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{
    "phases": [
        {
            "activity": {
                "category": "go_to_place",
                "description": "hardware_2"
            },
            "on_cancel": [
                {
                    "category": "go_to_place",

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ros2 launch rmf_demos_gz_classic office.launch.xml 
[INFO] [launch]: All log files can be found below /home/krms/.ros/log/2024-01-29-14-19-10-683060-krms-115814
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rmf_traffic_schedule-1]: process started with pid [115816]
[INFO] [rmf_traffic_blockade-2]: process started with pid [115818]
[INFO] [building_map_server-3]: process started with pid [115820]
[INFO] [schedule_visualizer_node-4]: process started with pid [115822]
[INFO] [fleetstates_visualizer_node-5]: process started with pid [115824]
[INFO] [rmf_visualization_building_systems-6]: process started with pid [115826]
[INFO] [navgraph_visualizer_node-7]: process started with pid [115828]

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fn main() {
    // BasicExecutor will be the executor that we provide out-of-the-box from rclrs.
    // Using the plain new() constructor for BasicExecutor will create a Context using
    // the user's command line arguments.
    let mut executor = rclrs::BasicExecutor::new();

    // String-like types can be automatically converted into NodeOptions.
    let node = executor.create_node("mobility");

    // Create a "worker" that manages some data that callbacks associated with this worker

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use bevy::{
    prelude::*,
    render::mesh::shape::{Box, UVSphere},
    window::close_on_esc,
};

use bevy_mod_outline::*;

#[bevy_main]
fn main() {

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#![feature(array_windows)]

use std::f32::consts::PI;

use bevy::{
    prelude::*,
    render::mesh::{PrimitiveTopology, Indices},
    window::close_on_esc,
};

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[package]
name = "depth_bias_test"
version = "0.1.0"
edition = "2021"

# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

[dependencies]
bevy = "0.9"

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use std::f32::consts::PI;

use bevy::{
    prelude::*,
    render::mesh::{PrimitiveTopology, Indices},
    window::close_on_esc,
};

use bevy_mod_outline::*;

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fn serve_customer<C>(mut customer: &C) -> u32
where
    // When a trait bound is wrapped in [], that means it's optional
    C: Noisy + [Hungry] + [Thirsty]
{
    // Mandatory trait bounds can always be called
    let order = customer.talk();
    
    let food_price: u32 = with C as Hungry {
        // This block only gets compiled if C implements Hungry.

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use std::{sync::Arc, ops::Deref};

fn main() {
    listen(Arc::new(Foo));
}

fn listen<N: Noisy>(n: N) {
    n.noise();
}

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#!/bin/bash
. /ros/install/setup.bash
echo "Same host publisher setting is $ROS_AUTOMATIC_DISCOVERY_RANGE, static peers is ${ROS_STATIC_PEERS}"

ROS_AUTOMATIC_DISCOVERY_RANGE=OFF ROS_STATIC_PEERS="" ros2 topic echo --timeout 15 --once /test_topic std_msgs/String > /results/no_discovery_no_static/subscriber &
ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST ROS_STATIC_PEERS="" ros2 topic echo --timeout 15 --once /test_topic std_msgs/String > /results/localhost_no_static/subscriber &
ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET ROS_STATIC_PEERS="" ros2 topic echo --timeout 15 --once /test_topic std_msgs/String > /results/subnet_no_static/subscriber &
ROS_AUTOMATIC_DISCOVERY_RANGE=OFF ROS_STATIC_PEERS="10.0.0.2" ros2 topic echo --timeout 15 --once /test_topic std_msgs/String > /results/no_discovery_static/subscriber &
ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST ROS_STATIC_PEERS="10.0.0.2" ros2 topic echo --timeout 15 --once /test_topic std_msgs/String > /results/localhost_static/subscriber &
ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET ROS_