n))+2
+        end = np.cos(np.linspace(-np.pi, 0, n))+2
+        flat = np.ones(num_points-2*n)
+
+        timestamps = np.concatenate((start, flat, end))
+        timestamps *= total_duration / timestamps.sum()
+        timestamps = np.cumsum(timestamps)
+
+        return timestamps.tolist()
+
+
+    def send_tcp_coordinates(self):
+        """Send the desired TCP coordinates to the robot."""
+        try:
+            self.new = False
+            msg = JointTrajectory()
+            msg.joint_names = self.joint_names
+            steps_per_m = 100
+            if self.previous_desired == None: 
+                [x,y,z] = self.robot.fkine(self.current_joint_positions).t
+                [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy()
+            else:
+                [x,y,z] = self.previous_desired[1:4]
+                [roll, pitch, yaw] = self.previous_desired[4:-1]
+            x1, y1, z1, roll1, pitch1, yaw1 = self.desired[1:7]
+            self.previous_desired = self.desired
+            steps = int(np.linalg.norm(np.array([x1, y1, z1])- self.robot.fkine(self.current_joint_positions).t) * steps_per_m)
+            if steps < 2: steps = 2
+            cart_traj = [sm.SE3([x+(x1-x)/(steps-1)*i, y+(y1-y)/(steps-1)*i, z+(z1-z)/(steps-1)*i]) * sm.SE3.RPY([roll+(roll1-roll)/(steps-1)*i, pitch+(pitch1-pitch)/(steps-1)*i, yaw+(yaw1-yaw)/(steps-1)*i]) for i in range(steps)]
+            '''if self.previous_desired:
+                [x,y,z] = self.previous_desired[1:4]
+                q0 = sm.UnitQuaternion.RPY(self.previous_desired[3], self.previous_desired[4], self.previous_desired[5])        
+            else: 
+                [x, y, z] = self.robot.fkine(self.current_joint_positions).t
+                q0 = sm.UnitQuaternion(self.robot.fkine(self.current_joint_positions).R)
+
+            x1, y1, z1, roll1, pitch1, yaw1 = self.desired[1:7]
+            q1 = sm.UnitQuaternion.RPY(roll1, pitch1, yaw1)
+
+            steps = int(np.linalg.norm(np.array([x1, y1, z1]) - self.robot.fkine(self.current_joint_positions).t) * steps_per_m)
+            if steps < 2:
+                steps = 2
+            
+            cart_traj = []
+            for i in range(steps):
+                alpha = i / (steps - 1)
+
+                # Convert to arrays for robust interpolation if needed
+                q0_array = q0.vec
+                q1_array = q1.vec
+                dot = np.dot(q0_array, q1_array)
+                dot = np.clip(dot, -1.0, 1.0)
+
+                if abs(dot) > 0.9995:
+                    # Linear interpolation + normalization
+                    q_interp_array = (1 - alpha) * q0_array + alpha * q1_array
+                    q_interp_array = q_interp_array / np.linalg.norm(q_interp_array)
+                    q_interp = sm.UnitQuaternion(q_interp_array)
+                else:
+                    q_interp = q0.interp(q1, alpha)
+
+                # Interpolate translation
+                pos_interp = [
+                    x + (x1 - x) * alpha,
+                    y + (y1 - y) * alpha,
+                    z + (z1 - z) * alpha
+                ]
+
+                # Compose SE3 transform
+                cart_traj.append(sm.SE3(pos_interp) * q_interp.SE3())'''
+
+
+            
+            if self.desired[-1]:
+                timestamps = self.trapezoidal_timestamps(steps, self.desired[-1], 0.8)
+                for j in range(steps):
+                    sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan')
+                    if sol[1] == 1:
+                        fowards = self.robot.fkine_all(sol[0])
+                        out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False)
+                        if np.any(out_of_bounds):
+                            #print(fowards.t)
+                            #indices = np.where(out_of_bounds)[0]
+                            #print(f"indices: {indices}")
+                            self.get_logger().warn("send_tcp_coordinates: One or more links moved out of bounds!")
+                            '''
+                            for i in indices:
+                                try:
+                                    print(f"Joint {self.robot.links[i].name} is out of bounds: (x,y,z) = {fowards.t[i]}")
+                                except IndexError:
+                                    print(f"index {i} is out of bounds, but no corresponding joint found.")
+                            self.previous_desired_tcp_position = self.desired_tcp_position
+                            '''
+                            break
+                        duration = timestamps[j]
+                        if duration == 0:
+                            prev_sol = list(sol[0])
+                            continue
+                        point = JointTrajectoryPoint()
+                        point.positions = list(sol[0])
+                        point.time_from_start.sec = int(duration)
+                        point.time_from_start.nanosec = int((duration - int(duration)) * 1e9)
+                        msg.points.append(point)
+                        prev_sol = list(sol[0])
+                    else:
+                        self.get_logger().warn(f"send_tcp_coordinates: IK could not find a solution for (x,y,z) = {cart_traj[j].t} and (r,p,y) = {cart_traj[j].rpy()}!")
+                        prev_sol = self.current_joint_positions
+                if len(msg.points) == 0:
+                    self.get_logger().warn("send_tcp_coordinates: The resulting trajectory is empty. Either the IK failed or the trajectory is too short.")
+                    self.previous_desired = self.desired    
+                    return
+                msg.header.stamp = self.get_clock().now().to_msg()
+                self.publisher.publish(msg)
+                self.previous_desired = self.desired
+
+
+
+            else:
+                prev_duration = 0
+                '''
+                if self.previous_desired == None: 
+                    [x,y,z] = self.robot.fkine(self.current_joint_positions).t
+                    [roll, pitch, yaw] = self.robot.fkine(self.current_joint_positions).rpy()
+                else:
+                    [x,y,z] = self.previous_desired[:3]
+                    [roll, pitch, yaw] = self.previous_desired[3:]
+                '''
+                for j in range(steps):
+                    sol = self.robot.ik_LM(cart_traj[j], q0=self.current_joint_positions, mask = self.cost_mask, joint_limits = True, method = 'chan') if j == 0 else self.robot.ik_LM(cart_traj[j], q0=prev_sol, mask = self.cost_mask, joint_limits = True, method = 'chan')
+                    if sol[1] == 1:
+                        fowards = self.robot.fkine_all(sol[0])
+                        out_of_bounds = (fowards.t[1:,0] > self.x_limits[1] if self.x_limits[1] != None else False) | (fowards.t[1:,0] < self.x_limits[0] if self.x_limits[0] != None else False) | (fowards.t[1:,1] > self.y_limits[1] if self.y_limits[1] != None else False) | (fowards.t[1:,1] < self.y_limits[0] if self.y_limits[0] != None else False) | (fowards.t[1:,2] > self.z_limits[1] if self.z_limits[1] != None else False) | (fowards.t[1:,2] < self.z_limits[0] if self.z_limits[0] != None else False)
+                        if np.any(out_of_bounds):
+                            #print(fowards.t)
+                            #indices = np.where(out_of_bounds)[0]
+                            #print(f"indices: {indices}")
+                            self.get_logger().warn("send_tcp_coordinates: One or more links moved out of bounds!")
+                            '''
+                            for i in indices:
+                                try:
+                                    print(f"Joint {self.robot.links[i].name} is out of bounds: (x,y,z) = {fowards.t[i]}")
+                                except IndexError:
+                                    print(f"index {i} is out of bounds, but no corresponding joint found.")
+                            self.previous_desired_tcp_position = self.desired_tcp_position
+                            '''
+                            break
+                        duration = 0
+                        prev = self.current_joint_positions if j == 0 else prev_sol
+                        for p1, p2, max_vel in zip(sol[0], prev, self.joint_velocity_limits.values()):
+                            duration = max(duration, abs(p1 - p2) / max_vel)#, 1/self.hz) # as minimun
+                        prev_sol = list(sol[0])
+                        if duration == 0:
+                            continue
+                        point = JointTrajectoryPoint()
+                        point.positions = list(sol[0])
+                        duration *= 1.2
+                        duration /= self.speed_scaling
+                        duration += prev_duration
+                        prev_duration = duration
+                        point.time_from_start.sec = int(duration)
+                        point.time_from_start.nanosec = int((duration - int(duration)) * 1e9)
+                        msg.points.append(point)
+                    else:
+                        self.get_logger().warn(f"send_tcp_coordinates: IK could not find a solution for (x,y,z) = {cart_traj[j].t} and (r,p,y) = {cart_traj[j].rpy()}!")
+                        prev_sol = self.current_joint_positions
+                if len(msg.points) == 0:
+                    self.get_logger().warn("send_tcp_coordinates: The resulting trajectory is empty. Either the IK failed or the trajectory is too short.")
+                    self.previous_desired = self.desired    
+                    return
+                msg.header.stamp = self.get_clock().now().to_msg()
+                self.publisher.publish(msg)
+                self.previous_desired = self.desired
+        except Exception as e:
+            self.get_logger().fatal(f"send_tcp_coordinates: {e}")
+
+    def send_joint_trajectory(self):
+        
+        try:
+            self.new = False
+            viapoints = np.array([i for i in self.desired[1:]])
+            msg = JointTrajectory()
+            msg.joint_names = self.joint_names
+            traj = rtb.mstraj(viapoints, q0 = self.current_joint_positions ,dt=0.01, tacc=1.5/self.speed_scaling, qdmax=[self.speed_scaling*i for i in self.joint_velocity_limits.values()])
+            msg.points = []
+            for i in range(len(traj.q)):
+                    point = JointTrajectoryPoint()
+                    point.positions = list(traj.q[i])
+                    point.time_from_start.sec = int(traj.t[i])
+                    point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9)
+                    msg.points.append(point)
+            msg.header.stamp = self.get_clock().now().to_msg()
+            self.publisher.publish(msg)
+            self.previous_desired = None
+        except Exception as e:
+            print(f'Error in joint_angles_handler: {e}')
+
+    def send_cartesian_trajectory(self):
+        
+        try:
+            self.new = False
+            viapoints = np.array([i[:6] for i in self.desired[1:]])
+            msg = JointTrajectory()
+            msg.joint_names = self.joint_names
+            x,y,z = self.robot.fkine(self.current_joint_positions).t
+            r,p,yaw = self.robot.fkine(self.current_joint_positions).rpy()
+            q0 = [x, y, z, r, p, yaw]
+            traj = rtb.mstraj(viapoints, q0 = q0 ,dt=0.01, tacc=1.5/self.speed_scaling, qdmax=2*self.speed_scaling)
+            msg.points = []
+            prev_sol = self.current_joint_positions
+            n = max(int(len(traj.q)/200), 1)
+            for i in range(len(traj.q)):
+                T = sm.SE3(traj.q[i][:3]) * sm.SE3.RPY(traj.q[i][3:], order='xyz')
+                sol = self.robot.ik_LM(T, q0=prev_sol, mask = self.cost_mask, joint_limits = True)
+                if sol[1] == 1:
+                    point = JointTrajectoryPoint()
+                    point.positions = list(sol[0])
+                    point.time_from_start.sec = int(traj.t[i])
+                    if traj.t[i] == 0:
+                        continue
+                    point.time_from_start.nanosec = int((traj.t[i] - int(traj.t[i])) * 1e9)
+                    msg.points.append(point)
+                    prev_sol = list(sol[0])
+                else: self.get_logger().warn(f"send_cartesian_trajectory: IK could not find a solution for (x,y,z) = {traj.q[i][:3]} and (r,p,y) = {traj.q[i][3:]}!")
+            msg.header.stamp = self.get_clock().now().to_msg()
+            msg.points = msg.points[::n]
+            self.publisher.publish(msg)
+            self.previous_desired = None
+        except Exception as e:
+            print(f'Error in joint_angles_handler: {e}')
+
+        self.previous_desired = None
+
+    def update_position(self):
+        """Calls the appropriate function to update the robot's position."""
+        try:
+            if self.desired is None or not(self.new):
+                return
+
+            if self.desired[0] == "joint_positions":
+                self.new = False
+                self.send_joint_positions()
+                return
+            elif self.desired[0] == "tcp_coordinates":
+                self.new = False
+                self.send_tcp_coordinates()
+                return
+            elif self.desired[0] == "joint_trajectory":
+                self.new = False
+                self.send_joint_trajectory()
+                return
+            elif self.desired[0] == "cartesian_trajectory":
+                self.new = False
+                self.send_cartesian_trajectory()
+                return
+            else:
+                self.get_logger().warn(f"update_position: Unknown desired type '{self.desired[0]}'.")
+                return
+
+
+        except Exception as e:
+            self.get_logger().fatal(f'update_position: {e}')
+                
+
+    def clean_log_string(self, s):
+
+        s = str(s)
+
+        # Remove ANSI escape sequences (e.g., \x1b[31m)
+        ansi_escape = re.compile(r'\x1B(?:[@-Z\\-_]|\[[0-?]*[ -/]*[@-~])')
+        s = ansi_escape.sub('', s)
+
+        # Replace tabs/newlines with spaces
+        s = s.replace('\n', ' ').replace('\r', ' ').replace('\t', ' ').replace("'", ' '). replace('"', ' ').replace('`', ' ').replace('´', ' ').replace('`', ' ').replace('“', ' ').replace('”', ' ').replace('‘', ' ').replace('’', ' ').replace('´', ' ').replace('`', ' ').replace('“', ' ').replace('”', ' ').replace('‘', ' ').replace('’', ' ')
+
+        # Strip leading/trailing whitespace
+        s = s.strip()
+
+        # Optionally enforce ASCII only (replace non-ASCII chars with '?')
+        s = s.encode('ascii', 'replace').decode('ascii')
+
+        return s
+
+    
+    def log_callback(self, msg: Log):
+        """Callback function to handle incoming log messages."""
+
+        # Send the log message as an OSC message
+        msg_log = oscbuildparse.OSCMessage(f"/log/{self.log_dict.get(msg.level, 'UNKNOWN')}", ',isss', [int(msg.level), str(msg.stamp.sec+msg.stamp.nanosec*1e-9) , str(msg.name), self.clean_log_string(msg.msg)])
+        osc_send(msg_log, "osc_log_client")
+
+
+def main():
+    """Main function to get joint names and start the ROS 2 & OSC system."""
+    rclpy.init()
+    while True:
+        use_urdf = input("Do you have a URDF file you want to use? (y/n): ").strip().lower()
+        if use_urdf == 'y':
+            while True:
+                robot_urdf = input("Enter the absolute path to the URDF file: ")
+                if os.path.isfile(robot_urdf):
+                    if not robot_urdf.endswith('.urdf'):
+                        print("The file is not a URDF file. Please enter a valid URDF file.")
+                        continue
+                    break
+                else:
+                    print("Invalid path. Please enter a valid path to the URDF file.")
+            tree = ET.parse(robot_urdf)
+            root = tree.getroot()
+            robot = rtb.ERobot.URDF(robot_urdf)
+            joint_names = [joint.get('name') for joint in root.findall('joint') if joint.get('type') == 'revolute' or joint.get('type') == 'continuous' or joint.get('type') == 'prismatic']
+            print(robot)
+            joint_velocity_limits = {}
+
+            # Iterate over all joints in the URDF
+            for joint in root.findall('.//joint'):
+                joint_name = joint.get('name')  # Get the name of the joint
+                
+                # Look for the <limit> tag under each joint
+                limit = joint.find('limit')
+                
+                if limit is not None:
+                    # Extract the velocity limit (if it exists)
+                    velocity_limit = limit.get('velocity')
+                    
+                    if velocity_limit is not None:
+                        joint_velocity_limits[joint_name] = float(velocity_limit)
+            
+            while True:
+                try:
+                    print('-+'*50)
+                    print("The cost mask determines which coordinates are used for the IK.\nEach element of the cost mask corresponds to a Cartesian coordinate [x, y, z, roll, pitch, yaw].")
+                    print("The cost mask 111000 means that the IK will only consider translation and no rotaion.")
+                    cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")]
+                    if sum(cost_mask) <= robot.n and len(cost_mask) == 6:
+                        break
+                    else:
+                        print(f"Invalid input. Expected 6 integers of which {robot.n if robot.n < 6 else 6} or less are 1.")
+                except ValueError:
+                    print("Invalid input. Please enter integers only.")
+            print(f"The following coordinates will be used for the IK: {[j for i,j in enumerate(['x','y','z','roll','pitch','yaw']) if cost_mask[i]==1]}")
+            break
+        elif use_urdf == 'n':
+            node = JointNameListener()
+            print("Wainting 10 sec for JointState messages to extract joint names...")
+            rclpy.spin_once(node)
+            counter = 0
+            while not(node.joint_names):
+                if counter > 100:
+                    joint_names = None
+                    break
+                counter+=1
+                time.sleep(0.1)
+                rclpy.spin_once(node)
+            joint_names = node.joint_names
+            node.destroy_node()
+            if joint_names:
+                correct_names = input("The following joint names were found:\n" + "\n".join(joint_names) + "\nAre these correct? (y/n): ").strip().lower()
+                while True:
+                    if correct_names == 'y':
+                        break
+                    elif correct_names == 'n':
+                        joint_names = None
+                        break
+                    correct_names = input("Invalid input. Please enter 'y' or 'n'.")
+            if not(joint_names):
+                print("Please enter the joint names manually.")
+                while True:
+                        joint_names = []
+                        print('-+'*50)
+                        print("Enter the joint names manually one by one. Type 'done' when you are finished:")
+                        print("Attention: The order of the joints is important. It should be the same in which you want to send the joint positions.")
+                        while True:
+                            print('-'*50)
+                            joint_name = input("Enter joint name (or 'done' to finish): ").strip()
+                            if joint_name.lower() == 'done':
+                                break
+                            if joint_name:
+                                joint_names.append(joint_name)
+                        print('-+'*50)
+                        correct_names = input(f"Are those the joint names as defined in your JointTrajectroy recieving Node?: {joint_names}. (y/n)?: ").strip()
+                        if correct_names.lower() == 'y':
+                            break
+                        else:
+                            print("Please re-enter the joint names.")
+            while True:
+                try:
+                    joint_velocity_limits = {}
+                    for name in joint_names:
+                        while True:
+                            try:
+                                print('--'*50)
+                                limit = input(f"Enter the velocity limit for joint '{name}': ").strip()
+                                if limit == "":
+                                    continue
+                                else:
+                                    joint_velocity_limits[name] = float(limit)
+                                    break
+                            except ValueError:
+                                print("Invalid input. Please enter a numeric value or press Enter to skip.")
+                    break
+                except ValueError:
+                    print("Invalid input. Please enter numeric values or leave blank to skip.")
+            robot = None
+            cost_mask = None
+            break
+        print("Invalid input. Please enter 'y' or 'n'.")
+
+
+    node = OSC_ROS2_interface(joint_names, joint_velocity_limits, robot, cost_mask)
+    
+    # Run ROS 2 spin, and osc_process will be handled by the timer
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("")
+    finally:
+        node.destroy_node()
+        osc_terminate()
+
+if __name__ == '__main__':
+    main()
diff --git a/workspace/install/osc_ros2/share/ament_index/resource_index/packages/osc_ros2 b/workspace/install/osc_ros2/share/ament_index/resource_index/packages/osc_ros2
new file mode 100644
index 0000000..e69de29
diff --git a/workspace/install/osc_ros2/share/colcon-core/packages/osc_ros2 b/workspace/install/osc_ros2/share/colcon-core/packages/osc_ros2
new file mode 100644
index 0000000..aff3120
--- /dev/null
+++ b/workspace/install/osc_ros2/share/colcon-core/packages/osc_ros2
@@ -0,0 +1 @@
+rclpy
\ No newline at end of file
diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.dsv b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.ps1 b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.ps1
new file mode 100644
index 0000000..26b9997
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.sh b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.sh
new file mode 100644
index 0000000..f3041f6
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.dsv b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.dsv
new file mode 100644
index 0000000..257067d
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages
diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.ps1 b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.ps1
new file mode 100644
index 0000000..caffe83
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.10/site-packages"
diff --git a/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.sh b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.sh
new file mode 100644
index 0000000..660c348
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"
diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.bash b/workspace/install/osc_ros2/share/osc_ros2/package.bash
new file mode 100644
index 0000000..92f5b25
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/package.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/osc_ros2/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.dsv b/workspace/install/osc_ros2/share/osc_ros2/package.dsv
new file mode 100644
index 0000000..ece85b1
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/package.dsv
@@ -0,0 +1,6 @@
+source;share/osc_ros2/hook/pythonpath.ps1
+source;share/osc_ros2/hook/pythonpath.dsv
+source;share/osc_ros2/hook/pythonpath.sh
+source;share/osc_ros2/hook/ament_prefix_path.ps1
+source;share/osc_ros2/hook/ament_prefix_path.dsv
+source;share/osc_ros2/hook/ament_prefix_path.sh
diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.ps1 b/workspace/install/osc_ros2/share/osc_ros2/package.ps1
new file mode 100644
index 0000000..ed891bc
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values};$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values};${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values};$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/osc_ros2/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/osc_ros2/hook/ament_prefix_path.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.sh b/workspace/install/osc_ros2/share/osc_ros2/package.sh
new file mode 100644
index 0000000..2631417
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/BA/workspace/install/osc_ros2"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/osc_ros2/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/osc_ros2/hook/ament_prefix_path.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.xml b/workspace/install/osc_ros2/share/osc_ros2/package.xml
new file mode 100644
index 0000000..086e035
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>osc_ros2</name>
+  <version>1.0.0</version>
+  <description>Creates an interface for communication between OSC and ROS2</description>
+  <maintainer email="a.schaefer@tuhh.de">Alexander Schaefer</maintainer>
+  <license>Apache-2.0</license>
+
+  <depend>rclpy</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/workspace/install/osc_ros2/share/osc_ros2/package.zsh b/workspace/install/osc_ros2/share/osc_ros2/package.zsh
new file mode 100644
index 0000000..b8ae59f
--- /dev/null
+++ b/workspace/install/osc_ros2/share/osc_ros2/package.zsh
@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/osc_ros2/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/workspace/install/setup.bash b/workspace/install/setup.bash
new file mode 100644
index 0000000..10ea0f7
--- /dev/null
+++ b/workspace/install/setup.bash
@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/prefix_chain.bash.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_bash_source_script
diff --git a/workspace/install/setup.ps1 b/workspace/install/setup.ps1
new file mode 100644
index 0000000..558e9b9
--- /dev/null
+++ b/workspace/install/setup.ps1
@@ -0,0 +1,29 @@
+# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_chain_powershell_source_script {
+  param (
+    $_colcon_prefix_chain_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_chain_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
+  }
+}
+
+# source chained prefixes
+_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
+
+# source this prefix
+$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
+_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"
diff --git a/workspace/install/setup.sh b/workspace/install/setup.sh
new file mode 100644
index 0000000..fa9641d
--- /dev/null
+++ b/workspace/install/setup.sh
@@ -0,0 +1,45 @@
+# generated from colcon_core/shell/template/prefix_chain.sh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/BA/workspace/install
+if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
+  echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+  unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+  return 1
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_sh_source_script
+unset COLCON_CURRENT_PREFIX
diff --git a/workspace/install/setup.zsh b/workspace/install/setup.zsh
new file mode 100644
index 0000000..54799fd
--- /dev/null
+++ b/workspace/install/setup.zsh
@@ -0,0 +1,31 @@
+# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_zsh_source_script
diff --git a/workspace/log/COLCON_IGNORE b/workspace/log/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/workspace/log/build_2025-05-25_15-14-38/events.log b/workspace/log/build_2025-05-25_15-14-38/events.log
new file mode 100644
index 0000000..52f7dda
--- /dev/null
+++ b/workspace/log/build_2025-05-25_15-14-38/events.log
@@ -0,0 +1,52 @@
+[0.000000] (-) TimerEvent: {}
+[0.000769] (osc_ros2) JobQueued: {'identifier': 'osc_ros2', 'dependencies': OrderedDict()}
+[0.001046] (osc_ros2) JobStarted: {'identifier': 'osc_ros2'}
+[0.098566] (-) TimerEvent: {}
+[0.200450] (-) TimerEvent: {}
+[0.304259] (-) TimerEvent: {}
+[0.405472] (-) TimerEvent: {}
+[0.507304] (-) TimerEvent: {}
+[0.609513] (-) TimerEvent: {}
+[0.668851] (osc_ros2) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../../build/osc_ros2', 'build', '--build-base', '/BA/workspace/build/osc_ros2/build', 'install', '--record', '/BA/workspace/build/osc_ros2/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/BA/workspace/src/osc_ros2', 'env': {'HOSTNAME': '0e38e264ac6b', 'SHLVL': '1', 'LD_LIBRARY_PATH': '/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib', 'HOME': '/root', 'OLDPWD': '/BA', 'ROS_PYTHON_VERSION': '3', 'ROS_DISTRO': 'humble', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'TERM': 'xterm', 'ROS_LOCALHOST_ONLY': '0', 'PATH': '/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin', 'LANG': 'C.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'AMENT_PREFIX_PATH': '/opt/ros/humble', 'PWD': '/BA/workspace/build/osc_ros2', 'LC_ALL': 'C.UTF-8', 'PYTHONPATH': '/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages', 'COLCON': '1'}, 'shell': False}
+[0.710418] (-) TimerEvent: {}
+[0.812364] (-) TimerEvent: {}
+[0.916461] (-) TimerEvent: {}
+[0.930157] (osc_ros2) StdoutLine: {'line': b'running egg_info\n'}
+[0.931065] (osc_ros2) StdoutLine: {'line': b'creating ../../build/osc_ros2/osc_ros2.egg-info\n'}
+[0.931536] (osc_ros2) StdoutLine: {'line': b'writing ../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO\n'}
+[0.932359] (osc_ros2) StdoutLine: {'line': b'writing dependency_links to ../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt\n'}
+[0.932742] (osc_ros2) StdoutLine: {'line': b'writing entry points to ../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt\n'}
+[0.933289] (osc_ros2) StdoutLine: {'line': b'writing requirements to ../../build/osc_ros2/osc_ros2.egg-info/requires.txt\n'}
+[0.933622] (osc_ros2) StdoutLine: {'line': b'writing top-level names to ../../build/osc_ros2/osc_ros2.egg-info/top_level.txt\n'}
+[0.934053] (osc_ros2) StdoutLine: {'line': b"writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'\n"}
+[0.936202] (osc_ros2) StdoutLine: {'line': b"reading manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'\n"}
+[0.937431] (osc_ros2) StdoutLine: {'line': b"writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'\n"}
+[0.937733] (osc_ros2) StdoutLine: {'line': b'running build\n'}
+[0.937983] (osc_ros2) StdoutLine: {'line': b'running build_py\n'}
+[0.938382] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/build/osc_ros2/build\n'}
+[0.938896] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/build/osc_ros2/build/lib\n'}
+[0.939373] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/build/osc_ros2/build/lib/osc_ros2\n'}
+[0.939598] (osc_ros2) StdoutLine: {'line': b'copying osc_ros2/osc_ros2.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2\n'}
+[0.940779] (osc_ros2) StdoutLine: {'line': b'copying osc_ros2/__init__.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2\n'}
+[0.941875] (osc_ros2) StdoutLine: {'line': b'running install\n'}
+[0.942656] (osc_ros2) StdoutLine: {'line': b'running install_lib\n'}
+[0.943416] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2\n'}
+[0.944159] (osc_ros2) StdoutLine: {'line': b'copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2\n'}
+[0.945268] (osc_ros2) StdoutLine: {'line': b'copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2\n'}
+[0.946403] (osc_ros2) StdoutLine: {'line': b'byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py to osc_ros2.cpython-310.pyc\n'}
+[0.964085] (osc_ros2) StdoutLine: {'line': b'byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py to __init__.cpython-310.pyc\n'}
+[0.965778] (osc_ros2) StdoutLine: {'line': b'running install_data\n'}
+[0.966332] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/share/ament_index\n'}
+[0.966697] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index\n'}
+[0.967204] (osc_ros2) StdoutLine: {'line': b'creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages\n'}
+[0.967648] (osc_ros2) StdoutLine: {'line': b'copying resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages\n'}
+[0.968293] (osc_ros2) StdoutLine: {'line': b'copying package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2\n'}
+[0.969222] (osc_ros2) StdoutLine: {'line': b'running install_egg_info\n'}
+[0.971222] (osc_ros2) StdoutLine: {'line': b'Copying ../../build/osc_ros2/osc_ros2.egg-info to /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info\n'}
+[0.977345] (osc_ros2) StdoutLine: {'line': b'running install_scripts\n'}
+[1.001801] (osc_ros2) StdoutLine: {'line': b'Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2\n'}
+[1.002943] (osc_ros2) StdoutLine: {'line': b"writing list of installed files to '/BA/workspace/build/osc_ros2/install.log'\n"}
+[1.017483] (-) TimerEvent: {}
+[1.023489] (osc_ros2) CommandEnded: {'returncode': 0}
+[1.050567] (osc_ros2) JobEnded: {'identifier': 'osc_ros2', 'rc': 0}
+[1.051948] (-) EventReactorShutdown: {}
diff --git a/workspace/log/build_2025-05-25_15-14-38/logger_all.log b/workspace/log/build_2025-05-25_15-14-38/logger_all.log
new file mode 100644
index 0000000..0849fcd
--- /dev/null
+++ b/workspace/log/build_2025-05-25_15-14-38/logger_all.log
@@ -0,0 +1,126 @@
+[0.226s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
+[0.227s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0x7ffffe20d0c0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7ffffe311f30>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7ffffe311f30>>, mixin_verb=('build',))
+[0.381s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.382s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/Gazebo.meta'
+[0.382s] INFO:colcon.colcon_metadata.package_discovery.colcon_meta:Using configuration from '/root/.colcon/metadata/default/fastrtps.meta'
+[0.382s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.382s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.382s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.382s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.382s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.382s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/BA/workspace'
+[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.383s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.394s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.395s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['ignore', 'ignore_ament_install']
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'ignore'
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'ignore_ament_install'
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['colcon_pkg']
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'colcon_pkg'
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['colcon_meta']
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'colcon_meta'
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extensions ['ros']
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(src/osc_ros2) by extension 'ros'
+[0.405s] DEBUG:colcon.colcon_core.package_identification:Package 'src/osc_ros2' with type 'ros.ament_python' and name 'osc_ros2'
+[0.405s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.405s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.405s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.405s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.405s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_args' from command line to 'None'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_target' from command line to 'None'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_clean_cache' from command line to 'False'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_clean_first' from command line to 'False'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'cmake_force_configure' from command line to 'False'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'ament_cmake_args' from command line to 'None'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'catkin_cmake_args' from command line to 'None'
+[0.426s] Level 5:colcon.colcon_core.verb:set package 'osc_ros2' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.426s] DEBUG:colcon.colcon_core.verb:Building package 'osc_ros2' with the following arguments: {'ament_cmake_args': None, 'build_base': '/BA/workspace/build/osc_ros2', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/BA/workspace/install/osc_ros2', 'merge_install': False, 'path': '/BA/workspace/src/osc_ros2', 'symlink_install': False, 'test_result_base': None}
+[0.426s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.429s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.430s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/BA/workspace/src/osc_ros2' with build type 'ament_python'
+[0.430s] Level 1:colcon.colcon_core.shell:create_environment_hook('osc_ros2', 'ament_prefix_path')
+[0.434s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.434s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.ps1'
+[0.436s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.dsv'
+[0.437s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/ament_prefix_path.sh'
+[0.438s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.438s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.704s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/BA/workspace/src/osc_ros2'
+[0.705s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.705s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[1.112s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/BA/workspace/src/osc_ros2': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data
+[1.455s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/BA/workspace/src/osc_ros2' returned '0': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data
+[1.461s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2' for CMake module files
+[1.462s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2' for CMake config files
+[1.465s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/lib'
+[1.465s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/bin'
+[1.465s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/lib/pkgconfig/osc_ros2.pc'
+[1.466s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/lib/python3.10/site-packages'
+[1.466s] Level 1:colcon.colcon_core.shell:create_environment_hook('osc_ros2', 'pythonpath')
+[1.466s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.ps1'
+[1.468s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.dsv'
+[1.469s] INFO:colcon.colcon_core.shell:Creating environment hook '/BA/workspace/install/osc_ros2/share/osc_ros2/hook/pythonpath.sh'
+[1.471s] Level 1:colcon.colcon_core.environment:checking '/BA/workspace/install/osc_ros2/bin'
+[1.472s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(osc_ros2)
+[1.472s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.ps1'
+[1.474s] INFO:colcon.colcon_core.shell:Creating package descriptor '/BA/workspace/install/osc_ros2/share/osc_ros2/package.dsv'
+[1.475s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.sh'
+[1.476s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.bash'
+[1.477s] INFO:colcon.colcon_core.shell:Creating package script '/BA/workspace/install/osc_ros2/share/osc_ros2/package.zsh'
+[1.479s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/BA/workspace/install/osc_ros2/share/colcon-core/packages/osc_ros2)
+[1.481s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[1.481s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[1.481s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[1.482s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[1.512s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send'
+[1.512s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[1.512s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[1.512s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[1.514s] DEBUG:colcon.colcon_notification.desktop_notification.notify2:Failed to initialize notify2: org.freedesktop.DBus.Error.NotSupported: Unable to autolaunch a dbus-daemon without a $DISPLAY for X11
+[1.514s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[1.515s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.ps1'
+[1.517s] INFO:colcon.colcon_core.shell:Creating prefix util module '/BA/workspace/install/_local_setup_util_ps1.py'
+[1.519s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.ps1'
+[1.521s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.sh'
+[1.523s] INFO:colcon.colcon_core.shell:Creating prefix util module '/BA/workspace/install/_local_setup_util_sh.py'
+[1.524s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.sh'
+[1.525s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.bash'
+[1.525s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.bash'
+[1.526s] INFO:colcon.colcon_core.shell:Creating prefix script '/BA/workspace/install/local_setup.zsh'
+[1.527s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/BA/workspace/install/setup.zsh'
diff --git a/workspace/log/build_2025-05-25_15-14-38/osc_ros2/command.log b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/command.log
new file mode 100644
index 0000000..2b1b253
--- /dev/null
+++ b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/BA/workspace/src/osc_ros2': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data
+Invoked command in '/BA/workspace/src/osc_ros2' returned '0': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data
diff --git a/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stderr.log b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stderr.log
new file mode 100644
index 0000000..e69de29
diff --git a/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout.log b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout.log
new file mode 100644
index 0000000..4bb3204
--- /dev/null
+++ b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout.log
@@ -0,0 +1,35 @@
+running egg_info
+creating ../../build/osc_ros2/osc_ros2.egg-info
+writing ../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO
+writing dependency_links to ../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt
+writing entry points to ../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt
+writing requirements to ../../build/osc_ros2/osc_ros2.egg-info/requires.txt
+writing top-level names to ../../build/osc_ros2/osc_ros2.egg-info/top_level.txt
+writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'
+reading manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'
+writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /BA/workspace/build/osc_ros2/build
+creating /BA/workspace/build/osc_ros2/build/lib
+creating /BA/workspace/build/osc_ros2/build/lib/osc_ros2
+copying osc_ros2/osc_ros2.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2
+copying osc_ros2/__init__.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2
+running install
+running install_lib
+creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2
+copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2
+copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2
+byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py to osc_ros2.cpython-310.pyc
+byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py to __init__.cpython-310.pyc
+running install_data
+creating /BA/workspace/install/osc_ros2/share/ament_index
+creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index
+creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
+copying resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
+copying package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2
+running install_egg_info
+Copying ../../build/osc_ros2/osc_ros2.egg-info to /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info
+running install_scripts
+Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2
+writing list of installed files to '/BA/workspace/build/osc_ros2/install.log'
diff --git a/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout_stderr.log b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout_stderr.log
new file mode 100644
index 0000000..4bb3204
--- /dev/null
+++ b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/stdout_stderr.log
@@ -0,0 +1,35 @@
+running egg_info
+creating ../../build/osc_ros2/osc_ros2.egg-info
+writing ../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO
+writing dependency_links to ../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt
+writing entry points to ../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt
+writing requirements to ../../build/osc_ros2/osc_ros2.egg-info/requires.txt
+writing top-level names to ../../build/osc_ros2/osc_ros2.egg-info/top_level.txt
+writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'
+reading manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'
+writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'
+running build
+running build_py
+creating /BA/workspace/build/osc_ros2/build
+creating /BA/workspace/build/osc_ros2/build/lib
+creating /BA/workspace/build/osc_ros2/build/lib/osc_ros2
+copying osc_ros2/osc_ros2.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2
+copying osc_ros2/__init__.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2
+running install
+running install_lib
+creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2
+copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2
+copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2
+byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py to osc_ros2.cpython-310.pyc
+byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py to __init__.cpython-310.pyc
+running install_data
+creating /BA/workspace/install/osc_ros2/share/ament_index
+creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index
+creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
+copying resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
+copying package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2
+running install_egg_info
+Copying ../../build/osc_ros2/osc_ros2.egg-info to /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info
+running install_scripts
+Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2
+writing list of installed files to '/BA/workspace/build/osc_ros2/install.log'
diff --git a/workspace/log/build_2025-05-25_15-14-38/osc_ros2/streams.log b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/streams.log
new file mode 100644
index 0000000..d2168de
--- /dev/null
+++ b/workspace/log/build_2025-05-25_15-14-38/osc_ros2/streams.log
@@ -0,0 +1,37 @@
+[0.680s] Invoking command in '/BA/workspace/src/osc_ros2': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data
+[0.930s] running egg_info
+[0.930s] creating ../../build/osc_ros2/osc_ros2.egg-info
+[0.931s] writing ../../build/osc_ros2/osc_ros2.egg-info/PKG-INFO
+[0.931s] writing dependency_links to ../../build/osc_ros2/osc_ros2.egg-info/dependency_links.txt
+[0.932s] writing entry points to ../../build/osc_ros2/osc_ros2.egg-info/entry_points.txt
+[0.932s] writing requirements to ../../build/osc_ros2/osc_ros2.egg-info/requires.txt
+[0.933s] writing top-level names to ../../build/osc_ros2/osc_ros2.egg-info/top_level.txt
+[0.933s] writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'
+[0.935s] reading manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'
+[0.936s] writing manifest file '../../build/osc_ros2/osc_ros2.egg-info/SOURCES.txt'
+[0.937s] running build
+[0.937s] running build_py
+[0.938s] creating /BA/workspace/build/osc_ros2/build
+[0.938s] creating /BA/workspace/build/osc_ros2/build/lib
+[0.938s] creating /BA/workspace/build/osc_ros2/build/lib/osc_ros2
+[0.939s] copying osc_ros2/osc_ros2.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2
+[0.940s] copying osc_ros2/__init__.py -> /BA/workspace/build/osc_ros2/build/lib/osc_ros2
+[0.941s] running install
+[0.942s] running install_lib
+[0.943s] creating /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2
+[0.943s] copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/osc_ros2.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2
+[0.944s] copying /BA/workspace/build/osc_ros2/build/lib/osc_ros2/__init__.py -> /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2
+[0.945s] byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/osc_ros2.py to osc_ros2.cpython-310.pyc
+[0.964s] byte-compiling /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2/__init__.py to __init__.cpython-310.pyc
+[0.965s] running install_data
+[0.965s] creating /BA/workspace/install/osc_ros2/share/ament_index
+[0.966s] creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index
+[0.966s] creating /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
+[0.967s] copying resource/osc_ros2 -> /BA/workspace/install/osc_ros2/share/ament_index/resource_index/packages
+[0.967s] copying package.xml -> /BA/workspace/install/osc_ros2/share/osc_ros2
+[0.970s] running install_egg_info
+[0.970s] Copying ../../build/osc_ros2/osc_ros2.egg-info to /BA/workspace/install/osc_ros2/lib/python3.10/site-packages/osc_ros2-1.0.0-py3.10.egg-info
+[0.977s] running install_scripts
+[1.001s] Installing interface script to /BA/workspace/install/osc_ros2/lib/osc_ros2
+[1.002s] writing list of installed files to '/BA/workspace/build/osc_ros2/install.log'
+[1.023s] Invoked command in '/BA/workspace/src/osc_ros2' returned '0': PYTHONPATH=/BA/workspace/build/osc_ros2/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/BA/workspace/install/osc_ros2/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/osc_ros2 build --build-base /BA/workspace/build/osc_ros2/build install --record /BA/workspace/build/osc_ros2/install.log --single-version-externally-managed install_data
diff --git a/workspace/log/latest b/workspace/log/latest
new file mode 120000
index 0000000..b57d247
--- /dev/null
+++ b/workspace/log/latest
@@ -0,0 +1 @@
+latest_build
\ No newline at end of file
diff --git a/workspace/log/latest_build b/workspace/log/latest_build
new file mode 120000
index 0000000..7b3fb52
--- /dev/null
+++ b/workspace/log/latest_build
@@ -0,0 +1 @@
+build_2025-05-25_15-14-38
\ No newline at end of file
diff --git a/workspace/src/osc_ros2/osc_ros2/osc_ros2.py b/workspace/src/osc_ros2/osc_ros2/osc_ros2.py
index 6f13d2c..6eb5678 100644
--- a/workspace/src/osc_ros2/osc_ros2/osc_ros2.py
+++ b/workspace/src/osc_ros2/osc_ros2/osc_ros2.py
@@ -923,7 +923,7 @@ def main():
         use_urdf = input("Do you have a URDF file you want to use? (y/n): ").strip().lower()
         if use_urdf == 'y':
             while True:
-                robot_urdf = input("Enter the path to the URDF file: ")
+                robot_urdf = input("Enter the absolute path to the URDF file: ")
                 if os.path.isfile(robot_urdf):
                     if not robot_urdf.endswith('.urdf'):
                         print("The file is not a URDF file. Please enter a valid URDF file.")
@@ -956,7 +956,7 @@ def main():
                 try:
                     print('-+'*50)
                     print("The cost mask determines which coordinates are used for the IK.\nEach element of the cost mask corresponds to a Cartesian coordinate [x, y, z, roll, pitch, yaw].")
-                    print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.")
+                    print("The cost mask 111000 means that the IK will only consider translation and no rotaion.")
                     cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")]
                     if sum(cost_mask) <= robot.n and len(cost_mask) == 6:
                         break