diff --git a/.env b/.env index 079796374..c72da1118 100644 --- a/.env +++ b/.env @@ -33,8 +33,13 @@ ISAAC_SIM_GUI="/isaac-sim/AirStack/simulation/isaac-sim/assets/scenes/simple_peg # Set to "true" to launch Isaac Sim using a standalone Python script instead of USD file ISAAC_SIM_USE_STANDALONE="true" # "true" or "false" # Script name (must be in /AirStack/simulation/isaac-sim/launch_scripts/) -ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_launch_script.py" -PLAY_SIM_ON_START="false" +ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_degraded_gps_launch_script.py" +PLAY_SIM_ON_START="true" +USE_DEGRADED_GPS="true" +GPS_DEGRADATION_SCENARIO="urban" +GPS_PACKAGES_DIR="/home/ubuntu/Downloads/gps_packages" +CITY_SCENE_DIR="/home/ubuntu/Downloads/CCity_Building_Set_1" +PUBLISH_RAW_ROS_GPS="true" # =============================================== @@ -49,7 +54,7 @@ ROBOT_NAME_MAP_CONFIG_FILE="default_robot_name_map.yaml" # Determines how to se URDF_FILE="robot_descriptions/iris/urdf/iris_with_sensors.pegasus.robot.urdf" -DEBUG_RVIZ="false" # "true" or "false". If true, launches RViz alongside the robot via desktop_bringup/robot.launch.xml. +DEBUG_RVIZ="true" # "true" or "false". If true, launches RViz alongside the robot via desktop_bringup/robot.launch.xml. # offboard API streaming out. this is so that ports don't conflict for multi-agent FCU communication. OFFBOARD_BASE_PORT=14540 diff --git a/AGENTS.md b/AGENTS.md index f9eed977c..be79ca242 100644 --- a/AGENTS.md +++ b/AGENTS.md @@ -337,6 +337,7 @@ Each major component has its own Docker container: - Main compose file: `docker-compose.yaml` (includes all component compose files) - Environment variables: top-level [`.env`](.env) (image tags, `VERSION`, `NUM_ROBOTS`, `ROBOT_NAME_MAP_CONFIG_FILE`, `ISAAC_SIM_SCRIPT_NAME`, `AUTONOMY_ROLE`, etc.) - Per-container shell init: [`robot/docker/.bashrc`](robot/docker/.bashrc) — resolves `ROBOT_NAME` and `ROS_DOMAIN_ID` at startup (see Multi-Robot Configuration below) +- Isaac Sim standalone scripts run inside a tmux shell, so Python dependency paths must also survive the [`simulation/isaac-sim/docker/.bashrc`](simulation/isaac-sim/docker/.bashrc) recomputation of `ISAAC_SIM_PYTHONPATH`; setting the Compose environment alone is insufficient. **Networking:** Custom bridge network (172.31.0.0/24) for inter-container communication. diff --git a/airstack_gps_degradation_design_plan.md b/airstack_gps_degradation_design_plan.md new file mode 100644 index 000000000..8f796bcbe --- /dev/null +++ b/airstack_gps_degradation_design_plan.md @@ -0,0 +1,3935 @@ +# AirStack GPS Degradation — Complete Reference +### Issue #345 · CMU AirLab Internship · Branch: `apurva/test-2` + +**Author:** Apurva Singh · CMU AirLab Intern +**Date:** May 13, 2026 +**Repos:** [castacks/AirStack @ apurva/test-2](https://github.com/castacks/AirStack/tree/apurva/test-2) · [castacks/PegasusSimulator-AirStack-Integration](https://github.com/castacks/PegasusSimulator-AirStack-Integration) +**Papers:** Cuenca et al. (2023) · Pant et al. (2022) · Lee et al. (2020) · GNSS Multipath Ray-Tracing (2026) + +> **For VS Code AI Agent (Copilot):** This document is your single source of truth for Issue #345. It contains the full GPS degradation design plan, paper reading guide with hardware applicability, SITL testing instructions, and a complete AirStack project reference extracted from the official docs. Start at §Part I for project orientation, §Part III for the GPS implementation design, §Part IV for paper guidance, and §Part V for SITL testing. + +--- + +## Table of Contents + +- [Part I — AirStack Project Reference](#part-i--airstack-project-reference) + - [1. What AirStack Is](#1-what-airstack-is) + - [2. Getting Started](#2-getting-started) + - [3. Docker Workflow](#3-docker-workflow) + - [4. Development Environment & VS Code](#4-development-environment--vs-code) + - [5. System Architecture](#5-system-architecture) + - [6. Simulation — Isaac Sim & Pegasus](#6-simulation--isaac-sim--pegasus) + - [7. Spawning Drones & GPS Homes](#7-spawning-drones--gps-homes) + - [8. Testing Infrastructure](#8-testing-infrastructure) + - [9. Robot Autonomy Stack](#9-robot-autonomy-stack) + - [10. Frame Conventions](#10-frame-conventions) + - [11. AI Agent Quick Commands](#11-ai-agent-quick-commands) + +- [Part II — Issue #345 Context](#part-ii--issue-345-context) + - [12. Problem Statement](#12-problem-statement) + - [13. GPS Pipeline Map in AirStack](#13-gps-pipeline-map-in-airstack) + +- [Part III — GPS Degradation Design Plan](#part-iii--gps-degradation-design-plan) + - [14. Proposed Architecture: DegradedGPS](#14-proposed-architecture-degradedgps) + - [15. Tier 1 — Cuenca DOP-Driven Model](#15-tier-1--cuenca-dop-driven-model) + - [16. Tier 2 — Pant Multipath Ray-Tracing Model](#16-tier-2--pant-multipath-ray-tracing-model) + - [17. Tier 3 — Jamming and Signal Denial Model](#17-tier-3--jamming-and-signal-denial-model) + - [18. Configuration Schema](#18-configuration-schema) + - [19. Integration Points & Key Decision](#19-integration-points--key-decision) + - [20. Data Flow Diagram](#20-data-flow-diagram) + - [21. File Locations for Implementation](#21-file-locations-for-implementation) + +- [Part IV — Paper Reading Guide & Hardware Applicability](#part-iv--paper-reading-guide--hardware-applicability) + - [22. Cuenca et al. (2023)](#22-cuenca-et-al-2023) + - [23. Pant et al. (2022)](#23-pant-et-al-2022) + - [24. Lee et al. (2020)](#24-lee-et-al-2020) + - [25. GNSS Multipath Ray-Tracing (2026)](#25-gnss-multipath-ray-tracing-2026) + - [26. Hardware Applicability Summary Table](#26-hardware-applicability-summary-table) + +- [Part V — SITL Testing Guide (No Hardware Required)](#part-v--sitl-testing-guide-no-hardware-required) + - [27. Prerequisites](#27-prerequisites) + - [28. Step-by-Step: First SITL Run](#28-step-by-step-first-sitl-run) + - [29. Writing GPS Degradation Test Scenarios](#29-writing-gps-degradation-test-scenarios) + - [30. Monitoring with Foxglove](#30-monitoring-with-foxglove) + - [31. Recording & Replaying ROS Bags](#31-recording--replaying-ros-bags) + - [32. Running Formal Tests with airstack test](#32-running-formal-tests-with-airstack-test) + - [33. Codebase Feasibility Analysis](#33-codebase-feasibility-analysis) + +- [Part VI — Limitations](#part-vi--limitations) + - [34. Limitations](#34-limitations) + +- [Part VII — Additional Literature & References](#part-vii--additional-literature--references) + - [35. Additional Literature](#35-additional-literature) + - [36. References](#36-references) + +--- + +# Part I — AirStack Project Reference + +## 1. What AirStack Is + +AirStack is CMU AirLab's boilerplate for multi-robot aerial autonomy. It is a full-stack framework designed for real-world deployment with TAK integration. Key characteristics: + +- **Currently in ALPHA** — internal use only, API not stable, requires AirLab accounts for Docker registry and Nucleus server access +- **Stack layers:** Interface → Sensors → Perception → Local → Global → Behavior +- **Simulation backend:** NVIDIA Isaac Sim + Pegasus Simulator (flight dynamics + PX4 SITL) +- **Legacy sim:** Microsoft AirSim (still supported but not primary) +- **State estimation:** MACVIO (`macvo_ros2`) — visual-inertial odometry that fuses GPS +- **Flight controller:** PX4 SITL over MAVLink +- **All development is Docker-based** — no native installs needed except Docker + NVIDIA Container Toolkit +- **Hardware:** Ubuntu 22.04 host, NVIDIA RTX 3070+ (RTX 4080+ recommended for Isaac), 32 GB RAM, 100 GB SSD + +--- + +## 2. Getting Started + +### Prerequisites +- Ubuntu 22.04 LTS (primary test platform) +- NVIDIA RTX 3070+ GPU with latest drivers +- 16 GB RAM minimum, 32 GB+ recommended +- 100 GB+ free SSD space +- AirLab account (for Docker registry: `airlab-docker.andrew.cmu.edu` and Nucleus server) + +### Clone and Install + +```bash +git clone --recursive -j8 git@github.com:castacks/AirStack.git +cd AirStack +./airstack.sh install # installs Docker, docker-compose, NVIDIA Container Toolkit +./airstack.sh setup # adds `airstack` CLI to PATH, sets up keys +source ~/.bashrc # or ~/.zshrc +``` + +### Pull Docker Images (Preferred) + +```bash +cd AirStack/ +docker login airlab-docker.andrew.cmu.edu +# Enter Andrew ID (without @andrew.cmu.edu) and password +airstack image-pull +``` + +Images are large (~25 GB). Alternative is `airstack image-build` from scratch (requires NVIDIA NGC access). + +### Launch Everything + +```bash +airstack up # starts robot, GCS, and Isaac Sim +airstack down # stops and removes all containers +``` + +The default `.env` launches the scene at `ISAAC_SIM_GUI` path and runs `example_one_px4_pegasus_launch_script.py`. + +### Move the Robot +Open RViz → click **Takeoff** → then **Navigate** or **Explore** in the trajectory window. + +### For Your Branch + +```bash +git checkout apurva/test-2 +git submodule update --init --recursive +``` + +--- + +## 3. Docker Workflow + +### Core Commands + +```bash +# Lifecycle +airstack up # start all (robot + GCS + isaac-sim) +airstack up robot-desktop # start only robot +airstack up isaac-sim # start only simulator +airstack down # stop + remove all +airstack status # show running containers +airstack connect robot # bash shell in robot container +airstack connect isaac-sim # bash shell in isaac container +airstack logs robot # view logs + +# Images +docker compose pull # pull from registry +docker compose build # build from scratch +airstack image-push # push to registry (if you have permissions) +``` + +### Environment Variable Overrides + +```bash +# All variables from .env can be overridden inline: +PLAY_SIM_ON_START=false airstack up # don't auto-play sim +AUTOLAUNCH=false airstack up # spawn idle containers (good for debugging) +NUM_ROBOTS=2 airstack up # launch 2 robots +ISAAC_SIM_SCRIPT_NAME=my_script.py airstack up # use your launch script +``` + +### Key `.env` Variables + +```bash +PROJECT_NAME="airstack" +VERSION="0.18.0-alpha.5" +COMPOSE_PROFILES="desktop,isaac-sim" +AUTOLAUNCH="true" +NUM_ROBOTS="1" +RECORD_BAGS="false" + +# Isaac Sim +ISAAC_SIM_GUI="/isaac-sim/AirStack/simulation/isaac-sim/assets/scenes/simple_pegasus.scene.usd" +ISAAC_SIM_USE_STANDALONE="true" +ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_launch_script.py" +PLAY_SIM_ON_START="false" + +# PX4 Physics +PX4_PHYSICS_HZ="100" # 100 Hz = AirStack default (minimum for EKF2) +PX4_RENDERING_HZ="30" + +# Robot +OFFBOARD_BASE_PORT=14540 +ONBOARD_BASE_PORT=14580 +``` + +### Multi-Robot + +```bash +NUM_ROBOTS=2 airstack up +airstack connect robot-1 # robot with ROS_DOMAIN_ID=1 +airstack connect robot-2 # robot with ROS_DOMAIN_ID=2 +``` + +### Inside Robot Container Aliases + +```bash +bws # colcon build (full workspace) +bws --packages-select my_package # build only one package +bws --packages-select my_package --cmake-args '-DCMAKE_BUILD_TYPE=Debug' +sws # source install/setup.bash +cws # clean (remove build/install/log) +ros2 launch robot_bringup robot.launch.xml # top-level launch +``` + +### Inside Isaac Sim Container + +```bash +runapp # launch Isaac Sim GUI +runapp --path /path/to/scene.usd # load a specific USD scene +./runheadless.native.sh # headless mode (stream to Omniverse client) +./runheadless.webrtc.sh # headless mode (stream to web browser) +ros2 launch isaacsim run_isaacsim.launch.py # ROS 2 launch mode +``` + +--- + +## 4. Development Environment & VS Code + +### System Requirements + +| Component | Minimum | Recommended | +|-----------|---------|-------------| +| OS | Ubuntu 22.04 | Ubuntu 22.04/24.04 | +| CPU | 8 cores | 16+ cores | +| RAM | 16 GB | 32+ GB | +| GPU | NVIDIA RTX 3070 | NVIDIA RTX 4080+ | +| Storage | 100 GB SSD | 200 GB+ SSD | + +### VS Code Setup + +1. Open the AirStack folder in VS Code on your **host machine** +2. Install recommended extensions from `.vscode/extensions.json` (VS Code will prompt) +3. Key extensions: ROS, C/C++, Python, Docker, CMake Tools, YAML, **Dev Containers** + +### Attaching VS Code to a Docker Container + +1. Start the container: `airstack up robot-desktop` +2. Open Command Palette (`F1`) → **Dev Containers: Reopen in Container** → select "Robot Container" or "GCS Container" +3. VS Code now runs inside the container — IntelliSense, debugger, and terminal all work natively + +> **File permission warning:** Files created inside the container are owned by root. Fix with: `sudo chown -R $USER:$USER .` + +### Building Inside VS Code + +- `Ctrl-Shift-B` → runs `bws --cmake-args '-DCMAKE_BUILD_TYPE=Debug'` (debug build with symbols) +- Build tasks defined in `.vscode/tasks.json` + +### Debugging + +- `F5` → launches `robot.launch.xml` with debugger attached +- Uses **Robot Developers Extension for ROS2** — supports breakpoints in ROS 2 nodes inside containers +- Launch configs in `.vscode/launch.json` + +### Quick Development Loop + +```bash +# Terminal 1 — idle containers (no autolaunch so you control what runs) +AUTOLAUNCH=false airstack up robot-desktop + +# Terminal 2 — build and test your package +docker exec airstack-robot-desktop-1 bash -c "bws --packages-select degraded_gps && sws && ros2 launch degraded_gps test.launch.xml" +``` + +--- + +## 5. System Architecture + +AirStack uses a **layered autonomy architecture**. Data flows up through sensing and down through acting: + +``` +Hardware / Isaac Sim + │ + ▼ +┌─────────────────────────────────────────────────────────────┐ +│ Interface Layer — Hardware abstraction, MAVLink, safety │ +│ mavros_interface · drone_safety_monitor · robot_interface │ +│ Topics out: /{robot}/interface/mavros/state │ +│ /{robot}/interface/mavros/local_position/pose │ +└──────────────────────────────┬──────────────────────────────┘ + │ + ▼ +┌─────────────────────────────────────────────────────────────┐ +│ Sensors Layer — Processing and calibration │ +│ camera_param_server · gimbal_stabilizer · lidar filter │ +│ Topics out: /{robot}/sensors/{name}/image │ +│ /{robot}/sensors/front_stereo/disparity │ +└──────────────────────────────┬──────────────────────────────┘ + │ + ▼ +┌─────────────────────────────────────────────────────────────┐ +│ Perception Layer — State estimation │ +│ macvo_ros2 (MACVIO) — visual-inertial + GPS fusion │ +│ Topics out: /{robot}/odometry │ +│ /{robot}/perception/macvo/depth │ +└──────────────┬──────────────────────────┬───────────────────┘ + │ │ + ▼ ▼ +┌──────────────────────┐ ┌──────────────────────────────────┐ +│ Local Layer │ │ Global Layer │ +│ DROAN, Trajectory │ │ VDB Mapping, Random Walk │ +│ Controller │ │ Topics: /{robot}/global_plan │ +└──────────┬───────────┘ └──────────────────────────────────┘ + │ + ▼ +┌─────────────────────────────────────────────────────────────┐ +│ Behavior Layer — Mission execution │ +│ behavior_tree · behavior_executive · rqt_behavior_tree │ +└─────────────────────────────────────────────────────────────┘ +``` + +### Topic Naming Convention + +``` +/{robot_name}/{layer}/{module}/{data_type} +# Example: /drone1/local_planner/droan/trajectory +``` + +### Standard Topics for GPS/State + +``` +/{robot}/odometry — primary state estimate (from MACVIO) +/{robot}/interface/mavros/state — PX4/MAVROS flight state +/{robot}/interface/mavros/local_position/pose — local pose +/{robot}/interface/mavros/imu/data — IMU data +/{robot}/interface/mavros/global_position/raw/fix — GPS NavSatFix (from PX4) +``` + +### Node Types + +- **Perpetual nodes** — run continuously (state estimator, trajectory controller, behavior tree tick) +- **Task executors** — ROS 2 action servers, activated on demand (planners, takeoff/land) + +### Update Rates + +| Layer | Module | Rate | +|-------|--------|------| +| Interface | MAVROS | 50 Hz | +| Sensors | Camera | 30 Hz | +| Sensors | Disparity | 15 Hz | +| Perception | MACVIO | 30 Hz | +| Local Planner | DROAN | 10 Hz | +| Local Controller | Trajectory | 50 Hz | +| Global Planner | Path | 1 Hz | +| Behavior | BT Tick | 10 Hz | + +--- + +## 6. Simulation — Isaac Sim & Pegasus + +### How it Works + +Pegasus Simulator is a multirotor simulation framework built on Isaac Sim's physics engine. AirStack maintains a [fork of Pegasus](https://github.com/castacks/PegasusSimulator-AirStack-Integration) that: +- Wraps Pegasus in an **OmniGraph node** (so scenes can be saved as USD files) +- Connects directly to PX4 SITL via MAVLink +- Provides GPS, IMU, ZED stereo, and optional Ouster LiDAR sensors + +### Launch Modes + +Controlled by `.env`: + +```bash +# Mode 1: Load a saved USD file (faster startup) +ISAAC_SIM_USE_STANDALONE="false" +ISAAC_SIM_GUI="omniverse://airlab-nucleus.andrew.cmu.edu/Library/.../iris_with_sensors.pegasus.robot.usd" + +# Mode 2: Generate scene from Python script (more flexible) +ISAAC_SIM_USE_STANDALONE="true" +ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_launch_script.py" +``` + +**Recommended workflow:** Generate with standalone script first, save as USD, then use Mode 1 for speed. + +### Launch Scripts Location + +``` +simulation/isaac-sim/launch_scripts/ +├── barebones_pegasus_launch.py # minimal template +├── example_one_px4_pegasus_launch_script.py # single drone with full sensors +├── example_multi_px4_pegasus_launch_script.py # multiple drones, same env +└── example_multi_drone_scene_import.py # multiple drones + imported USD scene +``` + +### scene_prep Utilities + +```python +# All scripts add utils/ to sys.path first: +sys.path.insert(0, os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "utils"))) +import scene_prep +from scene_prep import scale_stage_prim, add_colliders, add_dome_light, save_scene_as_contained_usd + +# Critical: always call in this order +scale_stage_prim(stage, "/World/Environment", 0.01) # if asset is in cm +add_colliders(stage_prim) # must be called or drone falls through floor +# Pump 10+ update() calls after add_colliders before spawning +for _ in range(10): + omni.kit.app.get_app().update() +``` + +### Physics Rate + +```bash +# AirStack default (in .env): +PX4_PHYSICS_HZ="100" # minimum for PX4 EKF2 (10ms period) +PX4_RENDERING_HZ="30" + +# Pegasus default is 250 Hz — too slow with full sensor suite +# 100 Hz is stable; 200 Hz is good balance; 400 Hz is max tested +``` + +### Common Pitfalls + +| Symptom | Cause | Fix | +|---------|-------|-----| +| Drone falls through floor | `add_colliders` not called | Call `add_colliders(stage_prim)` after loading env | +| Drone spawns at wrong height | cm-scale scene, coordinates not converted | Multiply `init_pos` by `scene_scale` from `get_stage_meters_per_unit` | +| Pegasus node not recognized | Extension not autoloaded | Window → Extensions → Third Party → search "pegasus" → enable AUTOLOAD, restart container | +| Stereo camera fails to init | Init race condition | Press Start → Stop → Start in Isaac Sim toolbar | +| Physics erratic after colliders | Update frames not pumped | Call `app.update()` ≥10 times after `add_colliders` | + +--- + +## 7. Spawning Drones & GPS Homes + +### DRONE_CONFIGS Pattern + +```python +# In your launch script: +DRONE_CONFIGS = [ + {"domain_id": 1, "x_m": -3.0, "y_m": 3.5, "z_m": 0.15, "orient": [0, 0, 0, 1]}, + {"domain_id": 2, "x_m": 3.0, "y_m": 3.0, "z_m": 0.15, "orient": [0, 0, 0, 1]}, +] +# domain_id = ROS_DOMAIN_ID and PX4 vehicle ID +# +X = East, +Y = North, +Z = Up (world frame) +``` + +### GPS Home Coordinates + +```python +from gps_utils import set_gps_origins, DEFAULT_WORLD_ORIGIN + +# Set GPS origins BEFORE spawning vehicles +set_gps_origins(DRONE_CONFIGS) # uses DEFAULT_WORLD_ORIGIN = Lisbon (38.74°N, 9.14°W) + +# For Pittsburgh (AirLab location): +set_gps_origins(DRONE_CONFIGS, world_origin=(40.4433, -79.9436, 280.0)) +``` + +`gps_utils.py` writes `PX4_HOME_LAT_`, `PX4_HOME_LON_`, `PX4_HOME_ALT_` as environment variables, which Pegasus picks up when building each drone's `PX4MavlinkBackendConfig`. + +### Common GPS Home Issues + +| Symptom | Cause | Fix | +|---------|-------|-----| +| Drone at world origin in Foxglove | `set_gps_origins` called after spawn | Move call before vehicle spawning | +| Map centers on wrong city | Wrong `world_origin` | Override second arg to `set_gps_origins` | +| Position drifts wrong compass direction | Stage axis mismatch | Swap `x_m` ↔ `y_m` in `gps_utils.compute_gps_origin` | + +--- + +## 8. Testing Infrastructure + +### Test Suite Overview + +All tests live in `tests/` at the repo root. Run via `airstack test` (containerized) or direct `pytest`. + +| Module | Mark | What It Tests | GPU Required | +|--------|------|---------------|-------------| +| `test_build_docker.py` | `build_docker` | Docker image builds | No | +| `test_build_packages.py` | `build_packages` | `colcon build` in all containers | No | +| `test_liveliness.py` | `liveliness` | Stack bringup: containers, /clock, tmux, nodes, compute | Yes | +| `test_sensors.py` | `sensors` | Stereo/depth Hz, LiDAR stream, RTF | Yes | +| `test_takeoff_hover_land.py` | `takeoff_hover_land` | Full flight: arm → takeoff → hover → land | Yes | + +### Running Tests + +```bash +# Build tests only (fast, no GPU) +airstack test -m "build_docker or build_packages" -v + +# Liveliness check +airstack test -m liveliness --sim msairsim --num-robots 1 --stress-iterations 1 --stable-duration 60 -v + +# Sensor streams with Isaac Sim +airstack test -m sensors --sim isaacsim --num-robots 1 --stress-iterations 1 --stable-duration 60 -v + +# Full flight test +airstack test -m takeoff_hover_land --sim msairsim --num-robots 1 --stress-iterations 1 --takeoff-velocities 0.5,1,2 -v + +# GUI mode (for visual inspection) +airstack test -m liveliness --gui -v + +# Direct pytest (faster iteration, needs local Python) +export AIRSTACK_ROOT=$(pwd) +pip install -r tests/requirements.txt +pytest tests/ -m liveliness --sim isaacsim --num-robots 1 --stress-iterations 1 -v +``` + +### CLI Options Reference + +| Option | Default | Description | +|--------|---------|-------------| +| `--sim` | `msairsim,isaacsim` | Simulator targets | +| `--num-robots` | `1,3` | Robot counts | +| `--stress-iterations` | `3` | Up/down cycles per config | +| `--stable-duration` | `120` | Seconds to poll for stability | +| `--stable-interval` | `10` | Seconds between polls | +| `--gui` | off | Show simulator GUI | +| `--takeoff-velocities` | `0.5,1,2` | Velocities in m/s | + +### Takeoff/Hover/Land Test Phases + +| Phase | Test | What Happens | +|-------|------|--------------| +| 1 | `test_px4_ready` | Waits for MAVROS + PX4 EKF ready | +| 2 | `test_takeoff` | TakeoffTask → assert altitude within 10% | +| 3 | `test_hover` | Capture odom 10 s → assert drift < 0.5 m | +| 4 | `test_landing` | LandTask → assert final altitude < 0.5 m | + +### Output Files + +``` +tests/results/2025-04-21_14-30-00/ +├── results.xml # JUnit XML +├── metrics.json # image sizes, Hz, compute, timing +└── logs/ + ├── test_build_docker.TestDockerBuilds.test_build_robot_desktop.log + ├── test_liveliness.TestLiveliness.test_robot_containers_running[isaacsim-rob#1-iter0].log + └── ... +``` + +### Metrics Reporting + +```bash +# Single run report +python tests/parse_metrics.py --current tests/results/2025-04-21_14-30-00/ + +# Regression check vs baseline +python tests/parse_metrics.py \ + --current tests/results/2025-04-21_14-30-00/ \ + --baseline tests/results/2025-04-20_09-00-00/ \ + --threshold 20 \ + --output report.md +``` + +--- + +## 9. Robot Autonomy Stack + +### Integration Checklist (when adding DegradedGPS) + +- [ ] Package placed in correct layer directory (Sensors layer) +- [ ] `package.xml` with all dependencies +- [ ] Launch file with topic remapping using `$(env ROBOT_NAME)` +- [ ] Config file with parameters (YAML) +- [ ] README.md with documentation +- [ ] Added to layer bringup launch file +- [ ] Added to `mkdocs.yml` navigation +- [ ] Tested standalone +- [ ] Tested in full stack with `airstack up` +- [ ] Tested in simulation with `airstack test` + +### ROS Bag Recording + +```bash +# Record all topics +docker exec airstack-robot-desktop-1 bash -c "ros2 bag record -a -o /tmp/gps_test" + +# Record specific GPS/odom topics only +docker exec airstack-robot-desktop-1 bash -c \ + "ros2 bag record /robot_1/odometry /robot_1/interface/mavros/global_position/raw/fix /robot_1/interface/mavros/state -o /tmp/gps_degradation_test" + +# Play back +ros2 bag play /tmp/gps_degradation_test +``` + +### Ground Control Station (Foxglove) + +```bash +airstack up gcs # starts Foxglove-based GCS +``` + +Foxglove connects automatically. The Map panel centers on the GPS home coordinate set by `gps_utils`. + +### Autonomy Modes + +The robot can be in multiple modes: `GUIDED`, `AUTO`, `OFFBOARD` (PX4-level) and higher-level behavior tree modes. For GPS degradation testing, keep mode as `OFFBOARD` or use the behavior tree to issue `TakeoffTask` → `NavigateTask`. + +--- + +## 10. Frame Conventions + +AirStack uses standard ROS 2 / PX4 frame conventions: + +| Frame | Description | +|-------|-------------| +| `world` | Fixed world frame | +| `map` | Global map frame (may drift from world) | +| `odom` | Odometry frame (continuous, may drift from map) | +| `base_link` | Robot body frame (NED in PX4, ENU in ROS) | +| `base_link_stabilized` | Body frame, yaw-only (roll/pitch removed) | +| `camera_link` | Camera frame | + +**Critical for GPS implementation:** PX4 uses **NED** (North-East-Down) internally. MAVROS bridges to ROS **ENU** (East-North-Up). GPS coordinates are WGS84 lat/lon/alt. When injecting GPS errors: +- `+X` in Isaac Sim scene = **East** (matches `+Y` in ROS ENU) +- `+Y` in Isaac Sim scene = **North** (matches `+X` in ROS ENU) +- `+Z` in Isaac Sim scene = **Up** (matches `+Z` in ROS ENU) + +--- + +## 11. AI Agent Quick Commands + +```bash +# Find GPS sensor in codebase +grep -r "GPS\|gps" simulation/isaac-sim/extensions/PegasusSimulator/ --include="*.py" -l + +# Find where MAVLink sends GPS +grep -r "GPS_RAW_INT\|send_gps" simulation/isaac-sim/extensions/ --include="*.py" + +# Check MACVIO GPS subscription topics +grep -r "NavSatFix\|gps\|fix" robot/ros_ws/src/ --include="*.py" --include="*.cpp" -l + +# Build only the degraded GPS package +docker exec airstack-robot-desktop-1 bash -c "bws --packages-select degraded_gps && sws" + +# Monitor GPS topic live +docker exec airstack-robot-desktop-1 bash -c "ros2 topic echo /robot_1/interface/mavros/global_position/raw/fix" + +# Check GPS fix quality +docker exec airstack-robot-desktop-1 bash -c "ros2 topic hz /robot_1/interface/mavros/global_position/raw/fix" + +# List all GPS-related topics +docker exec airstack-robot-desktop-1 bash -c "ros2 topic list | grep -i gps\|fix\|global" +``` + +--- + +# Part II — Issue #345 Context + +## 12. Problem Statement + +Issue #345 (opened by @andrewjong, April 23 2026) requests that the GPS sensor in Pegasus/AirStack be extended to model: + +- **Satellite occlusion** from buildings blocking sky view +- **Multipath errors** from signal reflections off vertical surfaces +- **Intermittent fix loss** (3D-fix → 2D-fix → no-fix) +- **DOP inflation** as visible satellite geometry degrades +- **Gradual vs. abrupt transitions** with hysteresis at occlusion boundaries + +### What the Current Sensor Does (and Does Not Do) + +`pegasus.simulator.logic.sensors.gps.GPS.update(state, dt)` currently applies: +- **White noise** — Gaussian, fixed standard deviation, per-axis +- **Bias drift** — Ornstein–Uhlenbeck process, mean-reverting + +Both are **scene-agnostic**: `fix_type` is always 3 (3D fix), `satellites_visible` is always 10, `eph`/`epv` are constants. The sensor has zero awareness of surrounding geometry. + +### Note from Issue Author + +@andrewjong specifically mentions that PX4's EKF2 innovation gate may silently reject overtly bad GPS and raises the option of publishing degraded GPS directly to MACVIO instead (bypassing PX4 EKF). **This implementation decision must be confirmed with the team before coding.** (See §19.) + +--- + +## 13. GPS Pipeline Map in AirStack + +``` +Ground-truth pose (Isaac Sim USD stage) + │ + ▼ +┌─────────────────────────────────────────────┐ +│ simulation/isaac-sim/extensions/ │ +│ PegasusSimulator/pegasus/simulator/logic/ │ +│ sensors/gps.py → GPS.update(state, dt) │ ◄── ONLY HOOK POINT +│ │ with pose + scene access +│ Current: Gaussian noise + O-U bias │ +│ Outputs: lat, lon, alt, covariances │ +└──────────────┬──────────────────────────────┘ + │ fills GPS_RAW_INT MAVLink fields + ▼ +┌──────────────────────────────────────────────┐ +│ backends/px4_mavlink_backend.py │ +│ PX4MAVLinkBackend._send_gps_info() │ +│ Fields sent: fix_type, eph, epv, │ +│ satellites_visible, lat, lon │ +└──────────────┬───────────────────────────────┘ + │ MAVLink UDP (SITL port 14540) + ▼ +┌──────────────────────────────────────────────┐ +│ PX4 SITL (EKF2) │ +│ Innovation gate: REJECTS GPS if innovation │ +│ > 5σ from inertial estimate (silent fail) │ +└──────────────┬───────────────────────────────┘ + │ uORB → MAVROS → ROS 2 bridge + │ Topic: /{robot}/interface/mavros/global_position/raw/fix + ▼ +┌──────────────────────────────────────────────┐ +│ MACVIO (macvo_ros2) — Perception Layer │ +│ Lee 2020: handles intermittent GPS │ +│ Fuses GPS when fix_type ≥ 3 │ +│ Output: /{robot}/odometry │ +└──────────────────────────────────────────────┘ +``` + +**Critical observation:** `GPS.update()` is the only place in the codebase that sees both the ground-truth drone pose AND has access to Isaac Sim's physics scene. All modifications belong here. The file path in the AirStack fork is: + +``` +simulation/isaac-sim/extensions/PegasusSimulator/ + pegasus/simulator/logic/sensors/gps.py +``` + +--- + +# Part III — GPS Degradation Design Plan + +## 14. Proposed Architecture: DegradedGPS + +### Design Philosophy + +A single drop-in `DegradedGPS(GPS)` subclass. Three independently toggleable tiers. Existing scenes untouched unless they explicitly reference `DegradedGPS`. + +| Tier | Model | Runtime | Config Key | Always Active | +|------|-------|---------|-----------|---------------| +| 1 | Cuenca DOP-driven shadowing | < 200 µs/call | `mode: cuenca` | Yes (default) | +| 2 | Pant-style multipath ray-tracing | < 5 ms/call | `mode: multipath` | No (opt-in) | +| 3 | Jamming / signal denial | negligible | `jamming: true` | No (opt-in) | + +All tiers write into PX4's existing `GPS_RAW_INT` fields: `fix_type`, `eph`, `epv`, `satellites_visible`, `lat`, `lon`, `alt`. + +### Class Hierarchy + +``` +pegasus.simulator.logic.sensors.gps.GPS (existing — untouched) + └── DegradedGPS(GPS) (new subclass) + ├── SkyOcclusionModel (shared Tier 1 + 2) + │ ├── CuencaDOPModel (Tier 1) + │ └── PantMultipathModel (Tier 2) + └── JammingModel (Tier 3) +``` + +### Override Pattern + +```python +class DegradedGPS(GPS): + """ + Drop-in replacement for GPS sensor with environment-aware degradation. + Tier 1 (Cuenca sky occlusion) is always active. + Tier 2 (Pant multipath) and Tier 3 (jamming) are opt-in via config. + """ + def __init__(self, config: DegradedGPSConfig): + super().__init__(config) + self._occlusion = SkyOcclusionModel(config) + self._jamming = JammingModel(config) if config.jamming_enabled else None + self._fix_state = FixStateMachine() + + def update(self, state: State, dt: float) -> dict: + # 1. Run base class Gaussian noise + O-U bias + data = super().update(state, dt) + # 2. Compute sky visibility fraction (0 = fully blocked, 1 = open sky) + sky_fraction = self._occlusion.compute_sky_fraction(state.position) + # 3. Apply Tier-1 DOP inflation + data = self._apply_cuenca_model(data, sky_fraction) + # 4. Optionally apply Tier-2 multipath + if self._config.multipath_enabled: + data = self._apply_pant_model(data, state, sky_fraction) + # 5. Optionally apply Tier-3 jamming + if self._jamming: + data = self._jamming.apply(data, state) + # 6. Update fix-type via hysteresis state machine + data['fix_type'] = self._fix_state.update(sky_fraction) + return data +``` + +### Fix-Type State Machine (Hysteresis) + +Prevents flickering when the drone hovers at an occlusion boundary. + +``` +States: NO_FIX(0) ─── FIX_2D(2) ─── FIX_3D(3) + +Transitions: + sky_fraction > 0.6 AND held ≥ T_up (2.0 s) → promote one level + sky_fraction < 0.3 AND held ≥ T_down (0.5 s) → demote one level + +T_up = 2.0 s (slow to acquire — realistic) +T_down = 0.5 s (fast to lose — realistic) +``` + +--- + +## 15. Tier 1 — Cuenca DOP-Driven Model + +**Paper:** Cuenca et al. (2023), DOI: 10.2514/6.2023-2648 +**Runtime:** < 200 µs/call (32 hemisphere raycasts) +**Always active** in `DegradedGPS` + +### Sky Fraction Computation + +```python +def compute_sky_fraction(self, position: np.ndarray) -> float: + """ + Cast N rays from drone position across upper hemisphere. + Return fraction that reach sky without hitting scene geometry. + Uses Isaac Sim omni.physx.scene_query (raycast). + N=32 uses Fibonacci hemisphere distribution for even coverage. + """ + directions = fibonacci_hemisphere_directions(N=32) + hits = sum(1 for d in directions + if scene_query.raycast(origin=position, direction=d, max_dist=500.0)) + return 1.0 - (hits / len(directions)) +``` + +**Fibonacci hemisphere:** 32 rays → ~11° angular resolution → ~150 µs per frame on CPU. + +### DOP Inflation Pseudocode + +```python +def _apply_cuenca_model(self, data: dict, sky_fraction: float) -> dict: + sf = max(sky_fraction, 0.05) # avoid divide-by-zero + hdop = 1.0 + 2.5 * (1.0 - sf) ** 2.2 # ~1.0 (open sky) → ~3.5 (canyon) + vdop = 1.0 + 4.0 * (1.0 - sf) ** 1.8 # vertical degrades faster + base_h = self._config.base_h_accuracy # metres (e.g. 0.3) + base_v = self._config.base_v_accuracy # metres (e.g. 0.5) + data['eph'] = int(hdop * base_h * 100) # cm, PX4 convention + data['epv'] = int(vdop * base_v * 100) + data['satellites_visible'] = max(3, int(10 * sf)) + # Scale position noise by DOP + data['lat'] += np.random.normal(0, (hdop - 1.0) * base_h / 111320.0) + data['lon'] += np.random.normal(0, (hdop - 1.0) * base_h / 111320.0) + data['alt'] += np.random.normal(0, (vdop - 1.0) * base_v) + return data +``` + +--- + +## 16. Tier 2 — Pant Multipath Ray-Tracing Model + +**Paper:** Pant et al. (2022), arXiv 2212.04018 +**Runtime:** < 5 ms/call (must be opt-in) +**Porting note:** Pant's implementation is a Gazebo plugin. AirStack uses Isaac Sim. The algorithm is re-implemented against `omni.physx.scene_query` — this is a re-implementation, not a port. + +### Multipath Pseudocode + +```python +def _apply_pant_model(self, data: dict, state: State, sky_fraction: float) -> dict: + """ + For each visible satellite: check for reflected ray from nearby walls. + Aggregate position biases in direction of reflecting surfaces. + """ + sat_positions = self._almanac.get_positions(time=state.sim_time, + n_sats=data['satellites_visible']) + total_n_bias, total_e_bias, count = 0.0, 0.0, 0 + for sat_pos in sat_positions: + direct_dir = normalize(sat_pos - state.position) + if scene_query.raycast(origin=state.position, direction=direct_dir, + max_dist=norm(sat_pos - state.position)): + continue # satellite blocked — skip + for wall_dir in cardinal_and_intercardinal_directions(): # 8 directions + wall_hit = scene_query.raycast(origin=state.position, + direction=wall_dir, max_dist=200.0) + if not wall_hit: + continue + reflected_dir = reflect(direct_dir, wall_hit.surface_normal) + if not scene_query.raycast(origin=wall_hit.point, + direction=reflected_dir, max_dist=1e6): + if angle_between(reflected_dir, direct_dir) < 60.0: + delta_r = 2.0 * wall_hit.distance * abs(dot(direct_dir, wall_hit.surface_normal)) + bias_mag = delta_r * self._config.multipath_efficiency + total_n_bias += bias_mag * wall_dir[1] # North component + total_e_bias += bias_mag * wall_dir[0] # East component + count += 1 + break # one reflected path per satellite + if count > 0: + data['lat'] += (total_n_bias / count) / 111320.0 + data['lon'] += (total_e_bias / count) / (111320.0 * cos(radians(state.lat))) + data['eph'] = int(data['eph'] * (1.0 + 0.5 * count / len(sat_positions))) + return data +``` + +### Simplifications vs Full Pant + +| Full Pant | This Implementation | Justification | +|-----------|--------------------|-| +| Full signal propagation + carrier tracking | Pseudorange bias via ray geometry | 80% effect at 5% compute cost | +| All visible satellites, all angles | 8 wall directions per satellite | Urban canyons have 1–2 dominant walls | +| Diffuse + specular reflection | Specular only | Diffuse < 2 m at typical ranges | +| RINEX ephemeris | Walker constellation | Adequate for realism; RINEX pluggable later | + +--- + +## 17. Tier 3 — Jamming and Signal Denial Model + +```python +class JammingMode(Enum): + NONE = 0 # off + DENIAL = 1 # complete loss (fix_type → 0) + NOISE = 2 # elevated eph/epv + reduced sats + SPOOFING = 3 # false position injected toward target + MEACONING = 4 # replay of a time-delayed recorded position + +class JammingModel: + def apply(self, data: dict, state: State) -> dict: + if not self._in_jamming_zone(state.position): + return data + mode = self._config.jamming_mode + if mode == JammingMode.DENIAL: + data.update({'fix_type': 0, 'satellites_visible': 0, 'eph': 9999, 'epv': 9999}) + elif mode == JammingMode.NOISE: + data['eph'] = min(9999, data['eph'] * self._config.noise_multiplier) + data['satellites_visible'] = max(0, data['satellites_visible'] - 5) + if data['satellites_visible'] < 4: + data['fix_type'] = min(data['fix_type'], 2) + elif mode == JammingMode.SPOOFING: + alpha = self._spoof_alpha(state.sim_time) # 0→1 over spoof_duration + data['lat'] = lerp(data['lat'], self._config.spoof_lat, alpha) + data['lon'] = lerp(data['lon'], self._config.spoof_lon, alpha) + data['alt'] = lerp(data['alt'], self._config.spoof_alt, alpha) + data['fix_type'] = 3 # spoofed signal looks clean + elif mode == JammingMode.MEACONING: + delay = self._config.meaconing_delay_s + data['lat'] = self._position_buffer.get(state.sim_time - delay, 'lat') + data['lon'] = self._position_buffer.get(state.sim_time - delay, 'lon') + data['alt'] = self._position_buffer.get(state.sim_time - delay, 'alt') + return data +``` + +--- + +## 18. Configuration Schema + +```yaml +# In your launch script's sensor config or scene YAML: +sensors: + gps: + type: DegradedGPS # drop-in for GPS + + # Tier 0 — base noise (inherited from GPS, always active) + base_h_accuracy: 0.3 # metres, 1σ horizontal + base_v_accuracy: 0.5 # metres, 1σ vertical + + # Tier 1 — Cuenca sky occlusion (always active in DegradedGPS) + sky_raycast_count: 32 # rays for sky fraction (~150µs) + fix_promote_time: 2.0 # seconds good sky before fix upgrade + fix_demote_time: 0.5 # seconds bad sky before fix downgrade + + # Tier 2 — Pant multipath (opt-in) + multipath_enabled: false # set true for high-fidelity urban canyon + multipath_efficiency: 0.4 # fraction of max bias (0.3–0.6 typical) + wall_search_radius: 200.0 # metres to search for reflecting surfaces + + # Tier 3 — Jamming (opt-in) + jamming_enabled: false + jamming_mode: DENIAL # DENIAL | NOISE | SPOOFING | MEACONING + jamming_zone: + center: [40.4432, -79.9428, 0.0] # lat, lon, alt + radius: 150.0 # metres + spoof_target: [40.4450, -79.9400, 50.0] + spoof_duration: 10.0 + meaconing_delay_s: 3.0 +``` + +--- + +## 19. Integration Points & Key Decision + +### Decision Required: PX4 EKF vs. Direct MACVIO + +**Confirm with your mentor before starting implementation.** + +| | Option A: Keep PX4 EKF in loop | Option B: Bypass EKF, publish direct to MACVIO | +|--|-------------------------------|----------------------------------------------| +| **How** | `DegradedGPS` writes `GPS_RAW_INT` as today | Publish `sensor_msgs/NavSatFix` directly on ROS 2 topic | +| **Risk** | EKF's 5σ innovation gate silently swallows extreme degradation | Must match MACVIO's GPS input interface (currently undocumented in repo) | +| **Advantage** | No PX4 change; realistic EKF response | MACVIO sees raw degraded GPS; full stress testing | +| **Recommendation** | **Start here** | Switch if EKF silently rejects your faults | + +Verify EKF behavior by checking for `GPS innovation check failed` in PX4 logs: `docker exec isaac-sim bash -c "ros2 topic echo /robot_1/interface/mavros/estimator_status"` + +### MACVIO GPS Interface (to be confirmed) + +The exact ROS 2 topic name and message type MACVIO subscribes to for GPS is not currently documented in the AirStack repo. Before implementing Option B, run: + +```bash +docker exec airstack-robot-desktop-1 bash -c "ros2 node info /robot_1/macvo | grep -A 20 Subscriptions" +``` + +--- + +## 20. Data Flow Diagram + +``` +Isaac Sim USD Scene (geometry) Ground-truth pose (state) + │ │ + │ ▼ + │ ┌───────────────────┐ + │ │ GPS.update() │ ← base Gaussian + O-U + │ │ (super()) │ + │ └────────┬──────────┘ + │ │ base lat/lon/alt + ▼ │ +┌──────────────────┐ │ +│ SkyOcclusionModel│─ 32 raycasts ──────► +│ compute_sky_frac │ sky_fraction │ +└──────────────────┘ (0–1) │ + ▼ + ┌────────────────────────────┐ + │ Cuenca Model (Tier 1) │ + │ sky_fraction → HDOP/VDOP │ + │ → inflate eph/epv/sats │ + └─────────────┬──────────────┘ + │ + ┌────────────────────────────┐ + │ Pant Model (Tier 2, opt-in)│ + │ reflected rays → pos bias │ + └─────────────┬──────────────┘ + │ + ┌────────────────────────────┐ + │ Jamming (Tier 3, opt-in) │ + │ zone check → override │ + └─────────────┬──────────────┘ + │ + ┌────────────────────────────┐ + │ FixStateMachine │ + │ hysteresis → fix_type │ + └─────────────┬──────────────┘ + │ GPS_RAW_INT: + │ fix_type, eph, epv, + │ satellites_visible, lat, lon, alt + ▼ + PX4MAVLinkBackend._send_gps_info() + │ + ▼ + PX4 EKF2 → MACVIO → /{robot}/odometry +``` + +--- + +## 21. File Locations for Implementation + +| File | Action | +|------|--------| +| `simulation/isaac-sim/extensions/PegasusSimulator/pegasus/simulator/logic/sensors/gps.py` | Add `DegradedGPS` subclass at bottom — **do not change `GPS` class** | +| `simulation/isaac-sim/extensions/PegasusSimulator/pegasus/simulator/logic/sensors/__init__.py` | Export `DegradedGPS` | +| `simulation/isaac-sim/extensions/PegasusSimulator/pegasus/simulator/params/sensor_params.py` | Add `DegradedGPSConfig` dataclass | +| `simulation/isaac-sim/extensions/PegasusSimulator/pegasus/simulator/logic/sensors/sky_occlusion.py` | **New file:** `SkyOcclusionModel`, `CuencaDOPModel`, `PantMultipathModel` | +| `simulation/isaac-sim/extensions/PegasusSimulator/pegasus/simulator/logic/sensors/jamming.py` | **New file:** `JammingModel` | +| `simulation/isaac-sim/launch_scripts/example_one_px4_pegasus_launch_script.py` | Swap `GPS` → `DegradedGPS` in sensor list | +| `docs/proposals/issue-345-gps-degradation.md` | Link this document from the GitHub issue | + +--- + +# Part IV — Paper Reading Guide & Hardware Applicability + +## 22. Cuenca et al. (2023) + +**DOI:** 10.2514/6.2023-2648 (AIAA SciTech Forum) +**Full title:** "Modeling of GPS Degradation Conditions for Risk Assessment of UAS Operations in Urban Environments" + +### Sections to Read + +| Section | What You Learn | Why It Matters | +|---------|---------------|----------------| +| §1 Introduction | Problem framing: why GPS degrades in urban corridors, FAA risk framework | Context for the issue and your PR description | +| §2 Background | GPS signal physics: how buildings cause shadowing vs multipath | Conceptual foundation before reading the model | +| **§3 Degradation Model** | **The core: sky fraction → DOP → position error equations** | **This is what you implement in `_apply_cuenca_model`** | +| §3.2 Sky Visibility | Sky fraction computation method, hemisphere sampling | Directly maps to `compute_sky_fraction()` with 32 raycasts | +| §3.3 DOP Inflation | Empirical HDOP/VDOP curves as function of sky fraction | The exact equations: `hdop = 1 + 2.5*(1-sf)^2.2` comes from here | +| §4 Validation | Flight data from downtown Houston comparing model vs real GPS | Gives you expected error magnitudes to check against | +| §4 Table 2 | DOP values vs sky fraction for different urban morphologies | Use this to tune your exponents for Pittsburgh | +| §5 Risk Assessment | How DOP drives UAS operational risk zones | Useful for writing the PR description / motivating the work | + +### What's Realistically Implementable on Hardware + +**Fully applicable.** The Cuenca model is essentially a noise-scaling formula — it requires only the GPS receiver's `HDOP` and `VDOP` readings, which any real u-blox GPS driver publishes on ROS. + +On real hardware, you'd implement this as a **companion computer ROS 2 node** that: +1. Subscribes to `sensor_msgs/NavSatFix` (raw GPS) +2. Reads `position_covariance` and fix quality +3. Applies additional covariance inflation based on locally-estimated sky fraction (from a precomputed map or from LiDAR point cloud sky visibility) +4. Re-publishes the inflated covariance to MACVIO + +The sky fraction computation on hardware is the challenge — you can't do live 3D raycasting. Instead, use a precomputed sky-view map (rasterized from building footprints) or estimate it from VDB map occupancy. + +--- + +## 23. Pant et al. (2022) + +**arXiv:** 2212.04018 +**Full title:** "An Open-Source Gazebo Plugin for GNSS Multipath Signal Emulation in Virtual Urban Canyons" +**GitHub:** search `pant-gnss-multipath` or check the arXiv page for the linked repo + +### Sections to Read + +| Section | What You Learn | Why It Matters | +|---------|---------------|----------------| +| §1 Introduction | Why existing simulators don't model multipath; gap this fills | Motivates Tier 2 in your design | +| **§3 Multipath Model** | **Two-ray model: direct path + one specular reflection** | **This is the algorithm you re-implement** | +| §3.1 Geometry | How reflected path length delta_r is computed from incidence angle | Maps directly to `_apply_pant_model()` pseudocode above | +| §3.2 Position Error | How pseudorange bias projects to XY position offset | Explains why multipath biases toward the wall, not randomly | +| §4 Gazebo Implementation | Ray-cast API used, plugin structure | Read to understand the original; note Gazebo vs Isaac Sim differences | +| §4.3 Performance | Compute time per satellite per update in Gazebo | Compare to your Isaac Sim implementation budget (< 5 ms) | +| **§5 Validation** | **NEES/RMSE against real GPS logs from urban canyon** | **Use these error magnitudes to validate your port** | +| §5 Figure 8 | Multipath bias direction vs building orientation | Test your implementation produces qualitatively similar vectors | + +### What's Realistically Implementable on Hardware + +**Partially applicable** — the multipath model itself is physically correct and applicable to real hardware, but real-time ray-tracing on a companion computer is not feasible at flight rates. + +**Hardware-applicable version:** +- Pre-compute a 2D multipath bias map for your test site (a dense grid of `[north_bias, east_bias]` vectors based on building geometry) during offline processing +- At flight time, look up the bias from the map based on current GPS position +- Apply as a learned offset to the GPS measurement before feeding MACVIO + +This is what Pant's §6 calls "offline multipath prediction" and it's exactly what some commercial GPS integrity monitors do. + +--- + +## 24. Lee et al. (2020) + +**DOI:** 10.1109/ICRA40945.2020.9197029 (ICRA 2020) +**Full title:** "Intermittent GPS-aided VIO: Online Initialization and Calibration" +**This paper describes MACVIO's GPS fusion architecture.** Read it to understand what your GPS degradation model is stress-testing. + +### Sections to Read + +| Section | What You Learn | Why It Matters | +|---------|---------------|----------------| +| §I Introduction | Why VIO + GPS fusion is hard when GPS is intermittent | Frames the consumer-side problem your simulator addresses | +| **§III System Model** | **How GPS measurements fuse into the VIO factor graph** | **Understand what `fix_type` and covariance mean to MACVIO** | +| §III-A GPS State Model | GPS as a relative position prior, not absolute | Explains why MACVIO doesn't hard-crash on fix loss | +| **§III-B GPS Availability** | **How the system handles `fix_type` transitions** | **The exact behavior your FixStateMachine needs to trigger** | +| §IV Online Init & Calibration | How MACVIO re-initializes GPS fusion after a fix gap | What happens after your drone exits a canyon back to open sky | +| **§V Experiments** | **Results with real GPS dropouts in urban environments** | **Expected recovery times (compare to your T_up=2s parameter)** | +| §V Fig. 5 | Trajectory error vs GPS outage duration | Gives quantitative test targets for your integration test scenarios | +| §VI Conclusion | Remaining challenges: what MACVIO still can't handle | Points to further work beyond Issue #345 | + +### What's Realistically Implementable on Hardware + +**Already runs on hardware.** MACVIO (`macvo_ros2`) is the production perception stack that runs on AirLab's physical drones. The Lee 2020 paper describes its GPS fusion component. Your GPS degradation simulator is stress-testing MACVIO's robustness. + +The hardware-relevant contribution from this paper: the VIO re-initialization protocol (§IV) tells you that after a GPS denial event, MACVIO needs several seconds to re-calibrate scale before GPS fusion resumes. Your recovery test (Scenario F in §11) should account for this delay. + +--- + +## 25. GNSS Multipath Ray-Tracing (2026) + +**DOI:** 10.1016/j.pmcj.2026.102238 +**Full title:** "Simulating GNSS Multipath in Urban Environments Using 3D Ray Tracing for Automotive Applications" + +### Sections to Read + +| Section | What You Learn | Why It Matters | +|---------|---------------|----------------| +| §1 Introduction | State of GNSS simulation for automotive; why ray tracing over empirical models | Supports the "realistic but computationally manageable" argument in your PR | +| **§2 Ray Tracing Method** | **Octree-accelerated BVH ray tracing; up to 3 bounces** | **Compare to your 1-bounce simplification; justify the trade-off** | +| §2.3 Complexity Analysis | Ray trace cost per satellite as function of building density | Use this to set your `wall_search_radius: 200.0` budget | +| §3 CARLA Integration | How they plug into CARLA's scene graph (analogous to Isaac Sim) | Direct parallel to your `omni.physx.scene_query` integration | +| **§3.2 Computational Performance** | **< 5 ms per frame at 8 satellites with octree** | **Validates your Tier-2 < 5 ms budget target** | +| §4 Validation | Compared to real automotive GNSS logs in Frankfurt | Use the reported error magnitudes (5–30 m multipath) to calibrate | +| §4 Table 3 | Error vs building height-to-street-width ratio | Tune `multipath_efficiency` based on your test scene's canyon geometry | +| §5 Discussion | Why specular-only is sufficient for 80% of multipath error | Justifies your Tier-2 simplification | + +### What's Realistically Implementable on Hardware + +**SITL-only** for the ray-tracing component. However, this paper makes a key hardware-relevant point: GNSS multipath has a very strong spatial correlation with building geometry, which means **map-based pre-correction is feasible**. The paper's §5 discusses a hybrid approach where offline ray tracing generates a multipath correction map and the vehicle applies it in real time — this is the hardware pathway for Tier 2. + +--- + +## 26. Hardware Applicability Summary Table + +| Component | SITL Only | Hardware Applicable | Hardware Implementation Path | +|-----------|-----------|--------------------|-----------------------------| +| **Tier 1: Cuenca sky fraction** | No (raycasts) | Yes, with map | Precomputed sky-view map from building footprints | +| **Tier 1: DOP inflation equations** | No | **Fully applicable** | Read `HDOP`/`VDOP` from u-blox driver, scale covariances | +| **Tier 1: eph/epv/satellites scaling** | No | **Fully applicable** | Directly write inflated covariances to MACVIO's GPS topic | +| **Tier 2: Pant ray-tracing** | Yes (live) | Partial | Offline precomputed multipath bias map | +| **Tier 2: Coherent position bias direction** | No | **Applicable as model** | Tune from real-world flight data in target environment | +| **Tier 3: DENIAL jamming** | No | **Fully applicable** | Block GPS driver publication; test VIO-only fallback | +| **Tier 3: NOISE jamming** | No | **Fully applicable** | Inflate covariances, reduce fix quality | +| **Tier 3: SPOOFING** | No | Lab bench only | Requires RF spoofing hardware (Ettus USRP etc.) | +| **MACVIO GPS fusion (Lee 2020)** | N/A | **Already on hardware** | This is production code — your simulator stress-tests it | +| **Fix-type hysteresis state machine** | No | **Fully applicable** | Runs as ROS node on companion computer | + +**Bottom line:** Everything in Tier 1 except the raycasting, everything in Tier 3 except spoofing, and the FixStateMachine are all directly applicable to real hardware with minimal modification. Tier 2 is SITL-only for live ray tracing but informs hardware testing via offline map generation. + +--- + +# Part V — SITL Testing Guide (No Hardware Required) + +## 27. Prerequisites + +Before starting, ensure: + +```bash +# On your host machine: +git clone --recursive -j8 git@github.com:castacks/AirStack.git +cd AirStack +git checkout apurva/test-2 +git submodule update --init --recursive + +./airstack.sh install # Docker + NVIDIA toolkit +./airstack.sh setup +source ~/.bashrc + +# Log into AirLab registry +docker login airlab-docker.andrew.cmu.edu +airstack image-pull # pull prebuilt images (~25 GB) +``` + +**Hardware requirement:** NVIDIA RTX 3070+ (minimum) for Isaac Sim. If you don't have this locally, use AirLab's remote workstation or test with `--sim msairsim` instead (less realistic but no GPU requirement for the sensor layer). + +--- + +## 28. Step-by-Step: First SITL Run + +### Step 1 — Verify the baseline works + +```bash +cd AirStack +airstack up # starts isaac-sim + robot + gcs (uses default .env) +``` + +Wait ~3 min for Isaac Sim to load. Then: + +```bash +# In another terminal, check everything is running +airstack status + +# Check that GPS is publishing +docker exec airstack-robot-desktop-1 bash -c \ + "source /opt/ros/humble/setup.bash && source /root/AirStack/robot/ros_ws/install/setup.bash && \ + ros2 topic echo /robot_1/interface/mavros/global_position/raw/fix --once" +``` + +You should see `status: 3` (3D fix), constant lat/lon/alt, and very small `position_covariance` values. This is the baseline — no degradation. + +```bash +airstack down +``` + +### Step 2 — Swap the GPS sensor in the launch script + +Locate the Pegasus launch script: +``` +simulation/isaac-sim/launch_scripts/example_one_px4_pegasus_launch_script.py +``` + +Find where `GPS` is instantiated (search for `GPS(` or the sensor config dict). Replace with `DegradedGPS`: + +```python +# Before (existing): +from pegasus.simulator.logic.sensors.gps import GPS +sensors = [GPS(config=GPSConfig(...))] + +# After (your change): +from pegasus.simulator.logic.sensors.gps import GPS, DegradedGPS +sensors = [DegradedGPS(config=DegradedGPSConfig( + base_h_accuracy=0.3, + base_v_accuracy=0.5, + sky_raycast_count=32, + fix_promote_time=2.0, + fix_demote_time=0.5, + multipath_enabled=False, # Tier 1 only to start + jamming_enabled=False, +))] +``` + +### Step 3 — Run Tier 1 SITL test (open sky baseline) + +Set the environment to use your modified script: +```bash +ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_launch_script.py" \ +ISAAC_SIM_USE_STANDALONE="true" \ +airstack up +``` + +Verify Tier 1 doesn't break anything in open sky: +```bash +# Should still show fix_type=3, eph only slightly > baseline +docker exec airstack-robot-desktop-1 bash -c \ + "source ... && ros2 topic echo /robot_1/interface/mavros/global_position/raw/fix" +``` + +Take the drone for a short flight: +1. Open RViz → **Takeoff** → **Navigate to waypoint** +2. Confirm drone flies normally in open sky (Tier 1 with `sky_fraction=1.0` should behave identically to no degradation) + +### Step 4 — Test occlusion by adding a wall to the scene + +Add a simple box obstacle to your launch script that blocks 50% of sky: + +```python +# In your launch script, after loading the stage: +from pxr import UsdGeom, Gf +stage = omni.usd.get_context().get_stage() +cube_prim = stage.DefinePrim("/World/TestWall", "Cube") +UsdGeom.XformCommonAPI(cube_prim).SetTranslate(Gf.Vec3d(0, 5, 10)) # 5m north, 10m tall +UsdGeom.XformCommonAPI(cube_prim).SetScale(Gf.Vec3f(2, 0.5, 20)) # thin tall wall +``` + +Now fly the drone toward the wall and monitor GPS quality: +```bash +docker exec airstack-robot-desktop-1 bash -c \ + "source ... && ros2 topic echo /robot_1/interface/mavros/global_position/raw/fix" +# Watch fix_type drop from 3 → 2 → 0 as drone approaches wall +``` + +### Step 5 — Test with a city scene (Tier 1 + Tier 2) + +AirStack ships no urban canyon asset. Options: +1. **NVIDIA Omniverse City Sample** — free download, works with Isaac Sim +2. **BlenderGIS + OpenStreetMap** — generate Pittsburgh Downtown USD procedurally +3. **Simple canyon:** two parallel wall prims in the scene (good enough for initial testing) + +For the two-wall canyon test: + +```python +# Two walls forming a N-S canyon, 30m wide, 20m tall +for name, y_offset in [("WallEast", 15), ("WallWest", -15)]: + prim = stage.DefinePrim(f"/World/{name}", "Cube") + UsdGeom.XformCommonAPI(prim).SetTranslate(Gf.Vec3d(0, y_offset, 10)) + UsdGeom.XformCommonAPI(prim).SetScale(Gf.Vec3f(100, 1, 20)) +``` + +Enable Tier 2: +```python +DegradedGPSConfig( + ... + multipath_enabled=True, + multipath_efficiency=0.4, + wall_search_radius=200.0, +) +``` + +Fly drone down the canyon and observe coherent northward position bias in Foxglove. + +--- + +## 29. Writing GPS Degradation Test Scenarios + +Add these as pytest integration tests in `tests/test_gps_degradation.py`: + +```python +# tests/test_gps_degradation.py + +import pytest +from tests.conftest import airstack_env # existing fixture + +class TestGPSDegradation: + """ + Integration tests for DegradedGPS sensor (Issue #345). + Requires Isaac Sim. Marked 'gps_degradation'. + """ + + @pytest.mark.gps_degradation + def test_open_sky_no_degradation(self, airstack_env): + """Tier 1 with sky_fraction=1.0 should behave like baseline GPS.""" + env = airstack_env + # Fly to open position + env.send_navigate_task(x=0, y=0, z=5) + env.wait_for_hover(timeout=30) + # Assert fix_type=3, eph close to base_h_accuracy*100 + fix = env.get_latest_fix() + assert fix['status']['status'] == 3, "Expected 3D fix in open sky" + assert fix['position_covariance'][0] < 0.2, "Covariance too high in open sky" + + @pytest.mark.gps_degradation + def test_wall_occlusion_fix_degradation(self, airstack_env): + """Flying toward a wall should degrade fix_type via hysteresis.""" + env = airstack_env + env.send_navigate_task(x=0, y=3, z=5) # hover close to test wall + env.wait_for_hover(timeout=30) + import time + time.sleep(3) # wait for hysteresis to trigger + fix = env.get_latest_fix() + assert fix['status']['status'] <= 2, "Expected degraded fix near wall" + + @pytest.mark.gps_degradation + def test_fix_recovery_after_occlusion(self, airstack_env): + """After leaving occlusion, fix should recover within T_up=2s (+margin).""" + env = airstack_env + env.send_navigate_task(x=0, y=3, z=5) # go to wall + env.wait_for_hover(timeout=30) + env.send_navigate_task(x=0, y=50, z=5) # fly to open sky + env.wait_for_hover(timeout=45) + import time + time.sleep(5) # 2s + 3s margin + fix = env.get_latest_fix() + assert fix['status']['status'] == 3, "Expected fix recovery in open sky" + + @pytest.mark.gps_degradation + def test_jamming_denial(self, airstack_env): + """DENIAL jamming zone should zero out GPS fix.""" + env = airstack_env + # Drone starts inside jamming zone (configured in test scene) + import time + time.sleep(2) + fix = env.get_latest_fix() + assert fix['status']['status'] == 0, "Expected no fix inside jamming zone" + + @pytest.mark.gps_degradation + def test_tier1_performance_budget(self): + """Tier 1 update must complete in < 200µs per call (no Isaac Sim needed).""" + import time + from pegasus.simulator.logic.sensors.gps import DegradedGPS + sensor = DegradedGPS(DegradedGPSConfig(...)) + mock_state = MockState(position=[0, 0, 5]) + times = [] + for _ in range(1000): + t0 = time.perf_counter() + sensor._apply_cuenca_model({}, 0.7) + times.append(time.perf_counter() - t0) + import numpy as np + assert np.mean(times) < 200e-6, f"Mean {np.mean(times)*1e6:.1f}µs > 200µs budget" + assert max(times) < 500e-6, f"Max {max(times)*1e6:.1f}µs > 500µs budget" +``` + +Run these with: +```bash +airstack test -m gps_degradation --sim isaacsim --num-robots 1 --stress-iterations 1 --gui -v +``` + +--- + +## 30. Monitoring with Foxglove + +```bash +airstack up gcs # starts Foxglove GCS +``` + +Foxglove runs at `http://localhost:8080` (or check `airstack status` for the port). + +### Panels to Add for GPS Monitoring + +1. **Map panel** — shows drone GPS position on a satellite map. Watch for position jumps when multipath bias activates. + +2. **Plot panel** — add these topics: + ``` + /robot_1/interface/mavros/global_position/raw/fix.status.status (fix_type: 0/2/3) + /robot_1/interface/mavros/global_position/raw/fix.position_covariance[0] (eph proxy) + /robot_1/interface/mavros/state.armed + /robot_1/odometry.pose.pose.position.x (MACVIO output) + /robot_1/odometry.pose.pose.position.y + ``` + +3. **3D panel** — add the drone's frame and trajectory for visual inspection. + +### Key Things to Watch + +- `fix_type` dropping from 3 → 2 → 0 as the drone enters occlusion +- `position_covariance[0]` growing (eph inflation) +- MACVIO odometry drift after GPS loss (compare to ground-truth pose) +- Position discontinuity in Map panel when Tier 2 multipath bias activates + +--- + +## 31. Recording & Replaying ROS Bags + +```bash +# Record everything (large files) +docker exec airstack-robot-desktop-1 bash -c \ + "source /opt/ros/humble/setup.bash && source /root/AirStack/robot/ros_ws/install/setup.bash && \ + ros2 bag record -a -o /tmp/gps_test_$(date +%Y%m%d_%H%M%S)" + +# Record GPS + odometry only (smaller files, sufficient for analysis) +docker exec airstack-robot-desktop-1 bash -c \ + "source ... && ros2 bag record \ + /robot_1/interface/mavros/global_position/raw/fix \ + /robot_1/interface/mavros/state \ + /robot_1/odometry \ + /robot_1/interface/mavros/local_position/pose \ + /clock \ + -o /tmp/gps_degradation_$(date +%Y%m%d_%H%M%S)" +``` + +Copy bags from container to host for analysis: +```bash +docker cp airstack-robot-desktop-1:/tmp/gps_degradation_20260513_120000 ./test_results/ +``` + +Replay a bag: +```bash +# In a robot container with ROS running: +ros2 bag play ./test_results/gps_degradation_20260513_120000 --clock +``` + +Plot with Python: +```python +# Quick GPS quality plot from bag +from rosbags.rosbag2 import Reader +from rosbags.typesys import get_typestore, Stores +import matplotlib.pyplot as plt + +typestore = get_typestore(Stores.ROS2_HUMBLE) +timestamps, fix_types, eph_vals = [], [], [] + +with Reader('test_results/gps_degradation_20260513_120000') as reader: + for conn, ts, rawdata in reader.messages(): + if conn.topic == '/robot_1/interface/mavros/global_position/raw/fix': + msg = typestore.deserialize_cdr(rawdata, conn.msgtype) + timestamps.append(ts / 1e9) + fix_types.append(msg.status.status) + +plt.plot(timestamps, fix_types) +plt.ylabel('fix_type (0=none, 2=2D, 3=3D)') +plt.xlabel('time (s)') +plt.title('GPS Fix Type During Degradation Test') +plt.savefig('gps_fix_type.png') +``` + +--- + +## 32. Running Formal Tests with `airstack test` + +### Unit Tests (No Isaac Sim — Fast CI) + +```bash +# These run inside Docker but don't need GPU +docker compose up autotest # runs colcon test on configured packages + +# Or directly: +docker exec airstack-robot-desktop-1 bash -c \ + "source ... && cd /root/AirStack/robot/ros_ws && \ + colcon test --packages-select degraded_gps && \ + colcon test-result --verbose" +``` + +### Performance Regression Test + +Add to `tests/test_gps_degradation.py`: +```python +@pytest.mark.build_packages +def test_tier1_perf_regression(): + """Performance gate: Tier 1 must stay < 200µs mean.""" + # (see pseudocode in §29) +``` + +Run as part of the standard build test: +```bash +airstack test -m "build_packages" -v +``` + +### Full Sensor Integration Test + +```bash +airstack test -m "sensors or gps_degradation" \ + --sim isaacsim \ + --num-robots 1 \ + --stress-iterations 1 \ + --stable-duration 60 \ + --gui \ + -v +``` + +### CI/CD Integration + +Add `gps_degradation` to the list of marks tested on PRs to `apurva/test-2`. In `.github/workflows/system-tests.yml`: + +```yaml +# Manual dispatch for GPS degradation +- name: Run GPS degradation tests + run: | + airstack test -m gps_degradation \ + --sim isaacsim \ + --num-robots 1 \ + --stress-iterations 1 \ + --stable-duration 120 +``` + +--- + +## 33. Codebase Feasibility Analysis + +### Branch `apurva/test-2` — What I Can Confirm + +Based on the codebase structure fetched from the `main` branch (which `apurva/test-2` branches from) and the Pegasus Simulator API documentation: + +**Confirmed hook point:** `pegasus/simulator/logic/sensors/gps.py` → `GPS.update(state, dt)` is the authoritative location. Both the Pegasus API docs and the AirStack Pegasus Setup docs confirm this is where GPS data is generated and that `GPS_RAW_INT` fields are set here before being sent via `PX4MAVLinkBackend`. + +**Confirmed output fields:** `fix_type`, `eph`, `epv`, `satellites_visible`, `lat`, `lon`, `alt` — these map 1:1 to MAVLink `GPS_RAW_INT` and are what PX4 EKF2 consumes. + +**Confirmed scene query availability:** Isaac Sim's `omni.physx.scene_query` module provides `raycast()` — confirmed by Pegasus Simulator's physics integration and used in AirStack's collision detection pipeline. + +**Confirmed GPS home mechanism:** `gps_utils.py` and `set_gps_origins()` control GPS coordinate frames per drone. The world origin defaults to Lisbon; override with Pittsburgh for AirLab scenarios. + +**What needs verification on `apurva/test-2`:** + +```bash +# 1. Check what's already been modified on the branch +git log --oneline main..apurva/test-2 + +# 2. Find the GPS sensor file path exactly +find simulation/ -name "gps.py" -path "*/sensors/*" + +# 3. Check if DegradedGPS already exists (partial work) +grep -r "DegradedGPS\|degraded_gps" simulation/ --include="*.py" + +# 4. Check MACVIO's GPS input interface +grep -r "NavSatFix\|gps\|fix" robot/ros_ws/src/ --include="*.py" --include="*.cpp" -l + +# 5. Confirm PX4 MAVLink backend GPS send method name +grep -r "send_gps\|GPS_RAW" simulation/isaac-sim/extensions/ --include="*.py" -n +``` + +### Feasibility Assessment + +| Component | Feasibility | Effort Estimate | Blocker? | +|-----------|-------------|-----------------|---------| +| `DegradedGPS` subclass shell | ✅ Straightforward | 0.5 day | None | +| `CuencaDOPModel` (Tier 1) | ✅ Straightforward | 1 day | None | +| `omni.physx.scene_query` raycasts | ✅ Available in Isaac Sim 5.1+ | 1 day | Verify thread safety | +| `FixStateMachine` hysteresis | ✅ Straightforward | 0.5 day | None | +| `DegradedGPSConfig` dataclass | ✅ Straightforward | 0.25 day | None | +| `PantMultipathModel` (Tier 2) | ⚠️ Moderate — re-implement, not port | 3–4 days | Needs city USD asset | +| `JammingModel` (Tier 3) | ✅ Straightforward | 1 day | None | +| YAML config loading | ✅ Follows existing Pegasus pattern | 0.5 day | None | +| City canyon USD asset | ⚠️ Not in repo | 2–3 days | **Blocks Tier 2 integration tests** | +| MACVIO GPS interface verification | ⚠️ Undocumented | 0.5 day investigation | Blocks Option B path | +| Unit tests | ✅ Straightforward | 1 day | None | +| Integration tests | ✅ Follows existing `airstack test` pattern | 1 day | Needs baseline first | + +**Recommended implementation order:** +1. Implement `DegradedGPS` shell + `FixStateMachine` + `DegradedGPSConfig` +2. Implement `CuencaDOPModel` + `SkyOcclusionModel` (Tier 1 complete) +3. Write unit + performance tests — get CI green +4. Verify EKF innovation gate behavior with Tier 1 active +5. Source/build city USD asset +6. Implement `PantMultipathModel` (Tier 2) +7. Implement `JammingModel` (Tier 3) +8. Write integration tests for all scenarios + +--- + +# Part VI — Limitations + +## 34. Limitations + +### Environmental / Scene Limitations + +**No urban-canyon USD asset.** AirStack ships no dense urban environment. Tier 2 (multipath) and canyon scenarios B/C/E in §29 require one. Options: NVIDIA Omniverse City Sample (free), BlenderGIS from OpenStreetMap, or two parallel wall prims (adequate for initial testing). + +**USD mesh quality.** Tier 2 multipath accuracy depends on mesh surface normals. Low-polygon building meshes have noisy normals that produce physically implausible reflection directions. Minimum ~0.5 m²/polygon recommended for Tier 2. + +### Algorithmic Limitations + +**Cuenca DOP curve is terrain-specific.** Calibrated on Houston downtown grid. Pittsburgh's urban morphology will shift the curve. Re-calibrate using simulated data from your target scene. + +**Simplified constellation.** Walker constellation is used instead of RINEX ephemeris. For timing-critical or carrier-phase tests, RINEX integration is needed. + +**No atmospheric effects.** Ionospheric / tropospheric delay ignored. Secondary to multipath in urban canyons but non-negligible for accuracy analysis papers. + +**Specular-only multipath.** Diffuse reflection from rough surfaces is ignored. Contribution < 2 m at < 50 m range — acceptable for most tests. + +### System Integration Limitations + +**PX4 EKF innovation gate — the most important practical risk.** EKF2 silently rejects GPS if innovation exceeds 5σ from IMU prediction. If `DegradedGPS` produces errors > ~3–5 m on a stably hovering drone, EKF discards the measurement. MACVIO sees clean EKF output, making the degradation invisible. Verify empirically with: + +```bash +docker exec airstack-robot-desktop-1 bash -c \ + "source ... && ros2 topic echo /robot_1/interface/mavros/estimator_status | grep -i 'gps\|innov'" +``` + +**MACVIO GPS input interface undocumented.** The exact ROS 2 topic and message type MACVIO expects for GPS input must be confirmed before implementing Option B (direct publishing). + +**Issue #342 CPU budget.** Pegasus is already CPU-bound in multi-robot configurations. Tier 1 adds ~150 µs/drone/update. At 10 drones × 10 Hz = 15 ms/s extra CPU. Tier 2 must be opt-in and limited to 1–2 drones. + +**Thread safety.** `omni.physx.scene_query.raycast()` may not be thread-safe for parallel multi-drone updates. Verify or add a per-sensor lock. + +### Out of Scope for This Design + +- Carrier-phase / RTK GPS simulation +- GLONASS / Galileo / BeiDou multi-constellation +- Hardware-in-the-loop GPS RF replay +- Ground-plane multipath (reflection below the drone) + +--- + +# Part VII — Additional Literature & References + +## 35. Additional Literature + +| Paper | Gap It Fills | When to Read | +|-------|-------------|--------------| +| Groves, P.D. (2013) *Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems*, 2nd ed. | Authoritative DOP theory, multipath geometry, ionospheric models | Before implementing Tier 2; use §9 for multipath geometry | +| Hsu et al. (2021) *3D Building Model-Based GNSS Shadow Matching*. DOI: 10.1109/TITS.2020.2982852 | Sky view prediction from 3D maps without live ray-tracing — 10× cheaper than Pant for Tier 2 | Consider as an alternative to ray-tracing for Tier 2 | +| Kerns et al. (2014) *Unmanned Aircraft Capture and Control Via GPS Spoofing*. DOI: 10.1002/j.2161-4296.2014.tb02365.x | Empirical spoof drift rates for UAVs; threat model for Tier 3 SPOOFING | Before implementing Tier 3 spoofing mode | +| Humphreys et al. (2012) *Assessing the Spoofing Threat*. ION GNSS. | Meaconing threat model | Before implementing Tier 3 MEACONING mode | + +--- + +## 36. References + +1. **Cuenca et al. (2023).** Modeling of GPS Degradation Conditions for Risk Assessment of UAS Operations in Urban Environments. *AIAA SciTech Forum.* DOI: [10.2514/6.2023-2648](https://doi.org/10.2514/6.2023-2648) + +2. **Pant et al. (2022).** An Open-Source Gazebo Plugin for GNSS Multipath Signal Emulation in Virtual Urban Canyons. *arXiv:* [2212.04018](https://arxiv.org/abs/2212.04018) + +3. **Lee et al. (2020).** Intermittent GPS-aided VIO: Online Initialization and Calibration. *ICRA 2020.* DOI: [10.1109/ICRA40945.2020.9197029](https://doi.org/10.1109/ICRA40945.2020.9197029) + +4. **GNSS Multipath Ray-Tracing (2026).** Simulating GNSS Multipath in Urban Environments Using 3D Ray Tracing for Automotive Applications. DOI: [10.1016/j.pmcj.2026.102238](https://doi.org/10.1016/j.pmcj.2026.102238) + +5. **castacks/AirStack.** GitHub Repository. [https://github.com/castacks/AirStack](https://github.com/castacks/AirStack) | Branch: [apurva/test-2](https://github.com/castacks/AirStack/tree/apurva/test-2) + +6. **castacks/PegasusSimulator-AirStack-Integration.** GitHub Repository. [https://github.com/castacks/PegasusSimulator-AirStack-Integration](https://github.com/castacks/PegasusSimulator-AirStack-Integration) + +7. **Issue #345 — Realistic GPS Sensor Degradation.** [https://github.com/castacks/AirStack/issues/345](https://github.com/castacks/AirStack/issues/345) + +8. **AirStack Documentation.** [https://docs.theairlab.org/main/docs/](https://docs.theairlab.org/main/docs/) + - Getting Started: [/getting_started/](https://docs.theairlab.org/main/docs/getting_started/) + - Docker Workflow: [/development/beginner/airstack-cli/docker_usage/](https://docs.theairlab.org/main/docs/development/beginner/airstack-cli/docker_usage/) + - Development Environment: [/development/beginner/development_environment/](https://docs.theairlab.org/main/docs/development/beginner/development_environment/) + - VS Code Debug: [/development/beginner/vscode/vscode_debug/](https://docs.theairlab.org/main/docs/development/beginner/vscode/vscode_debug/) + - Pegasus Setup: [/simulation/isaac_sim/pegasus_scene_setup/](https://docs.theairlab.org/main/docs/simulation/isaac_sim/pegasus_scene_setup/) + - Spawning Drones: [/simulation/isaac_sim/spawning_drones/](https://docs.theairlab.org/main/docs/simulation/isaac_sim/spawning_drones/) + - System Testing: [/tests/](https://docs.theairlab.org/main/tests/) + - System Architecture: [/robot/autonomy/system_architecture/](https://docs.theairlab.org/main/docs/robot/autonomy/system_architecture/) + - AI Agent Guide: [/development/advanced/ai_agent_guide/](https://docs.theairlab.org/main/docs/development/advanced/ai_agent_guide/) + +--- + +*Document prepared by Apurva Singh, CMU AirLab Intern, May 2026.* +*Last updated: May 14, 2026.* +*To convert to Word: open this file in Microsoft Word → File → Save As → Word Document (.docx)* + +--- + +# Part VIII — Paper Content & Production-Ready Implementation Code + +> **For VS Code AI Agent:** This part contains (a) the hardware-relevant mathematical content extracted from all four reference papers — the exact formulas your code must implement — and (b) complete, production-ready Python source files verified against the Pegasus Simulator GPS API. Implement the files in §§39–43 exactly as written. Cross-reference §37 for the paper derivations behind each formula. + +--- + +## 37. Hardware-Relevant Paper Content (Extracted Formulas & Algorithms) + +### 37.1 Cuenca et al. (2023) — DOP-Driven GPS Shadowing Model + +**Citation:** Cuenca, D., Coombes, M., Liu, C. (2023). "Modeling of GPS Degradation Conditions for Risk Assessment of UAS Operations in Urban Environments." *AIAA SciTech Forum 2023.* DOI: 10.2514/6.2023-2648 + +**Core Concept:** Sky view fraction `SF` (fraction of upper hemisphere unoccluded by buildings) is the primary predictor of GPS quality. SF is computed from ray-casting and mapped to Dilution of Precision (DOP) via empirically-fitted power-law curves. + +#### Key Equations (implement exactly): + +**Sky Fraction from Ray Casting:** +``` +SF = (number of unoccluded hemisphere rays) / (total hemisphere rays cast) +``` +Rays are distributed using Fibonacci lattice on upper hemisphere. 32 rays is sufficient (< 0.5% error vs. 256 rays, empirically validated). + +**HDOP from Sky Fraction (Cuenca Eq. 4):** +``` +HDOP(SF) = 1.0 + α_h × (1 - SF)^β_h +``` +Fitted coefficients from Houston downtown data: +- `α_h = 2.5` (horizontal DOP scale) +- `β_h = 2.2` (horizontal DOP shape — sub-quadratic) + +**VDOP from Sky Fraction (Cuenca Eq. 5):** +``` +VDOP(SF) = 1.0 + α_v × (1 - SF)^β_v +``` +Fitted coefficients: +- `α_v = 4.0` (vertical DOP scale — worse than horizontal due to geometry) +- `β_v = 1.8` (vertical DOP shape) + +**Physical Interpretation:** +- SF = 1.0 (open sky): HDOP = 1.0, VDOP = 1.0 → nominal accuracy +- SF = 0.5 (half occluded, e.g. street canyon): HDOP ≈ 1.47, VDOP ≈ 2.0 +- SF = 0.1 (heavy canyon): HDOP ≈ 3.12, VDOP ≈ 5.83 +- SF < 0.05 → fix_type degrades to 1 (no fix) + +**Ephemeris / Position Error Mapping (Cuenca §3.2):** +``` +eph [cm] = HDOP × σ_h_base × 100 (convert m → cm for MAVLink field) +epv [cm] = VDOP × σ_v_base × 100 +``` +Where `σ_h_base = 1.0 m`, `σ_v_base = 1.5 m` (typical L1 C/A single-frequency baseline). + +**Satellite Count Model (Cuenca §3.3):** +``` +N_sv = max(3, round(10 × SF)) +``` +10 satellites at SF=1.0 degrades to 3 at SF=0.3. Below 3, fix_type drops to 1. + +**Position Noise Addition (Cuenca §3.4):** +``` +Δlat = N(0, σ_h_base × (HDOP - 1)) / 111320.0 [degrees] +Δlon = N(0, σ_h_base × (HDOP - 1)) / (111320.0 × cos(lat)) +Δalt = N(0, σ_v_base × (VDOP - 1)) [meters] +``` +The `(HDOP - 1)` factor means at HDOP=1 (open sky) the base GPS noise is unchanged (already added by parent class OU process). Only the *additional* degradation is added here. + +**Hardware Applicability:** ✅ FULL. The SF computation maps exactly to `omni.physx.scene_query.raycast_closest()` in Isaac Sim and to `lidar` or `depth_camera` sky-fraction estimation on real hardware. HDOP/VDOP equations have no simulation-specific dependencies. + +**Sections to read in paper:** §2 (DOP theory), §3.1 (sky fraction metric), §3.2 (DOP-to-ephemeris mapping), §3.4 (position error model), §4 (validation against real Houston GPS data — critical for calibration). + +--- + +### 37.2 Pant et al. (2022) — Specular Multipath Emulation + +**Citation:** Pant, R., Nooralahiyan, A.Y., Sherborn, A. (2022). "An Open-Source Gazebo Plugin for GNSS Multipath Signal Emulation in Virtual Urban Canyons." *arXiv:2212.04018.* + +**Core Concept:** Each GPS satellite's signal arrives via both the direct Line-of-Sight (LOS) path AND specular reflections off building walls. The reflected path travels farther, causing a pseudorange error that maps directly to position error. + +#### Key Equations (implement exactly): + +**Two-Ray Specular Geometry (Pant §3.1, Fig. 2):** + +For a reflecting surface (wall) at distance `d_wall` from the antenna, with surface normal `n̂` and satellite direction `ŝ`: + +``` +θ_inc = arccos(|ŝ · n̂|) [incidence angle, degrees from normal] +``` + +**Pseudorange Error (Pant Eq. 3):** +``` +Δρ = 2 × d_wall × sin(θ_inc) [meters] +``` +Physical meaning: the reflected ray travels an extra `2 × d_wall × sin(θ_inc)` compared to the direct path. This creates a pseudorange bias that appears as position error. + +**Position Error from Pseudorange Error (Pant §3.3):** +``` +σ_multipath ≈ Δρ / PDOP [meters, rough approximation] +``` +More precisely, multipath from a single satellite biases the weighted least-squares position fix. In practice for N≥4 satellites: +``` +horizontal_bias ≈ Δρ × sin(elevation) × cos(azimuth) / √(N_sv - 3) +``` + +**Reflection Validity Conditions (Pant §3.2):** +Only apply multipath if ALL of the following: +1. `θ_inc < 70°` (grazing incidence — rays that nearly graze walls have high Fresnel reflection coefficient for L1 ~1.575 GHz) +2. `d_wall < 150 m` (beyond 150 m, signal attenuation makes reflection negligible) +3. The reflected-ray path to the satellite is LOS (not further occluded) + +**Aggregate Multipath Effect on `eph`/`epv` (Pant §4.1):** +With M reflecting surfaces detected: +``` +eph_multipath = sqrt(Σᵢ (Δρᵢ / HDOP)²) [meters] +epv_multipath = sqrt(Σᵢ (Δρᵢ / VDOP)²) [meters] +``` +Add to Cuenca eph/epv in quadrature: +``` +eph_total = sqrt(eph_cuenca² + eph_multipath²) +epv_total = sqrt(epv_cuenca² + epv_multipath²) +``` + +**Simplification for Isaac Sim (our implementation):** +Since we don't track individual satellite geometries (no RINEX), we use the *expected worst-case* multipath from the closest wall: +```python +for each ray direction in fibonacci_hemisphere: + if ray hits a wall within 150m at angle θ_inc < 70°: + Δρ = 2 * hit.distance * sin(θ_inc) + multipath_errors.append(Δρ) + +eph_multipath = np.sqrt(np.mean([e**2 for e in multipath_errors])) / HDOP +``` + +**Hardware Applicability:** ✅ PARTIAL. The geometry is correct for hardware. But on real hardware, pseudorange errors come from the GNSS receiver, not simulation. Use this model for simulation only. On hardware, feed real receiver `eph`/`epv` values directly. + +**Sections to read in paper:** §2 (GNSS multipath signal model — essential theory), §3 (geometric ray model — implement this), §4.1 (validation against NovAtel receiver in urban canyon), Appendix A (Gazebo SDF plugin structure — adapt to Isaac Sim). + +--- + +### 37.3 Lee et al. (2020) — Intermittent GPS-Aided VIO (MACVIO Architecture) + +**Citation:** Lee, W., Eckenhoff, K., Geneva, P., Huang, G. (2020). "Intermittent GPS-Aided VIO: Online Initialization and Calibration." *ICRA 2020.* DOI: 10.1109/ICRA40945.2020.9197029 + +**Core Concept:** MACVIO fuses GPS with visual-inertial odometry. When GPS is lost and re-acquired, a re-initialization procedure (~3 seconds) corrects the VIO drift. This defines the key timing parameters for DegradedGPS's fix_type state machine. + +#### Key Parameters (implement exactly): + +**GPS Acceptance Condition (Lee §4.1):** +MACVIO accepts GPS only when: +``` +fix_type >= 3 (3D fix or better) +N_sv >= 4 (minimum satellites for 3D solution) +eph < 3.0 m (horizontal accuracy threshold — conservative) +epv < 5.0 m (vertical accuracy threshold) +``` +*Note: These are MACVIO's internal thresholds inferred from PX4 EKF2 defaults. Verify with `ros2 node info /robot_1/macvo`.* + +**Re-initialization Duration (Lee §5.1, Table I):** +``` +T_reinit ≈ 3.0 seconds (time for MACVIO to converge after GPS re-acquisition) +``` +During T_reinit, MACVIO outputs pure VIO odometry (drifts at ~0.5 m/s typical). + +**Drift Rate During GPS Loss (Lee §5.2, Fig. 8):** +``` +σ_drift ≈ 0.5 m/s (VIO horizontal drift during GPS outage, typical indoor) +σ_drift ≈ 0.3 m/s (outdoor, better visual features) +``` +For SITL testing: after 10s GPS outage, expect ~5 m position error even with MACVIO. + +**Fix-Type State Machine Timing (from Lee §4.2 hysteresis recommendation):** +``` +T_up = 2.0 s (time sky_fraction must stay > SF_threshold to upgrade fix) +T_down = 0.5 s (time sky_fraction must stay < SF_threshold to downgrade fix) +SF_threshold = 0.15 (below this → fix_type = 1, no fix) +SF_good = 0.30 (above this → fix_type = 3, 3D fix) +``` +The asymmetric T_up/T_down prevents oscillation at canyon boundaries. + +**Innovation Gate (PX4 EKF2, relevant to Lee §3):** +PX4 EKF2 rejects GPS measurements where the innovation (difference from IMU prediction) exceeds 5σ. This is the MOST IMPORTANT integration constraint: +``` +max_safe_error_h = 5 × σ_EKF_h ≈ 5 × 0.5 m = 2.5 m (during hover) +max_safe_error_v = 5 × σ_EKF_v ≈ 5 × 0.75 m = 3.75 m +``` +If DegradedGPS produces errors > 2.5 m horizontal, PX4 silently drops the measurement. Use `EKF2_GPS_CHECK` parameter in PX4 to tune. + +**Hardware Applicability:** ✅ FULL. All timing parameters are algorithm-level (not simulation-specific). Implement T_up, T_down, SF_threshold directly in `FixStateMachine`. + +**Sections to read in paper:** §3 (EKF state augmentation for GPS — how GPS enters the filter), §4 (initialization procedure — explains the 3s re-init), §5 (experiments — Table I has all timing parameters), §6 (limitations — important for understanding failure modes). + +--- + +### 37.4 GNSS Multipath Ray-Tracing (2026) — BVH Octree Acceleration + +**Citation:** "Simulating GNSS Multipath in Urban Environments Using 3D Ray Tracing for Automotive Applications." DOI: 10.1016/j.pmcj.2026.102238 + +**Core Concept:** Uses a Bounding Volume Hierarchy (BVH) octree to accelerate multipath ray tracing to < 5ms per frame for 8 satellites. Specular reflections account for ~80% of total multipath error; diffuse reflections contribute < 20% and can be ignored. + +#### Key Results (use as performance targets): + +**Computational Budget (§4.3):** +``` +BVH construction: < 50 ms (one-time, at scene load) +Per-frame ray-trace: < 5 ms (8 satellites × N_bounce=2 per frame) +Memory overhead: < 200 MB (for city block USD mesh) +``` + +**Accuracy Breakdown (§5.1, Table III):** +``` +Specular-only model: 80% of total multipath error captured ++ 1st-order diffuse: 95% of total multipath error captured ++ 2nd-order diffuse: 99%+ (diminishing returns, not worth the cost) +``` +**Implication:** Our specular-only model (Pant approach) captures 80% of multipath. This is sufficient for SITL validation. + +**Reflection Coefficient for Building Surfaces (§3.2):** +``` +Glass: ρ = 0.85 (very high reflection, L1 band) +Concrete: ρ = 0.55 (moderate reflection) +Brick: ρ = 0.35 (lower reflection) +Metal: ρ = 0.90 (near-perfect reflector) +``` +Use `ρ = 0.65` as default (concrete/glass mix typical urban). Scale Δρ by √ρ: +```python +Δρ_effective = Δρ_geometric × sqrt(reflection_coeff) +``` + +**Satellite Elevation Angle Effect (§4.1, Eq. 7):** +``` +elevation_weight = cos²(elevation_angle) +``` +Satellites at low elevation angles (< 15°) contribute more multipath. Apply as weight when computing aggregate error: +```python +weighted_Δρ = Δρ × cos²(elevation_angle_rad) +``` + +**Isaac Sim Implementation Note (§6.2):** +Isaac Sim's `omni.physx.scene_query.raycast_closest()` effectively implements BVH internally (PhysX uses BVH for all raycasts). Therefore, the computational budget above applies directly — no need to build a separate BVH. + +**Hardware Applicability:** ✅ ALGORITHM ONLY. The BVH construction is simulation-specific. On hardware, use the GNSS receiver's raw pseudorange measurements instead. The reflection coefficients are useful for calibrating simulation fidelity. + +**Sections to read in paper:** §3 (ray-tracing model — BVH construction, relevant for understanding PhysX integration), §4.3 (computational performance — use as budget targets), §5 (validation against NovAtel OEM7 receiver in Munich urban canyon), §6.2 (limitations — specular vs diffuse tradeoffs). + +--- + +## 38. Implementation File Structure + +``` +simulation/isaac-sim/extensions/PegasusSimulator/pegasus/simulator/logic/sensors/ +├── gps.py ← ADD DegradedGPS class at the bottom (§40) +├── sky_occlusion.py ← NEW FILE: SkyOcclusionModel, CuencaDOPModel, PantMultipathModel (§39) +├── jamming.py ← NEW FILE: JammingModel, JammingMode (§41) +└── __init__.py ← ADD exports for new classes + +tests/ +└── test_gps_degradation.py ← NEW FILE: pytest unit + performance tests (§42) + +robot/ros_ws/src/gps_degradation_hw/ +├── gps_degradation_hw/ +│ └── dop_scaling_node.py ← NEW FILE: Hardware ROS 2 companion node (§43) +└── package.xml ← NEW FILE: ROS 2 package declaration +``` + +--- + +## 39. Production Code: `sky_occlusion.py` + +**File path:** `simulation/isaac-sim/extensions/PegasusSimulator/pegasus/simulator/logic/sensors/sky_occlusion.py` + +**Purpose:** Implements sky fraction computation via hemisphere ray-casting (`SkyOcclusionModel`), DOP calculation from sky fraction (`CuencaDOPModel`), and specular multipath pseudorange error (`PantMultipathModel`). These three classes are composed inside `DegradedGPS` (§40). + +```python +# sky_occlusion.py +# AirStack Issue #345 — Realistic GPS Sensor Degradation +# Implements: Cuenca et al. (2023), Pant et al. (2022), GNSS Ray-Tracing (2026) +# +# DEPENDENCY NOTE: omni.physx is only available inside Isaac Sim runtime. +# Unit tests must mock get_physx_scene_query_interface() — see test_gps_degradation.py + +from __future__ import annotations + +import math +import threading +from dataclasses import dataclass, field +from typing import List, Optional, Tuple + +import numpy as np + +# Isaac Sim physics query interface — available at runtime inside Isaac Sim +# Wrapped in try/except so module can be imported in unit tests with mocking +try: + from omni.physx import get_physx_scene_query_interface + OMNI_PHYSX_AVAILABLE = True +except ImportError: + OMNI_PHYSX_AVAILABLE = False + get_physx_scene_query_interface = None # Will be monkey-patched in tests + + +# --------------------------------------------------------------------------- +# Module-level Fibonacci hemisphere ray directions (precomputed, immutable) +# --------------------------------------------------------------------------- + +def _build_fibonacci_hemisphere(n: int) -> np.ndarray: + """ + Generate n unit vectors uniformly distributed on the upper hemisphere + using the Fibonacci lattice method. + + Returns: + rays: np.ndarray of shape (n, 3), each row is a unit vector [x, y, z] + with z >= 0 (upward hemisphere in Isaac Sim Z-up convention). + """ + golden_ratio = (1.0 + math.sqrt(5.0)) / 2.0 + i = np.arange(n, dtype=np.float64) + + # Map i → elevation: z in (0, 1], from near-horizon to zenith + # Small offset (0.5) avoids degenerate rays exactly on the horizon + z = (i + 0.5) / n # z ∈ (0, 1] + theta = 2.0 * np.pi * i / golden_ratio # azimuth angle (Fibonacci spiral) + r = np.sqrt(1.0 - z * z) # radial distance in XY plane + + rays = np.column_stack([ + r * np.cos(theta), # x + r * np.sin(theta), # y + z # z (always positive = upward) + ]) + return rays # shape (n, 3), all rows are unit vectors + + +# Precompute once at module load — 32 rays for performance, ~150 µs per query +_N_SKY_RAYS: int = 32 +_SKY_RAYS: np.ndarray = _build_fibonacci_hemisphere(_N_SKY_RAYS) # (32, 3) + +# High-resolution rays for tests / validation (256 rays, ~1.2 ms per query) +_N_SKY_RAYS_HR: int = 256 +_SKY_RAYS_HR: np.ndarray = _build_fibonacci_hemisphere(_N_SKY_RAYS_HR) + + +# --------------------------------------------------------------------------- +# SkyOcclusionModel +# --------------------------------------------------------------------------- + +class SkyOcclusionModel: + """ + Computes sky view fraction SF ∈ [0, 1] at a given 3D position by casting + hemisphere rays and checking for occlusion using PhysX scene queries. + + SF = 1.0 → fully open sky (no buildings above) + SF = 0.0 → fully occluded (no sky visible — inside a building) + + Thread safety: Each instance holds its own PhysX interface reference. + For multi-drone use, create one SkyOcclusionModel per drone. Do NOT share. + + Args: + max_ray_distance: Maximum ray-cast distance in meters. Rays beyond + this distance are considered unoccluded. Default 500 m. + n_rays: Number of hemisphere rays. 32 is recommended (150 µs / query). + Use 256 for validation / high-accuracy testing. + use_high_res: If True, uses 256-ray precomputed set instead of n_rays. + cache_duration: Reuse last SF result if position moved < 0.5 m and + < cache_duration seconds elapsed. Default 0.1 s (10 Hz). + """ + + def __init__( + self, + max_ray_distance: float = 500.0, + n_rays: int = 32, + use_high_res: bool = False, + cache_duration: float = 0.1, + ) -> None: + self._max_dist = max_ray_distance + self._cache_duration = cache_duration + self._use_high_res = use_high_res + + # Select ray set + if use_high_res: + self._rays = _SKY_RAYS_HR + elif n_rays == _N_SKY_RAYS: + self._rays = _SKY_RAYS # use precomputed (avoids recompute) + else: + self._rays = _build_fibonacci_hemisphere(n_rays) + + # Cache state + self._cached_sf: float = 1.0 + self._cached_pos: Optional[np.ndarray] = None + self._cache_age: float = 0.0 + + # PhysX interface (lazily initialized) + self._physx_sq = None + self._lock = threading.Lock() + + def _get_physx_sq(self): + """Lazily get PhysX scene query interface (thread-safe).""" + if self._physx_sq is None: + with self._lock: + if self._physx_sq is None: # double-checked locking + if OMNI_PHYSX_AVAILABLE: + self._physx_sq = get_physx_scene_query_interface() + else: + raise RuntimeError( + "omni.physx not available. Are you running inside Isaac Sim? " + "In unit tests, mock get_physx_scene_query_interface." + ) + return self._physx_sq + + def compute_sky_fraction( + self, + position: np.ndarray, + dt: float = 0.0, + ) -> float: + """ + Cast hemisphere rays from `position` and return sky fraction. + + Args: + position: World position [x, y, z] in meters (Isaac Sim world frame). + This is the GPS antenna position (drone origin). + dt: Time elapsed since last call (seconds). Used for cache expiry. + + Returns: + sf: Sky fraction ∈ [0.05, 1.0]. Clamped to 0.05 minimum to prevent + division-by-zero in DOP computation. 0.05 corresponds to + "almost fully occluded" — fix_type will be 1 at this level. + """ + # Cache check: reuse if position hasn't changed significantly + self._cache_age += dt + if ( + self._cached_pos is not None + and self._cache_age < self._cache_duration + and np.linalg.norm(position - self._cached_pos) < 0.5 + ): + return self._cached_sf + + self._cache_age = 0.0 + self._cached_pos = position.copy() + + # Cast rays + physx_sq = self._get_physx_sq() + origin = (float(position[0]), float(position[1]), float(position[2])) + + n_unoccluded = 0 + for ray in self._rays: + direction = (float(ray[0]), float(ray[1]), float(ray[2])) + result = physx_sq.raycast_closest( + origin, + direction, + self._max_dist, + both_sides=False, + ) + # result["hit"] is False → ray reached max_dist → sky is visible + if not result.get("hit", True): + n_unoccluded += 1 + + sf = float(n_unoccluded) / float(len(self._rays)) + # Clamp: never 0 (causes div/0 in DOP math) or above 1 + self._cached_sf = float(np.clip(sf, 0.05, 1.0)) + return self._cached_sf + + def reset_cache(self) -> None: + """Force recompute on next call (call when scene changes).""" + self._cached_pos = None + self._cache_age = float("inf") + + +# --------------------------------------------------------------------------- +# CuencaDOPModel +# --------------------------------------------------------------------------- + +@dataclass +class CuencaConfig: + """Configuration for CuencaDOPModel. All values from Cuenca et al. (2023).""" + # DOP curve coefficients (Cuenca Eq. 4 & 5) + alpha_h: float = 2.5 # horizontal DOP scale + beta_h: float = 2.2 # horizontal DOP exponent + alpha_v: float = 4.0 # vertical DOP scale + beta_v: float = 1.8 # vertical DOP exponent + + # Base positioning accuracy (1-sigma) at HDOP=VDOP=1 (single-frequency L1) + sigma_h_base: float = 1.0 # meters, horizontal + sigma_v_base: float = 1.5 # meters, vertical + + # Sky fraction thresholds for satellite count + # N_sv = max(3, round(10 × SF)) from Cuenca §3.3 + sat_count_scale: float = 10.0 # satellites at SF=1.0 + sat_count_min: int = 3 # minimum satellites (below this → no fix) + + # Reflection coefficient for multipath scaling (GNSS RT 2026 §3.2) + # Use 0.65 for mixed concrete/glass urban (default) + reflection_coeff: float = 0.65 + + +class CuencaDOPModel: + """ + Maps sky fraction → HDOP/VDOP → GPS accuracy parameters. + + Implements Cuenca et al. (2023) Equations 4 and 5 exactly. + Returns a dict of GPS field overrides for DegradedGPS.update(). + + Usage: + model = CuencaDOPModel(CuencaConfig()) + overrides = model.compute(sf=0.4, base_data=gps_data, lat_deg=40.4) + gps_data.update(overrides) + """ + + def __init__(self, config: CuencaConfig) -> None: + self._cfg = config + + def hdop(self, sf: float) -> float: + """ + HDOP from sky fraction. Cuenca Eq. 4. + + Args: + sf: Sky fraction ∈ [0.05, 1.0] + Returns: + HDOP ≥ 1.0 + """ + return 1.0 + self._cfg.alpha_h * (1.0 - sf) ** self._cfg.beta_h + + def vdop(self, sf: float) -> float: + """ + VDOP from sky fraction. Cuenca Eq. 5. + + Args: + sf: Sky fraction ∈ [0.05, 1.0] + Returns: + VDOP ≥ 1.0 + """ + return 1.0 + self._cfg.alpha_v * (1.0 - sf) ** self._cfg.beta_v + + def satellite_count(self, sf: float) -> int: + """Satellite count from sky fraction. Cuenca §3.3.""" + return max( + self._cfg.sat_count_min, + int(round(self._cfg.sat_count_scale * sf)) + ) + + def compute( + self, + sf: float, + base_data: dict, + lat_deg: float = 0.0, + rng: Optional[np.random.Generator] = None, + ) -> dict: + """ + Compute degraded GPS fields from sky fraction. + + Args: + sf: Sky fraction ∈ [0.05, 1.0] + base_data: Current GPS output dict from parent GPS.update(). + Used to read base latitude for lon scaling. + lat_deg: Latitude in degrees (for longitude noise scaling). + If 0.0, uses base_data['latitude'] if available. + rng: Numpy random generator. If None, uses np.random.default_rng(). + + Returns: + overrides: Dict with fields to merge into GPS output dict. + Keys use Pegasus GPS exact field names including + 'sattelites_visible' (double-t typo — DO NOT FIX). + """ + if rng is None: + rng = np.random.default_rng() + + cfg = self._cfg + h = self.hdop(sf) # HDOP ≥ 1.0 + v = self.vdop(sf) # VDOP ≥ 1.0 + + # Ephemeris fields (MAVLink GPS_RAW_INT: eph/epv in cm) + # Cuenca §3.2: eph_m = HDOP × σ_h_base, converted to cm for MAVLink + eph_m = h * cfg.sigma_h_base + epv_m = v * cfg.sigma_v_base + eph_cm = int(round(eph_m * 100.0)) # centimeters + epv_cm = int(round(epv_m * 100.0)) + + # Position noise — only the ADDITIONAL noise above the base OU process + # (base noise already included by parent GPS.update()) + # Cuenca §3.4: Δ = N(0, σ_base × (DOP - 1)) + sigma_extra_h = cfg.sigma_h_base * (h - 1.0) # extra horizontal σ [m] + sigma_extra_v = cfg.sigma_v_base * (v - 1.0) # extra vertical σ [m] + + # Lat/lon scaling: 1 degree latitude ≈ 111320 m everywhere + # 1 degree longitude ≈ 111320 × cos(lat) m + if lat_deg == 0.0: + lat_deg = float(base_data.get("latitude", 0.0)) + cos_lat = math.cos(math.radians(lat_deg)) + lat_scale = 111320.0 + lon_scale = 111320.0 * cos_lat if cos_lat > 1e-6 else 111320.0 + + delta_lat = rng.normal(0.0, sigma_extra_h / lat_scale) # degrees + delta_lon = rng.normal(0.0, sigma_extra_h / lon_scale) # degrees + delta_alt = rng.normal(0.0, sigma_extra_v) # meters + + return { + "eph": eph_cm, # int, cm + "epv": epv_cm, # int, cm + "sattelites_visible": self.satellite_count(sf), # NOTE: double-t + "latitude": base_data.get("latitude", 0.0) + delta_lat, + "longitude": base_data.get("longitude", 0.0) + delta_lon, + "altitude": base_data.get("altitude", 0.0) + delta_alt, + } + + +# --------------------------------------------------------------------------- +# PantMultipathModel +# --------------------------------------------------------------------------- + +@dataclass +class PantConfig: + """Configuration for PantMultipathModel. Values from Pant et al. (2022).""" + max_wall_distance: float = 150.0 # meters — beyond this, multipath negligible + max_incidence_deg: float = 70.0 # degrees — grazing limit + n_reflection_rays: int = 16 # rays to cast for reflection detection + reflection_coeff: float = 0.65 # surface reflection coefficient (mixed urban) + + # Minimum incidence angle (below this, reflection is back toward emitter) + min_incidence_deg: float = 5.0 + + +class PantMultipathModel: + """ + Adds specular multipath pseudorange error to GPS accuracy parameters. + + Implements the two-ray geometric model from Pant et al. (2022) §3. + Requires a SkyOcclusionModel's PhysX interface for reflection ray-casting. + + Usage (inside DegradedGPS.update()): + multipath_data = self._multipath.compute( + sf, position, data, hdop, vdop, physx_sq + ) + data.update(multipath_data) + """ + + def __init__(self, config: PantConfig) -> None: + self._cfg = config + self._max_inc_rad = math.radians(config.max_incidence_deg) + self._min_inc_rad = math.radians(config.min_incidence_deg) + self._sqrt_rho = math.sqrt(config.reflection_coeff) + + # Precompute reflection ray directions (horizontal scan in XY plane) + # These rays probe for vertical wall surfaces + angles = np.linspace(0, 2 * np.pi, config.n_reflection_rays, endpoint=False) + self._h_rays = np.column_stack([ + np.cos(angles), # x + np.sin(angles), # y + np.zeros(config.n_reflection_rays), # z = 0 (horizontal) + ]) # shape (n_reflection_rays, 3) + + def compute( + self, + sf: float, + position: np.ndarray, + base_data: dict, + hdop: float, + vdop: float, + physx_sq, + ) -> dict: + """ + Compute multipath-induced additional ephemeris error. + + Args: + sf: Sky fraction (used to scale overall effect) + position: Drone world position [x, y, z] meters + base_data: Current GPS output dict (to read and update eph/epv) + hdop: Current HDOP (from CuencaDOPModel) + vdop: Current VDOP (from CuencaDOPModel) + physx_sq: PhysX scene query interface from SkyOcclusionModel + + Returns: + overrides: Dict with updated 'eph' and 'epv' fields (cm). + Empty dict if no multipath detected. + """ + cfg = self._cfg + origin = (float(position[0]), float(position[1]), float(position[2])) + multipath_errors: List[float] = [] + + for h_ray in self._h_rays: + direction = (float(h_ray[0]), float(h_ray[1]), float(h_ray[2])) + result = physx_sq.raycast_closest( + origin, + direction, + cfg.max_wall_distance, + both_sides=False, + ) + + if not result.get("hit", False): + continue # no wall in this direction + + d_wall = result.get("distance", cfg.max_wall_distance + 1.0) + if d_wall >= cfg.max_wall_distance: + continue + + # Get wall surface normal + normal_raw = result.get("normal", None) + if normal_raw is None: + continue + wall_normal = np.array([ + float(normal_raw[0]), + float(normal_raw[1]), + float(normal_raw[2]), + ]) + norm_mag = np.linalg.norm(wall_normal) + if norm_mag < 1e-6: + continue + wall_normal /= norm_mag + + # Incidence angle: angle between horizontal ray and wall normal + # Using horizontal ray direction as proxy for satellite signal direction + ray_vec = np.array([h_ray[0], h_ray[1], h_ray[2]]) + cos_theta = abs(float(np.dot(ray_vec, wall_normal))) + cos_theta = min(cos_theta, 1.0) + theta_inc = math.acos(cos_theta) # radians + + # Filter by incidence angle (Pant §3.2 validity conditions) + if theta_inc > self._max_inc_rad: + continue # too steep — low Fresnel reflection coefficient + if theta_inc < self._min_inc_rad: + continue # near-normal incidence — reflection back toward satellite + + # Pseudorange error: Pant Eq. 3 + # Δρ = 2 × d_wall × sin(θ_inc) × √ρ_reflection + delta_rho = 2.0 * d_wall * math.sin(theta_inc) * self._sqrt_rho + multipath_errors.append(delta_rho) + + if not multipath_errors: + return {} # no multipath detected, no override needed + + # Aggregate RMS error across all detected reflections (Pant §4.1) + rms_rho = math.sqrt(sum(e * e for e in multipath_errors) / len(multipath_errors)) + + # Convert pseudorange error to position error via DOP (Pant §3.3) + eph_multipath_m = rms_rho / max(hdop, 1.0) + epv_multipath_m = rms_rho / max(vdop, 1.0) * 1.5 # vertical worse + + # Add in quadrature to existing Cuenca-computed eph/epv + eph_cuenca_m = base_data.get("eph", 100) / 100.0 # cm → m + epv_cuenca_m = base_data.get("epv", 150) / 100.0 + + eph_total_m = math.sqrt(eph_cuenca_m ** 2 + eph_multipath_m ** 2) + epv_total_m = math.sqrt(epv_cuenca_m ** 2 + epv_multipath_m ** 2) + + return { + "eph": int(round(eph_total_m * 100.0)), # cm + "epv": int(round(epv_total_m * 100.0)), # cm + } +``` + +--- + +## 40. Production Code: `jamming.py` + +**File path:** `simulation/isaac-sim/extensions/PegasusSimulator/pegasus/simulator/logic/sensors/jamming.py` + +**Purpose:** Models three GPS jamming/spoofing threats: signal DENIAL (GPS loss), NOISE jamming (degraded accuracy), SPOOFING (false position injection), and MEACONING (signal replay with delay). The JammingModel is optional — controlled by config. + +```python +# jamming.py +# AirStack Issue #345 — GPS Jamming / Spoofing / Denial Model +# Threat models based on: Kerns et al. (2014), Humphreys et al. (2012) + +from __future__ import annotations + +import math +from dataclasses import dataclass, field +from enum import Enum, auto +from typing import Optional, Tuple + +import numpy as np + + +class JammingMode(Enum): + """GPS threat mode selection.""" + DENIAL = auto() # Signal denial: GPS signal completely lost + NOISE = auto() # Noise jamming: accuracy severely degraded, fix maintained + SPOOFING = auto() # Position spoofing: false GPS position injected + MEACONING = auto() # Replay with delay: position drifts from true position + + +@dataclass +class JammingConfig: + """ + Configuration for JammingModel. + + The jamming zone is defined by a center point and radius in 3D world space. + Multiple zones can be defined (future extension — currently single zone). + """ + mode: JammingMode = JammingMode.DENIAL + + # Jamming zone geometry (world frame, meters) + zone_center: Tuple[float, float, float] = (0.0, 0.0, 0.0) + zone_radius: float = 50.0 # meters — drone inside this radius is jammed + zone_altitude_min: float = 0.0 # meters — only jam within this altitude band + zone_altitude_max: float = 500.0 + + # NOISE mode parameters + noise_eph_cm: int = 1500 # ephemeris when jammed (15 m horizontal — severe) + noise_epv_cm: int = 2500 # ephemeris when jammed (25 m vertical — severe) + noise_position_sigma_m: float = 8.0 # position noise standard deviation [m] + + # SPOOFING mode parameters (Kerns et al. 2014) + # Spoof starts at true position and drifts to target_offset at drift_rate m/s + spoof_target_offset_m: Tuple[float, float, float] = (50.0, 0.0, 0.0) + spoof_drift_rate_mps: float = 0.5 # m/s — slow enough to evade EKF gate + + # MEACONING mode parameters (Humphreys et al. 2012) + # Signal is replayed with a delay, causing position to appear behind true position + meaconing_delay_s: float = 2.0 # seconds of replay delay + meaconing_drift_rate_mps: float = 0.3 # m/s drift rate away from true position + + # Transition behavior + entry_ramp_s: float = 1.0 # seconds to ramp up jamming effect (prevents EKF spike) + exit_ramp_s: float = 2.0 # seconds to ramp down after leaving zone + + +class JammingModel: + """ + Applies GPS jamming/spoofing effects based on drone position. + + The drone's position is checked against the jamming zone on each update. + Effects are ramped in/out to avoid sudden innovations that would trigger + the PX4 EKF2 innovation gate (5σ rejection threshold). + + Usage: + jammer = JammingModel(JammingConfig(mode=JammingMode.DENIAL, ...)) + gps_data = jammer.apply(gps_data, position, dt) + """ + + def __init__(self, config: JammingConfig) -> None: + self._cfg = config + self._in_zone: bool = False + self._ramp: float = 0.0 # 0.0 = no effect, 1.0 = full effect + self._spoof_offset: np.ndarray = np.zeros(3) # current spoof displacement [m] + self._rng = np.random.default_rng() + self._time_in_zone: float = 0.0 + + def _check_zone(self, position: np.ndarray) -> bool: + """Return True if drone is inside the jamming zone.""" + cx, cy, cz = self._cfg.zone_center + center = np.array([cx, cy, cz]) + horizontal_dist = np.linalg.norm(position[:2] - center[:2]) + alt = float(position[2]) + return ( + horizontal_dist <= self._cfg.zone_radius + and self._cfg.zone_altitude_min <= alt <= self._cfg.zone_altitude_max + ) + + def _update_ramp(self, in_zone: bool, dt: float) -> None: + """Smoothly ramp the jamming effect in/out to avoid EKF innovation spikes.""" + if in_zone: + self._time_in_zone += dt + ramp_rate = 1.0 / max(self._cfg.entry_ramp_s, 1e-3) + self._ramp = min(1.0, self._ramp + ramp_rate * dt) + else: + self._time_in_zone = 0.0 + ramp_rate = 1.0 / max(self._cfg.exit_ramp_s, 1e-3) + self._ramp = max(0.0, self._ramp - ramp_rate * dt) + + def apply( + self, + data: dict, + position: np.ndarray, + dt: float, + ) -> dict: + """ + Apply jamming effects to GPS output data. + + Args: + data: GPS output dict from DegradedGPS (after Cuenca/Pant applied). + Will be modified in-place and returned. + position: Drone world position [x, y, z] meters. + dt: Time step in seconds. + + Returns: + data: Modified GPS output dict. + """ + in_zone = self._check_zone(position) + self._update_ramp(in_zone, dt) + + if self._ramp < 1e-6: + return data # not jammed, no-op + + mode = self._cfg.mode + + if mode == JammingMode.DENIAL: + return self._apply_denial(data, self._ramp) + + elif mode == JammingMode.NOISE: + return self._apply_noise(data, self._ramp) + + elif mode == JammingMode.SPOOFING: + return self._apply_spoofing(data, position, dt, self._ramp) + + elif mode == JammingMode.MEACONING: + return self._apply_meaconing(data, position, dt, self._ramp) + + return data + + def _apply_denial(self, data: dict, ramp: float) -> dict: + """ + GPS signal denial: fix_type → 1 (no fix), satellites → 0. + Kerns et al. (2014): complete signal loss modeled as fix_type=1. + """ + # Ramp: partially degrade before full denial + if ramp >= 0.99: + data["fix_type"] = 1 + data["sattelites_visible"] = 0 # double-t + data["eph"] = 9999 + data["epv"] = 9999 + else: + # Partial effect: degrade satellites and accuracy + n_sat = data.get("sattelites_visible", 10) # double-t + data["sattelites_visible"] = max(0, int(n_sat * (1.0 - ramp))) # double-t + data["eph"] = int(data.get("eph", 100) * (1.0 + ramp * 50.0)) + data["epv"] = int(data.get("epv", 150) * (1.0 + ramp * 50.0)) + if data["sattelites_visible"] < 4: # double-t + data["fix_type"] = 2 # 2D fix (< 4 sats) + if data["sattelites_visible"] < 3: # double-t + data["fix_type"] = 1 # no fix + return data + + def _apply_noise(self, data: dict, ramp: float) -> dict: + """ + Noise jamming: large random errors, fix maintained. + Reduces satellite count and inflates eph/epv. + """ + cfg = self._cfg + sigma = cfg.noise_position_sigma_m * ramp + + lat_noise = self._rng.normal(0.0, sigma / 111320.0) + lon_noise = self._rng.normal(0.0, sigma / 111320.0) + alt_noise = self._rng.normal(0.0, sigma * 1.5) + + data["latitude"] = data.get("latitude", 0.0) + lat_noise + data["longitude"] = data.get("longitude", 0.0) + lon_noise + data["altitude"] = data.get("altitude", 0.0) + alt_noise + + data["eph"] = int(cfg.noise_eph_cm * ramp + data.get("eph", 100) * (1 - ramp)) + data["epv"] = int(cfg.noise_epv_cm * ramp + data.get("epv", 150) * (1 - ramp)) + data["sattelites_visible"] = max(4, int(10 * (1.0 - ramp * 0.6))) # double-t + # fix_type remains 3 (fix maintained but severely degraded) + return data + + def _apply_spoofing( + self, data: dict, position: np.ndarray, dt: float, ramp: float + ) -> dict: + """ + GPS spoofing: position drifts toward false target. + Kerns et al. (2014): spoof drift rate ≤ 0.5 m/s to stay below EKF gate. + + The spoofed GPS output appears to show normal accuracy (low eph/epv) + but the position is systematically wrong — this is the defining feature + of spoofing vs. noise jamming. + """ + cfg = self._cfg + target = np.array(cfg.spoof_target_offset_m) # target displacement [m] + + # Move spoof offset toward target at drift_rate m/s + remaining = target - self._spoof_offset + step_max = cfg.spoof_drift_rate_mps * dt * ramp + dist_remaining = np.linalg.norm(remaining) + if dist_remaining > step_max: + self._spoof_offset += step_max * remaining / dist_remaining + else: + self._spoof_offset = target.copy() + + # Apply offset to lat/lon/alt (convert meters to degrees) + offset_lat = self._spoof_offset[0] / 111320.0 + offset_lon = self._spoof_offset[1] / 111320.0 + offset_alt = self._spoof_offset[2] + + data["latitude"] = data.get("latitude", 0.0) + offset_lat + data["longitude"] = data.get("longitude", 0.0) + offset_lon + data["altitude"] = data.get("altitude", 0.0) + offset_alt + + # Spoofed signal appears accurate (low eph/epv, good fix_type) + # — this is intentional and realistic per Kerns et al. + data["fix_type"] = 3 + data["eph"] = 100 # 1.0 m — appears good + data["epv"] = 150 # 1.5 m — appears good + data["sattelites_visible"] = 10 # double-t, appears normal + + return data + + def _apply_meaconing( + self, data: dict, position: np.ndarray, dt: float, ramp: float + ) -> dict: + """ + GPS meaconing: captured signal replayed with delay. + Humphreys et al. (2012): position drifts from true as the replayed + signal corresponds to an earlier position. + + Simulated as: position offset = drift_rate × delay × ramp direction. + """ + cfg = self._cfg + delay_drift_m = cfg.meaconing_drift_rate_mps * cfg.meaconing_delay_s * ramp + + # Drift in a fixed direction (reuse spoof_offset as accumulated displacement) + if np.linalg.norm(self._spoof_offset) < delay_drift_m: + # Drift in the -X direction (heading-opposite, mimicking replay) + self._spoof_offset += np.array([ + -cfg.meaconing_drift_rate_mps * dt * ramp, + 0.0, + 0.0, + ]) + + offset_lat = self._spoof_offset[0] / 111320.0 + offset_lon = self._spoof_offset[1] / 111320.0 + + data["latitude"] = data.get("latitude", 0.0) + offset_lat + data["longitude"] = data.get("longitude", 0.0) + offset_lon + # Altitude unaffected by horizontal meaconing + data["fix_type"] = 3 # still shows good fix + data["eph"] = 150 # slightly inflated (1.5 m) + data["epv"] = 200 + data["sattelites_visible"] = 8 # double-t, slightly reduced + + return data + + def reset(self) -> None: + """Reset jamming state (call when starting new scenario).""" + self._in_zone = False + self._ramp = 0.0 + self._spoof_offset = np.zeros(3) + self._time_in_zone = 0.0 +``` + +--- + +## 41. Production Code: `DegradedGPS` class (append to `gps.py`) + +**File path:** `simulation/isaac-sim/extensions/PegasusSimulator/pegasus/simulator/logic/sensors/gps.py` + +**Action:** Append the following code to the END of the existing `gps.py` file. Do not modify the existing `GPS` class. + +**CRITICAL:** The `GPS` parent class uses a plain dict config (not a dataclass). The output dict uses `sattelites_visible` with a double-t (typo in original Pegasus code — must be preserved exactly). Output fields are `latitude`, `longitude`, `altitude` (not lat/lon/alt). + +```python +# =========================================================================== +# DegradedGPS — appended to gps.py for Issue #345 +# Realistic GPS Sensor Degradation +# Author: Apurva Singh, CMU AirLab Intern, May 2026 +# =========================================================================== + +import threading +from typing import Optional + +import numpy as np + +# Import sub-models (same package) +from pegasus.simulator.logic.sensors.sky_occlusion import ( + SkyOcclusionModel, + CuencaDOPModel, + CuencaConfig, + PantMultipathModel, + PantConfig, +) +from pegasus.simulator.logic.sensors.jamming import ( + JammingModel, + JammingConfig, + JammingMode, +) + +# PhysX for multipath model (optional — only needed for Tier 2) +try: + from omni.physx import get_physx_scene_query_interface + _PHYSX_AVAILABLE = True +except ImportError: + _PHYSX_AVAILABLE = False + + +# --------------------------------------------------------------------------- +# FixStateMachine +# --------------------------------------------------------------------------- + +class FixStateMachine: + """ + Hysteretic GPS fix-type state machine. + + Prevents rapid fix_type oscillation at canyon boundaries by requiring + sky_fraction to stay above/below thresholds for T_up/T_down seconds. + + States: + fix_type = 1 → No fix (SF < SF_threshold for T_down seconds) + fix_type = 2 → 2D fix (intermediate, brief) + fix_type = 3 → 3D fix (SF > SF_good for T_up seconds) + + Timing parameters from Lee et al. (2020) §4.2 recommendation. + """ + + def __init__( + self, + sf_threshold: float = 0.15, # below this → no fix + sf_good: float = 0.30, # above this → 3D fix + t_up: float = 2.0, # seconds to upgrade fix type + t_down: float = 0.5, # seconds to downgrade fix type + ) -> None: + self._sf_threshold = sf_threshold + self._sf_good = sf_good + self._t_up = t_up + self._t_down = t_down + + # Internal state + self._current_fix: int = 3 # start assuming good GPS + self._timer: float = 0.0 # time in current candidate state + + def update(self, sf: float, dt: float) -> int: + """ + Update state machine with current sky fraction and return fix_type. + + Args: + sf: Current sky fraction ∈ [0.05, 1.0] + dt: Time elapsed since last call [seconds] + + Returns: + fix_type: 1 (no fix), 2 (2D fix), or 3 (3D fix) + """ + if sf > self._sf_good: + # Candidate: upgrade to fix_type=3 + if self._current_fix < 3: + self._timer += dt + if self._timer >= self._t_up: + self._current_fix = 3 + self._timer = 0.0 + else: + self._timer = 0.0 # already at target, reset timer + + elif sf < self._sf_threshold: + # Candidate: downgrade to fix_type=1 + if self._current_fix > 1: + self._timer += dt + if self._timer >= self._t_down: + self._current_fix = 1 + self._timer = 0.0 + else: + self._timer = 0.0 + + else: + # In between thresholds → 2D fix territory + self._timer += dt + if self._current_fix == 3 and self._timer >= self._t_down: + self._current_fix = 2 + self._timer = 0.0 + elif self._current_fix == 1 and self._timer >= self._t_up: + self._current_fix = 2 + self._timer = 0.0 + + return self._current_fix + + def reset(self, fix_type: int = 3) -> None: + """Reset to a given fix_type (call at scenario start).""" + self._current_fix = fix_type + self._timer = 0.0 + + +# --------------------------------------------------------------------------- +# DegradedGPS +# --------------------------------------------------------------------------- + +# Default configuration dict for DegradedGPS +# Merge with base GPS config when constructing +DEGRADED_GPS_DEFAULT_CONFIG = { + # ── Tier 1: Sky occlusion + DOP model ────────────────────────────────── + "occlusion_enabled": True, + "max_ray_distance": 500.0, # meters — max raycast distance for sky fraction + "n_sky_rays": 32, # hemisphere ray count (32 = ~150 µs/query) + + # Cuenca DOP curve coefficients (from paper Eq. 4-5) + "cuenca_alpha_h": 2.5, + "cuenca_beta_h": 2.2, + "cuenca_alpha_v": 4.0, + "cuenca_beta_v": 1.8, + "cuenca_sigma_h": 1.0, # base horizontal 1-sigma accuracy [m] + "cuenca_sigma_v": 1.5, # base vertical 1-sigma accuracy [m] + + # Fix-type state machine (Lee et al. 2020) + "sf_threshold": 0.15, # SF below this → fix_type = 1 (no fix) + "sf_good": 0.30, # SF above this → fix_type = 3 (3D fix) + "t_up": 2.0, # seconds to upgrade fix type + "t_down": 0.5, # seconds to downgrade fix type + + # ── Tier 2: Multipath model (Pant et al. 2022) ───────────────────────── + "multipath_enabled": False, # set True only if city USD asset available + "max_wall_distance": 150.0, # meters + "max_incidence_deg": 70.0, + "n_reflection_rays": 16, + "reflection_coeff": 0.65, # mixed concrete/glass urban + + # ── Tier 3: Jamming / spoofing model ─────────────────────────────────── + "jamming_enabled": False, + "jamming_mode": "DENIAL", # "DENIAL" | "NOISE" | "SPOOFING" | "MEACONING" + "jamming_zone_center": [0.0, 0.0, 0.0], + "jamming_zone_radius": 50.0, + "jamming_zone_alt_min": 0.0, + "jamming_zone_alt_max": 500.0, + "jamming_noise_eph_cm": 1500, + "jamming_noise_epv_cm": 2500, + "jamming_noise_sigma_m": 8.0, + "spoof_target_offset_m": [50.0, 0.0, 0.0], + "spoof_drift_rate_mps": 0.5, + "meaconing_delay_s": 2.0, + "meaconing_drift_rate_mps": 0.3, + "jamming_entry_ramp_s": 1.0, + "jamming_exit_ramp_s": 2.0, +} + + +class DegradedGPS(GPS): + """ + Realistic GPS sensor with sky occlusion, multipath, and jamming degradation. + + Extends the base Pegasus GPS class by composing three degradation models: + - Tier 1 (always on): Cuenca DOP model — sky fraction → eph/epv/fix_type + - Tier 2 (opt-in): Pant multipath — specular reflections → extra error + - Tier 3 (opt-in): JammingModel — denial / noise / spoofing + + Config: + Accepts a plain dict. Merge DEGRADED_GPS_DEFAULT_CONFIG with any + overrides before passing. The base GPS config keys are passed through + to the parent constructor. + + Usage in a Pegasus vehicle configuration: + from pegasus.simulator.logic.sensors.gps import DegradedGPS, DEGRADED_GPS_DEFAULT_CONFIG + + cfg = {**DEGRADED_GPS_DEFAULT_CONFIG, "multipath_enabled": True} + gps = DegradedGPS(config=cfg) + vehicle.add_sensor(gps) + + CRITICAL FIELD NAMES (Pegasus typos — must match exactly): + "sattelites_visible" ← double-t, NOT "satellites_visible" + "latitude", "longitude", "altitude" ← NOT lat/lon/alt + "eph", "epv" ← in centimeters (integer), NOT meters + """ + + def __init__(self, config: dict = {}) -> None: + # Merge defaults with provided config; base GPS keys passed through + merged = {**DEGRADED_GPS_DEFAULT_CONFIG, **config} + super().__init__(config=merged) # initialize base GPS with merged config + + self._degraded_cfg = merged + self._rng = np.random.default_rng() + + # ── Tier 1: Sky occlusion ────────────────────────────────────────── + self._occlusion_enabled: bool = bool(merged.get("occlusion_enabled", True)) + self._occlusion = SkyOcclusionModel( + max_ray_distance=float(merged.get("max_ray_distance", 500.0)), + n_rays=int(merged.get("n_sky_rays", 32)), + ) + self._cuenca = CuencaDOPModel(CuencaConfig( + alpha_h=float(merged.get("cuenca_alpha_h", 2.5)), + beta_h= float(merged.get("cuenca_beta_h", 2.2)), + alpha_v=float(merged.get("cuenca_alpha_v", 4.0)), + beta_v= float(merged.get("cuenca_beta_v", 1.8)), + sigma_h_base=float(merged.get("cuenca_sigma_h", 1.0)), + sigma_v_base=float(merged.get("cuenca_sigma_v", 1.5)), + )) + self._fix_state = FixStateMachine( + sf_threshold=float(merged.get("sf_threshold", 0.15)), + sf_good= float(merged.get("sf_good", 0.30)), + t_up= float(merged.get("t_up", 2.0)), + t_down= float(merged.get("t_down", 0.5)), + ) + + # ── Tier 2: Multipath ────────────────────────────────────────────── + self._multipath_enabled: bool = bool(merged.get("multipath_enabled", False)) + self._multipath: Optional[PantMultipathModel] = None + self._physx_sq = None # lazy-initialized if multipath enabled + if self._multipath_enabled: + self._multipath = PantMultipathModel(PantConfig( + max_wall_distance=float(merged.get("max_wall_distance", 150.0)), + max_incidence_deg=float(merged.get("max_incidence_deg", 70.0)), + n_reflection_rays=int(merged.get("n_reflection_rays", 16)), + reflection_coeff= float(merged.get("reflection_coeff", 0.65)), + )) + + # ── Tier 3: Jamming ──────────────────────────────────────────────── + self._jamming_enabled: bool = bool(merged.get("jamming_enabled", False)) + self._jammer: Optional[JammingModel] = None + if self._jamming_enabled: + mode_str = str(merged.get("jamming_mode", "DENIAL")).upper() + mode = JammingMode[mode_str] + center = merged.get("jamming_zone_center", [0.0, 0.0, 0.0]) + self._jammer = JammingModel(JammingConfig( + mode=mode, + zone_center=(float(center[0]), float(center[1]), float(center[2])), + zone_radius= float(merged.get("jamming_zone_radius", 50.0)), + zone_altitude_min=float(merged.get("jamming_zone_alt_min", 0.0)), + zone_altitude_max=float(merged.get("jamming_zone_alt_max", 500.0)), + noise_eph_cm= int( merged.get("jamming_noise_eph_cm", 1500)), + noise_epv_cm= int( merged.get("jamming_noise_epv_cm", 2500)), + noise_position_sigma_m=float(merged.get("jamming_noise_sigma_m", 8.0)), + spoof_target_offset_m= tuple(merged.get("spoof_target_offset_m", [50.0, 0.0, 0.0])), + spoof_drift_rate_mps= float(merged.get("spoof_drift_rate_mps", 0.5)), + meaconing_delay_s= float(merged.get("meaconing_delay_s", 2.0)), + meaconing_drift_rate_mps=float(merged.get("meaconing_drift_rate_mps", 0.3)), + entry_ramp_s=float(merged.get("jamming_entry_ramp_s", 1.0)), + exit_ramp_s= float(merged.get("jamming_exit_ramp_s", 2.0)), + )) + + def update(self, state, dt: float) -> dict: + """ + Override GPS.update() to apply degradation models. + + Execution order: + 1. super().update() → base GPS with OU noise (always runs) + 2. Tier 1: SkyOcclusionModel → sf → CuencaDOPModel → overrides eph/epv/sats/pos + 3. Tier 2: PantMultipathModel → adds multipath error to eph/epv (if enabled) + 4. fix_type from FixStateMachine (hysteretic, based on sf) + 5. Tier 3: JammingModel (if enabled) + + Args: + state: Pegasus State object with at least: + .position: np.ndarray([x, y, z]) — world position, meters + dt: Time step in seconds + + Returns: + data: GPS output dict with all Pegasus field names. + """ + # Step 1: Base GPS (OU noise + constellation geometry) + data = super().update(state, dt) + + if not self._occlusion_enabled: + return data # pass-through mode (for testing baseline) + + # Step 2: Tier 1 — Cuenca DOP model + position = np.array(state.position, dtype=np.float64) + sf = self._occlusion.compute_sky_fraction(position, dt=dt) + + hdop = self._cuenca.hdop(sf) + vdop = self._cuenca.vdop(sf) + + cuenca_overrides = self._cuenca.compute( + sf=sf, + base_data=data, + rng=self._rng, + ) + data.update(cuenca_overrides) + + # Step 3: Tier 2 — Pant multipath (optional) + if self._multipath_enabled and self._multipath is not None: + # Lazy-init PhysX interface (only available after Isaac Sim scene loads) + if self._physx_sq is None and _PHYSX_AVAILABLE: + try: + self._physx_sq = get_physx_scene_query_interface() + except Exception: + pass # not yet available — skip this frame + + if self._physx_sq is not None: + multipath_overrides = self._multipath.compute( + sf=sf, + position=position, + base_data=data, + hdop=hdop, + vdop=vdop, + physx_sq=self._physx_sq, + ) + data.update(multipath_overrides) + + # Step 4: Fix-type state machine (after Tier 1/2 set eph/epv) + data["fix_type"] = self._fix_state.update(sf, dt) + + # If fix_type = 1, clear satellites (no signal = no fix) + if data["fix_type"] == 1: + data["sattelites_visible"] = 0 # double-t + data["eph"] = 9999 + data["epv"] = 9999 + + # Step 5: Tier 3 — Jamming (after fix_type is set) + if self._jamming_enabled and self._jammer is not None: + data = self._jammer.apply(data, position, dt) + + return data + + def reset(self) -> None: + """Reset all degradation state (call when starting new episode).""" + self._fix_state.reset() + self._occlusion.reset_cache() + if self._jammer is not None: + self._jammer.reset() + super().reset() if hasattr(super(), "reset") else None +``` + +--- + +## 42. Production Code: `test_gps_degradation.py` + +**File path:** `tests/test_gps_degradation.py` + +**Purpose:** pytest unit and performance tests for all DegradedGPS components. All Isaac Sim / PhysX dependencies are mocked so tests run in CI without Isaac Sim installed. Uses the existing AirStack `airstack test` infrastructure. + +**Run with:** `airstack test -m gps_degradation` + +```python +# tests/test_gps_degradation.py +# AirStack Issue #345 — GPS Degradation Test Suite +# Run: airstack test -m gps_degradation +# Or: pytest tests/test_gps_degradation.py -v + +from __future__ import annotations + +import math +import sys +import time +import types +import unittest +from unittest.mock import MagicMock, patch +from typing import Dict, Any + +import numpy as np +import pytest + + +# --------------------------------------------------------------------------- +# Mock Isaac Sim / omni.physx before importing production modules +# --------------------------------------------------------------------------- + +def _make_omni_mock(): + """Create a minimal omni.physx mock that returns configurable raycast results.""" + omni_mod = types.ModuleType("omni") + omni_physx_mod = types.ModuleType("omni.physx") + omni_mod.physx = omni_physx_mod + + # Default: all rays hit (fully occluded) + _hit_result = {"hit": True, "distance": 10.0, "normal": (0.0, 1.0, 0.0)} + + mock_sq = MagicMock() + mock_sq.raycast_closest.return_value = _hit_result + + omni_physx_mod.get_physx_scene_query_interface = MagicMock(return_value=mock_sq) + sys.modules["omni"] = omni_mod + sys.modules["omni.physx"] = omni_physx_mod + return mock_sq + + +_MOCK_SQ = _make_omni_mock() + + +# --------------------------------------------------------------------------- +# Mock Pegasus GPS base class +# --------------------------------------------------------------------------- + +class _MockGPS: + """Minimal stand-in for pegasus.simulator.logic.sensors.gps.GPS.""" + + def __init__(self, config: dict = {}): + self._config = config + + def update(self, state, dt: float) -> dict: + """Return nominal GPS output (no noise for testing).""" + return { + "latitude": 40.4432, + "longitude": -79.9429, + "altitude": 290.0, + "fix_type": 3, + "eph": 100, # 1.00 m horizontal (cm) + "epv": 150, # 1.50 m vertical (cm) + "sattelites_visible": 10, # double-t typo preserved + } + + def reset(self): + pass + + +# Patch the Pegasus GPS import before importing DegradedGPS +_gps_module = types.ModuleType("pegasus.simulator.logic.sensors.gps") +_gps_module.GPS = _MockGPS +sys.modules["pegasus"] = types.ModuleType("pegasus") +sys.modules["pegasus.simulator"] = types.ModuleType("pegasus.simulator") +sys.modules["pegasus.simulator.logic"] = types.ModuleType("pegasus.simulator.logic") +sys.modules["pegasus.simulator.logic.sensors"] = types.ModuleType("pegasus.simulator.logic.sensors") +sys.modules["pegasus.simulator.logic.sensors.gps"] = _gps_module + +# Now safe to import production modules +from pegasus.simulator.logic.sensors.sky_occlusion import ( # noqa: E402 + SkyOcclusionModel, + CuencaDOPModel, + CuencaConfig, + PantMultipathModel, + PantConfig, + _build_fibonacci_hemisphere, +) +from pegasus.simulator.logic.sensors.jamming import ( # noqa: E402 + JammingModel, + JammingConfig, + JammingMode, +) + + +# --------------------------------------------------------------------------- +# Shared mock state +# --------------------------------------------------------------------------- + +class _MockState: + """Minimal Pegasus State mock with position attribute.""" + def __init__(self, position=(0.0, 0.0, 10.0)): + self.position = np.array(position, dtype=np.float64) + + +def _set_sky_fraction(mock_sq, fraction: float, n_rays: int = 32): + """ + Configure mock PhysX to return a specific sky fraction. + fraction=1.0 → all rays miss (open sky) + fraction=0.0 → all rays hit (fully occluded) + """ + n_unoccluded = int(round(fraction * n_rays)) + call_count = [0] + + def _raycast_side_effect(origin, direction, distance, both_sides=False): + call_count[0] += 1 + if call_count[0] <= n_unoccluded: + return {"hit": False} # ray misses → sky visible + return {"hit": True, "distance": 20.0, "normal": (0.0, 1.0, 0.0)} + + mock_sq.raycast_closest.side_effect = _raycast_side_effect + + +# --------------------------------------------------------------------------- +# Test: Fibonacci hemisphere ray generation +# --------------------------------------------------------------------------- + +class TestFibonacciHemisphere(unittest.TestCase): + + def test_ray_count(self): + rays = _build_fibonacci_hemisphere(32) + assert rays.shape == (32, 3), f"Expected (32, 3), got {rays.shape}" + + def test_unit_vectors(self): + rays = _build_fibonacci_hemisphere(64) + norms = np.linalg.norm(rays, axis=1) + np.testing.assert_allclose(norms, 1.0, atol=1e-6, + err_msg="All rays must be unit vectors") + + def test_upper_hemisphere_only(self): + rays = _build_fibonacci_hemisphere(256) + assert np.all(rays[:, 2] >= 0), "All rays must have z ≥ 0 (upper hemisphere)" + # At least one ray near zenith + assert np.any(rays[:, 2] > 0.9), "Should have a ray near zenith" + + def test_hemisphere_coverage(self): + """Verify uniform coverage: mean z should be ~0.5 for uniform hemisphere.""" + rays = _build_fibonacci_hemisphere(512) + mean_z = float(np.mean(rays[:, 2])) + assert 0.4 < mean_z < 0.6, f"Mean z = {mean_z:.3f}, expected ~0.5" + + +# --------------------------------------------------------------------------- +# Test: CuencaDOPModel +# --------------------------------------------------------------------------- + +class TestCuencaDOPModel(unittest.TestCase): + + def setUp(self): + self.model = CuencaDOPModel(CuencaConfig()) + + def test_open_sky_dop(self): + """SF=1.0 → HDOP=1.0, VDOP=1.0 (no degradation).""" + assert self.model.hdop(1.0) == pytest.approx(1.0, abs=1e-9) + assert self.model.vdop(1.0) == pytest.approx(1.0, abs=1e-9) + + def test_half_occluded_dop(self): + """SF=0.5 → HDOP ≈ 1.47, VDOP ≈ 2.0 (from paper Table 1).""" + h = self.model.hdop(0.5) + v = self.model.vdop(0.5) + assert 1.4 < h < 1.6, f"HDOP at SF=0.5 should be ~1.47, got {h:.3f}" + assert 1.9 < v < 2.1, f"VDOP at SF=0.5 should be ~2.0, got {v:.3f}" + + def test_heavy_canyon_dop(self): + """SF=0.1 → HDOP ≈ 3.12, VDOP ≈ 5.83.""" + h = self.model.hdop(0.1) + v = self.model.vdop(0.1) + assert 2.9 < h < 3.4, f"HDOP at SF=0.1 should be ~3.12, got {h:.3f}" + assert 5.5 < v < 6.2, f"VDOP at SF=0.1 should be ~5.83, got {v:.3f}" + + def test_monotone_decreasing(self): + """HDOP and VDOP must be monotonically decreasing in SF.""" + sfs = np.linspace(0.05, 1.0, 50) + hdops = [self.model.hdop(sf) for sf in sfs] + vdops = [self.model.vdop(sf) for sf in sfs] + for i in range(1, len(sfs)): + assert hdops[i] <= hdops[i-1], f"HDOP not monotone at SF={sfs[i]:.2f}" + assert vdops[i] <= vdops[i-1], f"VDOP not monotone at SF={sfs[i]:.2f}" + + def test_satellite_count(self): + """Satellite count model: N_sv = max(3, round(10 × SF)).""" + assert self.model.satellite_count(1.0) == 10 + assert self.model.satellite_count(0.5) == 5 + assert self.model.satellite_count(0.3) == 3 # min clamp + assert self.model.satellite_count(0.05) == 3 # min clamp (clamped SF) + + def test_field_names_exact(self): + """Verify output dict uses exact Pegasus field names including double-t typo.""" + base = { + "latitude": 40.4432, "longitude": -79.9429, "altitude": 290.0, + "fix_type": 3, "eph": 100, "epv": 150, "sattelites_visible": 10, + } + rng = np.random.default_rng(seed=42) + overrides = self.model.compute(sf=0.5, base_data=base, rng=rng) + + assert "sattelites_visible" in overrides, \ + "Must use 'sattelites_visible' (double-t) — Pegasus typo" + assert "satellites_visible" not in overrides, \ + "Must NOT use 'satellites_visible' (single-t)" + assert "latitude" in overrides + assert "longitude" in overrides + assert "altitude" in overrides + assert "eph" in overrides + assert "epv" in overrides + + def test_eph_in_centimeters(self): + """eph/epv must be integers in centimeters (MAVLink GPS_RAW_INT format).""" + base = {"latitude": 40.0, "longitude": -80.0, "altitude": 300.0, + "eph": 100, "epv": 150, "sattelites_visible": 10} + rng = np.random.default_rng(seed=0) + overrides = self.model.compute(sf=1.0, base_data=base, rng=rng) + assert isinstance(overrides["eph"], int), "eph must be int (centimeters)" + assert isinstance(overrides["epv"], int), "epv must be int (centimeters)" + # At SF=1.0, HDOP=1.0: eph = 1.0 m × 100 = 100 cm + assert overrides["eph"] == pytest.approx(100, abs=5) + + +# --------------------------------------------------------------------------- +# Test: SkyOcclusionModel +# --------------------------------------------------------------------------- + +class TestSkyOcclusionModel(unittest.TestCase): + + def setUp(self): + _MOCK_SQ.raycast_closest.reset_mock() + _MOCK_SQ.raycast_closest.side_effect = None + + def test_open_sky(self): + """All rays miss → SF = 1.0.""" + _set_sky_fraction(_MOCK_SQ, fraction=1.0, n_rays=32) + model = SkyOcclusionModel(n_rays=32) + sf = model.compute_sky_fraction(np.array([0.0, 0.0, 10.0])) + assert sf == pytest.approx(1.0, abs=0.05) + + def test_fully_occluded(self): + """All rays hit → SF = 0.05 (clamped minimum).""" + _set_sky_fraction(_MOCK_SQ, fraction=0.0, n_rays=32) + model = SkyOcclusionModel(n_rays=32) + sf = model.compute_sky_fraction(np.array([0.0, 0.0, 10.0])) + assert sf == pytest.approx(0.05, abs=0.01), \ + "SF must be clamped to 0.05 minimum, not 0.0" + + def test_half_occluded(self): + """Half rays miss → SF ≈ 0.5.""" + _set_sky_fraction(_MOCK_SQ, fraction=0.5, n_rays=32) + model = SkyOcclusionModel(n_rays=32) + sf = model.compute_sky_fraction(np.array([0.0, 0.0, 10.0])) + assert 0.45 < sf < 0.55, f"Expected SF ≈ 0.5, got {sf:.3f}" + + def test_cache_reuse(self): + """Cache: second call with same position should NOT cast new rays.""" + _set_sky_fraction(_MOCK_SQ, fraction=0.8, n_rays=32) + model = SkyOcclusionModel(n_rays=32, cache_duration=1.0) + pos = np.array([0.0, 0.0, 10.0]) + sf1 = model.compute_sky_fraction(pos, dt=0.1) + call_count_1 = _MOCK_SQ.raycast_closest.call_count + sf2 = model.compute_sky_fraction(pos, dt=0.05) # within cache window + call_count_2 = _MOCK_SQ.raycast_closest.call_count + assert call_count_1 == call_count_2, "Cache should prevent re-casting rays" + assert sf1 == sf2 + + def test_cache_expires(self): + """Cache expires after cache_duration → re-casts rays.""" + _set_sky_fraction(_MOCK_SQ, fraction=0.8, n_rays=32) + model = SkyOcclusionModel(n_rays=32, cache_duration=0.05) + pos = np.array([0.0, 0.0, 10.0]) + sf1 = model.compute_sky_fraction(pos, dt=0.1) # first call + # Accumulate enough dt to expire cache + call_count_1 = _MOCK_SQ.raycast_closest.call_count + sf2 = model.compute_sky_fraction(pos, dt=0.1) # should re-cast + call_count_2 = _MOCK_SQ.raycast_closest.call_count + assert call_count_2 > call_count_1, "Should re-cast after cache expiry" + + +# --------------------------------------------------------------------------- +# Test: FixStateMachine +# --------------------------------------------------------------------------- + +# Import here after mocking is in place +from pegasus.simulator.logic.sensors.gps import FixStateMachine # type: ignore + + +class TestFixStateMachine(unittest.TestCase): + + def setUp(self): + self.fsm = FixStateMachine( + sf_threshold=0.15, + sf_good=0.30, + t_up=2.0, + t_down=0.5, + ) + + def test_initial_state(self): + assert self.fsm._current_fix == 3 # starts at 3D fix + + def test_stays_at_3_in_open_sky(self): + for _ in range(100): + ft = self.fsm.update(sf=1.0, dt=0.1) + assert ft == 3 + + def test_downgrades_after_t_down(self): + """fix_type should drop to 1 after T_down=0.5 s of SF < 0.15.""" + ft = None + for _ in range(20): # 20 × 0.05 s = 1.0 s > T_down=0.5 s + ft = self.fsm.update(sf=0.05, dt=0.05) + assert ft == 1, f"Expected fix_type=1, got {ft}" + + def test_upgrades_after_t_up(self): + """After downgrade, fix_type should upgrade after T_up=2.0 s of SF > 0.30.""" + # Force downgrade first + for _ in range(20): + self.fsm.update(sf=0.05, dt=0.05) + assert self.fsm._current_fix == 1 + + # Now feed good SF for > T_up = 2.0 s + ft = None + for _ in range(50): # 50 × 0.05 s = 2.5 s > T_up=2.0 s + ft = self.fsm.update(sf=0.5, dt=0.05) + assert ft == 3, f"Expected fix_type=3, got {ft}" + + def test_no_oscillation_at_boundary(self): + """Rapid SF crossing of threshold should NOT cause fix_type oscillation.""" + initial_ft = self.fsm._current_fix + # Rapidly alternate above/below threshold + for i in range(200): + sf = 0.30 if i % 2 == 0 else 0.14 # alternates across threshold + self.fsm.update(sf=sf, dt=0.02) # 0.02s each → never accumulates T_up/T_down + + # Should not have dropped to 1 (insufficient time below threshold) + assert self.fsm._current_fix >= 2, \ + "Fix type should not drop during rapid SF oscillation" + + def test_reset(self): + for _ in range(20): + self.fsm.update(sf=0.05, dt=0.05) + self.fsm.reset(fix_type=3) + assert self.fsm._current_fix == 3 + assert self.fsm._timer == 0.0 + + +# --------------------------------------------------------------------------- +# Test: JammingModel +# --------------------------------------------------------------------------- + +class TestJammingModel(unittest.TestCase): + + def _make_data(self): + return { + "latitude": 40.4432, "longitude": -79.9429, "altitude": 290.0, + "fix_type": 3, "eph": 100, "epv": 150, "sattelites_visible": 10, + } + + def test_denial_in_zone(self): + """Drone inside denial zone → fix_type=1 after ramp.""" + cfg = JammingConfig( + mode=JammingMode.DENIAL, + zone_center=(0.0, 0.0, 0.0), + zone_radius=100.0, + entry_ramp_s=0.1, # fast ramp for testing + ) + jammer = JammingModel(cfg) + pos = np.array([0.0, 0.0, 10.0]) # inside zone + data = self._make_data() + for _ in range(50): # 50 × 0.1 s = 5 s >> ramp time + data = self._make_data() + data = jammer.apply(data, pos, dt=0.1) + assert data["fix_type"] == 1, f"Expected fix_type=1 in denial zone, got {data['fix_type']}" + assert data["sattelites_visible"] == 0, "Satellites should be 0 under denial" # double-t + + def test_no_effect_outside_zone(self): + """Drone outside zone → GPS unchanged.""" + cfg = JammingConfig( + mode=JammingMode.DENIAL, + zone_center=(1000.0, 0.0, 0.0), # far away + zone_radius=10.0, + ) + jammer = JammingModel(cfg) + pos = np.array([0.0, 0.0, 10.0]) # not in zone + data_orig = self._make_data() + data_out = jammer.apply(dict(data_orig), pos, dt=0.1) + assert data_out["fix_type"] == data_orig["fix_type"] + assert data_out["eph"] == data_orig["eph"] + + def test_spoofing_drifts_slowly(self): + """Spoofing position drift must be ≤ 0.5 m/s (Kerns et al. 2014).""" + cfg = JammingConfig( + mode=JammingMode.SPOOFING, + zone_center=(0.0, 0.0, 0.0), + zone_radius=1000.0, + spoof_target_offset_m=[100.0, 0.0, 0.0], + spoof_drift_rate_mps=0.5, + entry_ramp_s=0.01, + ) + jammer = JammingModel(cfg) + pos = np.array([0.0, 0.0, 10.0]) + dt = 0.1 + lat0 = None + lat1 = None + for i in range(20): + data = {"latitude": 40.4432, "longitude": -79.9429, "altitude": 290.0, + "fix_type": 3, "eph": 100, "epv": 150, "sattelites_visible": 10} + data = jammer.apply(data, pos, dt=dt) + if i == 0: + lat0 = data["latitude"] + lat1 = data["latitude"] + + total_lat_diff = abs(lat1 - lat0) * 111320.0 # convert degrees to meters + total_time = 20 * dt # seconds + avg_rate = total_lat_diff / total_time + assert avg_rate <= 0.55, \ + f"Spoof drift rate {avg_rate:.3f} m/s exceeds 0.5 m/s EKF safety limit" + + def test_noise_maintains_fix(self): + """NOISE jamming should maintain fix_type=3 (bad accuracy but still fixed).""" + cfg = JammingConfig( + mode=JammingMode.NOISE, + zone_center=(0.0, 0.0, 0.0), + zone_radius=100.0, + entry_ramp_s=0.01, + ) + jammer = JammingModel(cfg) + pos = np.array([0.0, 0.0, 10.0]) + for _ in range(30): + data = self._make_data() + data = jammer.apply(data, pos, dt=0.1) + assert data["fix_type"] == 3, \ + "NOISE jamming must maintain fix_type=3 (accuracy degraded, not lost)" + assert data["eph"] > 500, f"eph under noise jamming should be > 5 m (500 cm), got {data['eph']}" + + +# --------------------------------------------------------------------------- +# Performance tests (pytest-benchmark optional, manual timing fallback) +# --------------------------------------------------------------------------- + +class TestPerformance(unittest.TestCase): + """ + Performance budget targets from GNSS Ray-Tracing (2026) §4.3: + - SkyOcclusionModel.compute_sky_fraction(): < 5 ms per call (32 rays) + - CuencaDOPModel.compute(): < 0.1 ms per call + - Full DegradedGPS.update() Tier 1: < 10 ms per drone per frame + """ + + def test_sky_fraction_performance(self): + """32-ray sky fraction query must complete in < 5 ms.""" + # Set up fast mock (no side effect overhead) + _MOCK_SQ.raycast_closest.side_effect = None + _MOCK_SQ.raycast_closest.return_value = {"hit": False} + + model = SkyOcclusionModel(n_rays=32, cache_duration=0.0) + pos = np.array([0.0, 0.0, 10.0]) + + N_RUNS = 100 + start = time.perf_counter() + for _ in range(N_RUNS): + model.reset_cache() + model.compute_sky_fraction(pos) + elapsed_s = (time.perf_counter() - start) / N_RUNS + elapsed_ms = elapsed_s * 1000.0 + + assert elapsed_ms < 5.0, \ + f"Sky fraction query took {elapsed_ms:.2f} ms — must be < 5 ms" + print(f"\n [PERF] SkyOcclusionModel: {elapsed_ms:.3f} ms / query") + + def test_cuenca_compute_performance(self): + """Cuenca DOP computation must complete in < 0.1 ms.""" + model = CuencaDOPModel(CuencaConfig()) + base = {"latitude": 40.0, "longitude": -80.0, "altitude": 300.0, + "eph": 100, "epv": 150, "sattelites_visible": 10} + rng = np.random.default_rng(seed=0) + + N_RUNS = 10000 + start = time.perf_counter() + for _ in range(N_RUNS): + model.compute(sf=0.5, base_data=base, rng=rng) + elapsed_ms = (time.perf_counter() - start) / N_RUNS * 1000.0 + + assert elapsed_ms < 0.1, \ + f"Cuenca compute took {elapsed_ms:.4f} ms — must be < 0.1 ms" + print(f"\n [PERF] CuencaDOPModel: {elapsed_ms:.4f} ms / call") + + +# --------------------------------------------------------------------------- +# Integration scenario tests (marked for airstack test -m gps_degradation) +# --------------------------------------------------------------------------- + +@pytest.mark.gps_degradation +class TestScenarios: + """ + Scenario-level tests matching the test cases in §29 (SITL Testing Guide). + These verify end-to-end behavior of the combined DegradedGPS pipeline. + """ + + def _run_scenario( + self, + sf_sequence, # list of (sf, dt) tuples + jamming_cfg=None, + ): + """Run a sequence of sky fractions through CuencaDOP + FixStateMachine.""" + cuenca = CuencaDOPModel(CuencaConfig()) + fsm = FixStateMachine() + results = [] + for sf, dt in sf_sequence: + base = {"latitude": 40.0, "longitude": -80.0, "altitude": 300.0, + "eph": 100, "epv": 150, "sattelites_visible": 10} + rng = np.random.default_rng(seed=0) + overrides = cuenca.compute(sf=sf, base_data=base, rng=rng) + base.update(overrides) + base["fix_type"] = fsm.update(sf, dt) + results.append(dict(base)) + return results + + def test_scenario_a_open_field(self): + """Scenario A: Open field — SF=1.0 throughout → fix_type=3, eph≈100cm.""" + seq = [(1.0, 0.1)] * 50 + results = self._run_scenario(seq) + for r in results[-10:]: # last 10 frames + assert r["fix_type"] == 3 + assert r["eph"] <= 110 # ≤ 1.1 m (within 10% of nominal) + + def test_scenario_b_dense_canyon(self): + """Scenario B: Deep canyon — SF=0.05 → fix_type=1, eph=9999.""" + seq = [(0.05, 0.1)] * 100 + results = self._run_scenario(seq) + for r in results[-10:]: # last 10 frames (after state machine settles) + assert r["fix_type"] == 1, f"Expected fix_type=1 in deep canyon" + + def test_scenario_d_gradual_entry(self): + """Scenario D: Gradual SF degradation → smooth eph increase, no jump.""" + sfs = np.linspace(1.0, 0.1, 100) + seq = [(sf, 0.1) for sf in sfs] + results = self._run_scenario(seq) + ephs = [r["eph"] for r in results] + # Check monotone increase (eph should increase as SF decreases) + for i in range(10, len(ephs) - 1): + assert ephs[i] >= ephs[i-5] - 50, \ + f"eph dropped unexpectedly from {ephs[i-5]} to {ephs[i]}" + + def test_ekf_innovation_gate_safety(self): + """ + EKF safety: position error from DegradedGPS must stay < 2.5 m horizontal + at SF ≥ 0.3 (3D fix territory). Per PX4 EKF2 5σ gate analysis in §34. + """ + cuenca = CuencaDOPModel(CuencaConfig()) + errors = [] + for seed in range(100): # 100 random samples at SF=0.3 + rng = np.random.default_rng(seed=seed) + base = {"latitude": 40.4432, "longitude": -79.9429, "altitude": 290.0, + "eph": 100, "epv": 150, "sattelites_visible": 10} + overrides = cuenca.compute(sf=0.30, base_data=base, rng=rng) + # Compute horizontal position error in meters + dlat_m = (overrides["latitude"] - 40.4432) * 111320.0 + dlon_m = (overrides["longitude"] - (-79.9429)) * 111320.0 * math.cos(math.radians(40.4432)) + err = math.sqrt(dlat_m**2 + dlon_m**2) + errors.append(err) + p99 = np.percentile(errors, 99) + assert p99 < 5.0, \ + f"99th percentile position error at SF=0.3 is {p99:.2f} m — EKF may reject" + print(f"\n [EKF CHECK] P99 position error at SF=0.3: {p99:.3f} m (limit: 5.0 m)") + + +if __name__ == "__main__": + pytest.main([__file__, "-v", "--tb=short"]) +``` + +--- + +## 43. Production Code: Hardware Companion ROS 2 Node + +**File path:** `robot/ros_ws/src/gps_degradation_hw/gps_degradation_hw/dop_scaling_node.py` + +**Purpose:** On real hardware (no Isaac Sim), this ROS 2 node applies Tier 1 DOP-driven accuracy scaling to the real GPS receiver output. It subscribes to the raw NavSatFix topic, computes a manually-provided sky fraction (from a config file, lidar point cloud, or precomputed urban canyon map), and re-publishes a degraded NavSatFix + MAVLink override for MACVIO. + +**Usage:** +```bash +# On the robot companion computer: +ros2 run gps_degradation_hw dop_scaling_node \ + --ros-args -p sky_fraction:=0.4 -p multipath_enabled:=false +``` + +```python +# dop_scaling_node.py +# Hardware companion node for GPS degradation (no Isaac Sim required) +# AirStack Issue #345 + +from __future__ import annotations + +import math +import rclpy +from rclpy.node import Node +from rclpy.parameter import Parameter +from sensor_msgs.msg import NavSatFix, NavSatStatus +from std_msgs.msg import Float32 + +import numpy as np + +# Cuenca DOP formulas (inline — no Isaac Sim dependency) +def _hdop(sf: float, alpha=2.5, beta=2.2) -> float: + return 1.0 + alpha * (1.0 - sf) ** beta + +def _vdop(sf: float, alpha=4.0, beta=1.8) -> float: + return 1.0 + alpha * (1.0 - sf) ** beta + + +class DopScalingNode(Node): + """ + ROS 2 node that applies Cuenca DOP scaling to real GPS NavSatFix messages. + + Subscribes: + /robot/interface/gps/fix (sensor_msgs/NavSatFix) — raw GPS from receiver + /gps_sky_fraction (std_msgs/Float32) — optional: runtime SF update + + Publishes: + /robot/interface/gps/fix_degraded (sensor_msgs/NavSatFix) — DOP-scaled GPS + /gps_dop_info (std_msgs/Float32) — current HDOP + + Parameters: + sky_fraction (float, default 1.0): Manual sky fraction override. + Set < 1.0 to simulate urban canyon without lidar. + Override at runtime via /gps_sky_fraction topic. + sigma_h_base (float, default 1.0): Base horizontal sigma [m]. + sigma_v_base (float, default 1.5): Base vertical sigma [m]. + republish_raw (bool, default True): Also republish raw GPS unchanged. + """ + + def __init__(self): + super().__init__("dop_scaling_node") + + # Parameters + self.declare_parameter("sky_fraction", 1.0) + self.declare_parameter("sigma_h_base", 1.0) + self.declare_parameter("sigma_v_base", 1.5) + self.declare_parameter("republish_raw", True) + self.declare_parameter("input_topic", "/robot/interface/gps/fix") + self.declare_parameter("output_topic", "/robot/interface/gps/fix_degraded") + + self._sf = self.get_parameter("sky_fraction").value + self._sigma_h = self.get_parameter("sigma_h_base").value + self._sigma_v = self.get_parameter("sigma_v_base").value + self._rng = np.random.default_rng() + + input_topic = self.get_parameter("input_topic").value + output_topic = self.get_parameter("output_topic").value + + # Subscribers + self._sub_fix = self.create_subscription( + NavSatFix, input_topic, self._on_fix, 10 + ) + self._sub_sf = self.create_subscription( + Float32, "/gps_sky_fraction", self._on_sf, 10 + ) + + # Publishers + self._pub_degraded = self.create_publisher(NavSatFix, output_topic, 10) + self._pub_hdop = self.create_publisher(Float32, "/gps_dop_info", 10) + + self.get_logger().info( + f"DopScalingNode started. Input: {input_topic}, " + f"Output: {output_topic}, SF={self._sf:.2f}" + ) + + def _on_sf(self, msg: Float32): + """Update sky fraction from external source (e.g. lidar-based computation).""" + self._sf = float(np.clip(msg.data, 0.05, 1.0)) + self.get_logger().debug(f"Sky fraction updated: {self._sf:.3f}") + + def _on_fix(self, msg: NavSatFix): + """Apply Cuenca DOP scaling and republish.""" + sf = self._sf + h = _hdop(sf) + v = _vdop(sf) + + # Compute additional position noise (on top of receiver's own noise) + sigma_extra_h = self._sigma_h * (h - 1.0) + sigma_extra_v = self._sigma_v * (v - 1.0) + + cos_lat = math.cos(math.radians(msg.latitude)) + lat_noise = self._rng.normal(0.0, sigma_extra_h / 111320.0) + lon_noise = self._rng.normal(0.0, sigma_extra_h / (111320.0 * max(cos_lat, 1e-6))) + alt_noise = self._rng.normal(0.0, sigma_extra_v) + + out = NavSatFix() + out.header = msg.header + out.latitude = msg.latitude + lat_noise + out.longitude = msg.longitude + lon_noise + out.altitude = msg.altitude + alt_noise + + # Set covariance: diagonal with σ² from DOP scaling + eph_m = h * self._sigma_h + epv_m = v * self._sigma_v + cov = [ + eph_m**2, 0.0, 0.0, + 0.0, eph_m**2, 0.0, + 0.0, 0.0, epv_m**2, + ] + out.position_covariance = cov + out.position_covariance_type = NavSatFix.COVARIANCE_TYPE_DIAGONAL_KNOWN + + # Status + out.status = NavSatStatus() + n_sat = max(3, int(round(10 * sf))) + if sf < 0.15: + out.status.status = NavSatStatus.STATUS_NO_FIX + elif sf < 0.30: + out.status.status = NavSatStatus.STATUS_FIX + else: + out.status.status = NavSatStatus.STATUS_SBAS_FIX + + self._pub_degraded.publish(out) + + # Publish HDOP for monitoring + hdop_msg = Float32() + hdop_msg.data = float(h) + self._pub_hdop.publish(hdop_msg) + + +def main(args=None): + rclpy.init(args=args) + node = DopScalingNode() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() +``` + +**`package.xml` for the hardware node:** +```xml + + + gps_degradation_hw + 0.1.0 + Hardware companion node for GPS DOP scaling (AirStack Issue #345) + Apurva Singh + MIT + rclpy + sensor_msgs + std_msgs + + ament_python + + +``` + +--- + +## 44. `__init__.py` Exports (update existing file) + +**File path:** `simulation/isaac-sim/extensions/PegasusSimulator/pegasus/simulator/logic/sensors/__init__.py` + +Add to the existing `__init__.py`: + +```python +# Issue #345: GPS Degradation exports +from pegasus.simulator.logic.sensors.sky_occlusion import ( + SkyOcclusionModel, + CuencaDOPModel, + CuencaConfig, + PantMultipathModel, + PantConfig, +) +from pegasus.simulator.logic.sensors.jamming import ( + JammingModel, + JammingConfig, + JammingMode, +) +from pegasus.simulator.logic.sensors.gps import ( + GPS, + DegradedGPS, + FixStateMachine, + DEGRADED_GPS_DEFAULT_CONFIG, +) +``` + +--- + +## 45. Quick-Start Integration Checklist + +``` +□ 1. Create sky_occlusion.py at the path in §38 +□ 2. Create jamming.py at the path in §38 +□ 3. Append DegradedGPS code (§41) to the bottom of gps.py +□ 4. Update __init__.py with exports from §44 +□ 5. Run: airstack test -m gps_degradation + → all TestFibonacciHemisphere, TestCuencaDOPModel, TestSkyOcclusionModel, + TestFixStateMachine, TestJammingModel tests must pass +□ 6. Performance test: TestPerformance must report < 5 ms sky fraction query +□ 7. In Isaac Sim: replace GPS(...) with DegradedGPS({...}) in the vehicle config +□ 8. Fly open-field scenario (§29 Scenario A): + - Confirm eph ≈ 100 cm, fix_type=3 throughout +□ 9. Add 2-wall USD prim canyon. Fly through: + - Confirm eph rises to > 300 cm, fix_type drops to 1 + - Confirm MACVIO odometry drift in Foxglove +□ 10. Enable Tier 3: set jamming_enabled=True, jamming_mode="DENIAL" + - Confirm fix drops inside zone, recovers outside +□ 11. For hardware: build gps_degradation_hw ROS 2 package (§43) + colcon build --packages-select gps_degradation_hw + ros2 run gps_degradation_hw dop_scaling_node --ros-args -p sky_fraction:=0.4 +``` + +--- + +*Document prepared by Apurva Singh, CMU AirLab Intern, May 2026.* +*Last updated: May 14, 2026.* +*To convert to Word: open this file in Microsoft Word → File → Save As → Word Document (.docx)* diff --git a/build.log b/build.log new file mode 100644 index 000000000..8a74e86a1 --- /dev/null +++ b/build.log @@ -0,0 +1,9063 @@ +#0 building with "default" instance using docker driver + +#1 [internal] load build definition from Dockerfile.isaac-ros +#1 transferring dockerfile: 7.28kB done +#1 DONE 0.1s + +#2 [internal] load metadata for nvcr.io/nvidia/isaac-sim:5.1.0 +#2 DONE 0.9s + +#3 [internal] load .dockerignore +#3 transferring context: 2B done +#3 DONE 0.0s + +#4 [ 1/19] FROM nvcr.io/nvidia/isaac-sim:5.1.0@sha256:f3563cb2ba0c18af0b2fb321360dcb73a917b899f879e3213623d6bee484fa54 +#4 resolve nvcr.io/nvidia/isaac-sim:5.1.0@sha256:f3563cb2ba0c18af0b2fb321360dcb73a917b899f879e3213623d6bee484fa54 0.0s done +#4 CACHED + +#5 [internal] load build context +#5 transferring context: 178B done +#5 DONE 0.0s + +#6 [ 2/19] RUN echo 'Etc/UTC' > /etc/timezone && ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && apt-get update && apt-get install -q -y --no-install-recommends tzdata && apt-get install -q -y --no-install-recommends dirmngr gnupg2 unzip tmux iputils-ping net-tools curl vim nano gdb xterm tree less htop jq git build-essential cmake python3-pip python3-setuptools python3-wheel meson ninja-build wget libcgal-dev && set -eux; key='C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'; export GNUPGHOME="$(mktemp -d)"; gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; mkdir -p /usr/share/keyrings; gpg --batch --export "$key" > /usr/share/keyrings/ros2-latest-archive-keyring.gpg; gpgconf --kill all; rm -rf "$GNUPGHOME"; echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2/ubuntu noble main" > /etc/apt/sources.list.d/ros2-latest.list && rm -f /etc/apt/sources.list.d/*deb.sury.org*.list && apt-get update && apt-get install -y --no-install-recommends libbrotli1 && apt-mark hold libbrotli1 && apt-get install -y --no-install-recommends libfreetype6-dev libfontconfig1-dev ros-jazzy-desktop ros-dev-tools python3-rosdep "ros-jazzy-tf2*" ros-jazzy-mavros ros-jazzy-ackermann-msgs ros-jazzy-topic-tools ros-jazzy-grid-map ros-jazzy-domain-bridge ros-jazzy-moveit python3-colcon-common-extensions && rm -rf /var/lib/apt/lists/* +#6 3.546 Get:1 http://security.ubuntu.com/ubuntu noble-security InRelease [126 kB] +#6 3.655 Get:2 http://security.ubuntu.com/ubuntu noble-security/restricted amd64 Packages [3683 kB] +#6 3.682 Get:3 http://archive.ubuntu.com/ubuntu noble InRelease [256 kB] +#6 3.714 Get:4 http://security.ubuntu.com/ubuntu noble-security/main amd64 Packages [2083 kB] +#6 3.726 Get:5 http://security.ubuntu.com/ubuntu noble-security/multiverse amd64 Packages [48.4 kB] +#6 3.733 Get:6 http://security.ubuntu.com/ubuntu noble-security/universe amd64 Packages [1511 kB] +#6 3.852 Get:7 http://archive.ubuntu.com/ubuntu noble-updates InRelease [126 kB] +#6 3.978 Get:8 http://archive.ubuntu.com/ubuntu noble-backports InRelease [126 kB] +#6 4.025 Get:9 http://archive.ubuntu.com/ubuntu noble/universe amd64 Packages [19.3 MB] +#6 4.127 Get:10 http://archive.ubuntu.com/ubuntu noble/restricted amd64 Packages [117 kB] +#6 4.132 Get:11 http://archive.ubuntu.com/ubuntu noble/multiverse amd64 Packages [331 kB] +#6 4.137 Get:12 http://archive.ubuntu.com/ubuntu noble/main amd64 Packages [1808 kB] +#6 4.147 Get:13 http://archive.ubuntu.com/ubuntu noble-updates/multiverse amd64 Packages [54.6 kB] +#6 4.153 Get:14 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 Packages [2154 kB] +#6 4.163 Get:15 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 Packages [2509 kB] +#6 4.174 Get:16 http://archive.ubuntu.com/ubuntu noble-updates/restricted amd64 Packages [4013 kB] +#6 4.191 Get:17 http://archive.ubuntu.com/ubuntu noble-backports/multiverse amd64 Packages [671 B] +#6 4.196 Get:18 http://archive.ubuntu.com/ubuntu noble-backports/universe amd64 Packages [35.9 kB] +#6 4.201 Get:19 http://archive.ubuntu.com/ubuntu noble-backports/main amd64 Packages [49.0 kB] +#6 4.819 Fetched 38.3 MB in 5s (8359 kB/s) +#6 4.819 Reading package lists... +#6 5.632 Reading package lists... +#6 6.415 Building dependency tree... +#6 6.638 Reading state information... +#6 6.845 The following NEW packages will be installed: +#6 6.845 tzdata +#6 6.944 0 upgraded, 1 newly installed, 0 to remove and 50 not upgraded. +#6 6.944 Need to get 280 kB of archives. +#6 6.944 After this operation, 1424 kB of additional disk space will be used. +#6 6.944 Get:1 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 tzdata all 2026a-0ubuntu0.24.04.1 [280 kB] +#6 7.089 debconf: delaying package configuration, since apt-utils is not installed +#6 7.145 Fetched 280 kB in 0s (2708 kB/s) +#6 7.191 Selecting previously unselected package tzdata. +#6 7.191 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 5638 files and directories currently installed.) +#6 7.195 Preparing to unpack .../tzdata_2026a-0ubuntu0.24.04.1_all.deb ... +#6 7.199 Unpacking tzdata (2026a-0ubuntu0.24.04.1) ... +#6 7.324 Setting up tzdata (2026a-0ubuntu0.24.04.1) ... +#6 7.378 debconf: unable to initialize frontend: Dialog +#6 7.379 debconf: (TERM is not set, so the dialog frontend is not usable.) +#6 7.379 debconf: falling back to frontend: Readline +#6 7.379 debconf: unable to initialize frontend: Readline +#6 7.379 debconf: (Can't locate Term/ReadLine.pm in @INC (you may need to install the Term::ReadLine module) (@INC entries checked: /etc/perl /usr/local/lib/x86_64-linux-gnu/perl/5.38.2 /usr/local/share/perl/5.38.2 /usr/lib/x86_64-linux-gnu/perl5/5.38 /usr/share/perl5 /usr/lib/x86_64-linux-gnu/perl-base /usr/lib/x86_64-linux-gnu/perl/5.38 /usr/share/perl/5.38 /usr/local/lib/site_perl) at /usr/share/perl5/Debconf/FrontEnd/Readline.pm line 8.) +#6 7.379 debconf: falling back to frontend: Teletype +#6 7.411 +#6 7.411 Current default time zone: 'Etc/UTC' +#6 7.413 Local time is now: Tue Jun 2 07:13:06 UTC 2026. +#6 7.413 Universal Time is now: Tue Jun 2 07:13:06 UTC 2026. +#6 7.413 Run 'dpkg-reconfigure tzdata' if you wish to change it. +#6 7.413 +#6 7.468 Reading package lists... +#6 8.260 Building dependency tree... +#6 8.481 Reading state information... +#6 8.708 unzip is already the newest version (6.0-28ubuntu4.1). +#6 8.708 The following additional packages will be installed: +#6 8.708 adduser binutils binutils-common binutils-x86-64-linux-gnu bzip2 cmake-data +#6 8.708 cpp cpp-13 cpp-13-x86-64-linux-gnu cpp-x86-64-linux-gnu dpkg dpkg-dev +#6 8.708 fontconfig-config fonts-dejavu-core fonts-dejavu-mono g++ g++-13 +#6 8.708 g++-13-x86-64-linux-gnu g++-x86-64-linux-gnu gcc gcc-13 gcc-13-base +#6 8.708 gcc-13-x86-64-linux-gnu gcc-14-base gcc-x86-64-linux-gnu git-man gnupg +#6 8.708 gnupg-utils gpg gpg-agent gpgconf gpgsm gpgv keyboxd libarchive13t64 +#6 8.708 libasan8 libatomic1 libbabeltrace1 libbinutils libboost-atomic1.83-dev +#6 8.708 libboost-atomic1.83.0 libboost-chrono1.83-dev libboost-chrono1.83.0t64 +#6 8.708 libboost-date-time1.83-dev libboost-date-time1.83.0 libboost-dev +#6 8.708 libboost-program-options-dev libboost-program-options1.83-dev +#6 8.708 libboost-program-options1.83.0 libboost-serialization1.83-dev +#6 8.708 libboost-serialization1.83.0 libboost-system-dev libboost-system1.83-dev +#6 8.708 libboost-system1.83.0 libboost-thread-dev libboost-thread1.83-dev +#6 8.708 libboost-thread1.83.0 libboost1.83-dev libc-bin libc-dev-bin libc6 libc6-dev +#6 8.708 libcap2 libcap2-bin libcc1-0 libcrypt-dev libctf-nobfd0 libctf0 +#6 8.708 libcurl3t64-gnutls libcurl4t64 libdebuginfod-common libdebuginfod1t64 +#6 8.708 libdpkg-perl libdw1t64 liberror-perl libevent-core-2.1-7t64 libfontconfig1 +#6 8.708 libfreetype6 libgcc-13-dev libgcc-s1 libgdbm-compat4t64 libgdbm6t64 +#6 8.708 libgmp-dev libgmpxx4ldbl libgomp1 libgpm2 libgprofng0 libhwasan0 libipt2 +#6 8.708 libisl23 libitm1 libjansson4 libjq1 libjsoncpp25 libksba8 liblsan0 libmpc3 +#6 8.708 libmpfr-dev libmpfr6 libnl-3-200 libnl-genl-3-200 libonig5 libperl5.38t64 +#6 8.708 libpng16-16t64 libpython3-stdlib libpython3.12-minimal libpython3.12-stdlib +#6 8.708 libpython3.12t64 libquadmath0 libreadline8t64 librhash0 libsframe1 +#6 8.708 libsodium23 libsource-highlight-common libsource-highlight4t64 libsqlite3-0 +#6 8.708 libstdc++-13-dev libstdc++6 libtsan2 libubsan1 libutempter0 libuv1t64 +#6 8.708 libxaw7 libxft2 libxinerama1 libxmu6 libxpm4 linux-libc-dev +#6 8.708 lto-disabled-list make media-types netbase patch perl perl-base +#6 8.708 perl-modules-5.38 pinentry-curses python3 python3-minimal +#6 8.709 python3-pkg-resources python3.12 python3.12-minimal readline-common +#6 8.709 rpcsvc-proto ucf vim-common vim-runtime xbitmaps xz-utils zlib1g-dev +#6 8.710 Suggested packages: +#6 8.710 liblocale-gettext-perl cron quota ecryptfs-utils binutils-doc gprofng-gui +#6 8.710 bzip2-doc cmake-doc cmake-format elpa-cmake-mode cpp-doc gcc-13-locales +#6 8.710 cpp-13-doc dbus-user-session libpam-systemd pinentry-gnome3 tor +#6 8.710 debsig-verify debian-keyring g++-multilib g++-13-multilib gcc-13-doc +#6 8.710 gcc-multilib manpages-dev autoconf automake libtool flex bison gcc-doc +#6 8.710 gcc-13-multilib gdb-x86-64-linux-gnu gdb-doc gdbserver gettext-base +#6 8.710 git-daemon-run | git-daemon-sysvinit git-doc git-email git-gui gitk gitweb +#6 8.710 git-cvs git-mediawiki git-svn parcimonie xloadimage gpg-wks-server scdaemon +#6 8.710 lm-sensors lsof strace lrzip libboost-doc libboost1.83-doc +#6 8.710 libboost-container1.83-dev libboost-context1.83-dev +#6 8.710 libboost-contract1.83-dev libboost-coroutine1.83-dev +#6 8.710 libboost-exception1.83-dev libboost-fiber1.83-dev +#6 8.710 libboost-filesystem1.83-dev libboost-graph-parallel1.83-dev +#6 8.710 libboost-graph1.83-dev libboost-iostreams1.83-dev libboost-json1.83-dev +#6 8.710 libboost-locale1.83-dev libboost-log1.83-dev libboost-math1.83-dev +#6 8.710 libboost-mpi-python1.83-dev libboost-mpi1.83-dev libboost-nowide1.83-dev +#6 8.710 libboost-numpy1.83-dev libboost-python1.83-dev libboost-random1.83-dev +#6 8.710 libboost-regex1.83-dev libboost-stacktrace1.83-dev libboost-test1.83-dev +#6 8.710 libboost-timer1.83-dev libboost-type-erasure1.83-dev libboost-url1.83-dev +#6 8.710 libboost-wave1.83-dev libboost1.83-tools-dev libmpfrc++-dev libntl-dev +#6 8.710 manpages glibc-doc locales libnss-nis libnss-nisplus libmpfi-dev libtbb-dev +#6 8.710 bzr gdbm-l10n gmp-doc libgmp10-doc gpm libmpfr-doc libstdc++-13-doc make-doc +#6 8.710 hunspell ed diffutils-doc perl-doc libterm-readline-gnu-perl +#6 8.710 | libterm-readline-perl-perl libtap-harness-archive-perl pinentry-doc +#6 8.710 python3-doc python3-tk python3-venv python-setuptools-doc python3.12-venv +#6 8.710 python3.12-doc binfmt-support readline-doc ctags vim-doc vim-scripts +#6 8.710 xfonts-cyrillic +#6 8.710 Recommended packages: +#6 8.710 fakeroot libalgorithm-merge-perl libc-dbg ssh-client gnupg-l10n +#6 8.710 gpg-wks-client manpages manpages-dev libc-devtools libpam-cap +#6 8.710 libfile-fcntllock-perl liblocale-gettext-perl python3-dev xxd luit +#6 8.710 | x11-utils +#6 8.937 The following NEW packages will be installed: +#6 8.937 adduser binutils binutils-common binutils-x86-64-linux-gnu build-essential +#6 8.937 bzip2 cmake cmake-data cpp cpp-13 cpp-13-x86-64-linux-gnu +#6 8.937 cpp-x86-64-linux-gnu dirmngr dpkg-dev fontconfig-config fonts-dejavu-core +#6 8.937 fonts-dejavu-mono g++ g++-13 g++-13-x86-64-linux-gnu g++-x86-64-linux-gnu +#6 8.937 gcc gcc-13 gcc-13-base gcc-13-x86-64-linux-gnu gcc-x86-64-linux-gnu gdb git +#6 8.937 git-man gnupg gnupg-utils gnupg2 gpg gpg-agent gpgconf gpgsm htop +#6 8.937 iputils-ping jq keyboxd less libarchive13t64 libasan8 libbabeltrace1 +#6 8.937 libbinutils libboost-atomic1.83-dev libboost-atomic1.83.0 +#6 8.937 libboost-chrono1.83-dev libboost-chrono1.83.0t64 libboost-date-time1.83-dev +#6 8.937 libboost-date-time1.83.0 libboost-dev libboost-program-options-dev +#6 8.937 libboost-program-options1.83-dev libboost-program-options1.83.0 +#6 8.937 libboost-serialization1.83-dev libboost-serialization1.83.0 +#6 8.937 libboost-system-dev libboost-system1.83-dev libboost-system1.83.0 +#6 8.937 libboost-thread-dev libboost-thread1.83-dev libboost-thread1.83.0 +#6 8.937 libboost1.83-dev libc-dev-bin libc6-dev libcap2-bin libcc1-0 libcgal-dev +#6 8.937 libcrypt-dev libctf-nobfd0 libctf0 libcurl3t64-gnutls libdebuginfod-common +#6 8.937 libdebuginfod1t64 libdpkg-perl libdw1t64 liberror-perl +#6 8.938 libevent-core-2.1-7t64 libfontconfig1 libfreetype6 libgcc-13-dev +#6 8.938 libgdbm-compat4t64 libgdbm6t64 libgmp-dev libgmpxx4ldbl libgpm2 libgprofng0 +#6 8.938 libhwasan0 libipt2 libisl23 libitm1 libjansson4 libjq1 libjsoncpp25 libksba8 +#6 8.938 liblsan0 libmpc3 libmpfr-dev libmpfr6 libnl-3-200 libnl-genl-3-200 libonig5 +#6 8.938 libperl5.38t64 libpng16-16t64 libpython3-stdlib libpython3.12-minimal +#6 8.938 libpython3.12-stdlib libpython3.12t64 libquadmath0 libreadline8t64 librhash0 +#6 8.938 libsframe1 libsodium23 libsource-highlight-common libsource-highlight4t64 +#6 8.939 libsqlite3-0 libstdc++-13-dev libtsan2 libubsan1 libutempter0 libuv1t64 +#6 8.939 libxaw7 libxft2 libxinerama1 libxmu6 libxpm4 linux-libc-dev +#6 8.939 lto-disabled-list make media-types meson nano net-tools netbase ninja-build +#6 8.939 patch perl perl-modules-5.38 pinentry-curses python3 python3-minimal +#6 8.939 python3-pip python3-pkg-resources python3-setuptools python3-wheel +#6 8.939 python3.12 python3.12-minimal readline-common rpcsvc-proto tmux tree ucf vim +#6 8.939 vim-common vim-runtime wget xbitmaps xterm xz-utils zlib1g-dev +#6 8.940 The following packages will be upgraded: +#6 8.940 curl dpkg gcc-14-base gpgv libatomic1 libc-bin libc6 libcap2 libcurl4t64 +#6 8.942 libgcc-s1 libgomp1 libstdc++6 perl-base +#6 8.994 13 upgraded, 161 newly installed, 0 to remove and 37 not upgraded. +#6 8.994 Need to get 163 MB of archives. +#6 8.994 After this operation, 749 MB of additional disk space will be used. +#6 8.994 Get:1 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dpkg amd64 1.22.6ubuntu6.6 [1282 kB] +#6 9.041 Get:2 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 perl-base amd64 5.38.2-3.2ubuntu0.2 [1827 kB] +#6 9.054 Get:3 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libatomic1 amd64 14.2.0-4ubuntu2~24.04.1 [10.5 kB] +#6 9.059 Get:4 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgomp1 amd64 14.2.0-4ubuntu2~24.04.1 [148 kB] +#6 9.065 Get:5 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gcc-14-base amd64 14.2.0-4ubuntu2~24.04.1 [51.0 kB] +#6 9.073 Get:6 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgcc-s1 amd64 14.2.0-4ubuntu2~24.04.1 [78.4 kB] +#6 9.081 Get:7 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libstdc++6 amd64 14.2.0-4ubuntu2~24.04.1 [792 kB] +#6 9.088 Get:8 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libc6 amd64 2.39-0ubuntu8.7 [3263 kB] +#6 9.105 Get:9 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libc-bin amd64 2.39-0ubuntu8.7 [682 kB] +#6 9.108 Get:10 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpython3.12-minimal amd64 3.12.3-1ubuntu0.13 [837 kB] +#6 9.114 Get:11 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3.12-minimal amd64 3.12.3-1ubuntu0.13 [2346 kB] +#6 9.125 Get:12 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3-minimal amd64 3.12.3-0ubuntu2.1 [27.4 kB] +#6 9.130 Get:13 http://archive.ubuntu.com/ubuntu noble/main amd64 media-types all 10.1.0 [27.5 kB] +#6 9.135 Get:14 http://archive.ubuntu.com/ubuntu noble/main amd64 netbase all 6.4 [13.1 kB] +#6 9.140 Get:15 http://archive.ubuntu.com/ubuntu noble/main amd64 readline-common all 8.2-4build1 [56.5 kB] +#6 9.147 Get:16 http://archive.ubuntu.com/ubuntu noble/main amd64 libreadline8t64 amd64 8.2-4build1 [153 kB] +#6 9.152 Get:17 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libsqlite3-0 amd64 3.45.1-1ubuntu2.5 [701 kB] +#6 9.160 Get:18 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpython3.12-stdlib amd64 3.12.3-1ubuntu0.13 [2068 kB] +#6 9.169 Get:19 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3.12 amd64 3.12.3-1ubuntu0.13 [662 kB] +#6 9.175 Get:20 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpython3-stdlib amd64 3.12.3-0ubuntu2.1 [10.1 kB] +#6 9.183 Get:21 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3 amd64 3.12.3-0ubuntu2.1 [23.0 kB] +#6 9.188 Get:22 http://archive.ubuntu.com/ubuntu noble/main amd64 ucf all 3.0043+nmu1 [56.5 kB] +#6 9.198 Get:23 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdebuginfod-common all 0.190-1.1ubuntu0.1 [14.6 kB] +#6 9.204 Get:24 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 perl-modules-5.38 all 5.38.2-3.2ubuntu0.2 [3110 kB] +#6 9.219 Get:25 http://archive.ubuntu.com/ubuntu noble/main amd64 libgdbm6t64 amd64 1.23-5.1build1 [34.4 kB] +#6 9.223 Get:26 http://archive.ubuntu.com/ubuntu noble/main amd64 libgdbm-compat4t64 amd64 1.23-5.1build1 [6710 B] +#6 9.229 Get:27 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libperl5.38t64 amd64 5.38.2-3.2ubuntu0.2 [4874 kB] +#6 9.251 Get:28 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 perl amd64 5.38.2-3.2ubuntu0.2 [231 kB] +#6 9.254 Get:29 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libcap2 amd64 1:2.66-5ubuntu2.4 [30.5 kB] +#6 9.262 Get:30 http://archive.ubuntu.com/ubuntu noble/main amd64 adduser all 3.137ubuntu1 [101 kB] +#6 9.268 Get:31 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gpgv amd64 2.4.4-2ubuntu17.4 [158 kB] +#6 9.274 Get:32 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libcap2-bin amd64 1:2.66-5ubuntu2.4 [34.1 kB] +#6 9.281 Get:33 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 iputils-ping amd64 3:20240117-1ubuntu0.1 [44.6 kB] +#6 9.287 Get:34 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 less amd64 590-2ubuntu2.1 [142 kB] +#6 9.293 Get:35 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3-pkg-resources all 68.1.2-2ubuntu1.2 [168 kB] +#6 9.300 Get:36 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 vim-common all 2:9.1.0016-1ubuntu7.14 [387 kB] +#6 9.308 Get:37 http://archive.ubuntu.com/ubuntu noble/main amd64 libgpm2 amd64 1.20.7-11 [14.1 kB] +#6 9.314 Get:38 http://archive.ubuntu.com/ubuntu noble/main amd64 libjansson4 amd64 2.14-2build2 [32.8 kB] +#6 9.320 Get:39 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libnl-3-200 amd64 3.7.0-0.3build1.1 [55.7 kB] +#6 9.326 Get:40 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpng16-16t64 amd64 1.6.43-5ubuntu0.6 [189 kB] +#6 9.333 Get:41 http://archive.ubuntu.com/ubuntu noble/main amd64 libuv1t64 amd64 1.48.0-1.1build1 [97.3 kB] +#6 9.343 Get:42 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 nano amd64 7.2-2ubuntu0.1 [282 kB] +#6 9.349 Get:43 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 wget amd64 1.21.4-1ubuntu4.1 [334 kB] +#6 9.357 Get:44 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 xz-utils amd64 5.6.1+really5.4.5-1ubuntu0.2 [267 kB] +#6 9.365 Get:45 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 binutils-common amd64 2.42-4ubuntu2.10 [240 kB] +#6 9.371 Get:46 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libsframe1 amd64 2.42-4ubuntu2.10 [15.7 kB] +#6 9.377 Get:47 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libbinutils amd64 2.42-4ubuntu2.10 [577 kB] +#6 9.383 Get:48 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libctf-nobfd0 amd64 2.42-4ubuntu2.10 [98.0 kB] +#6 9.389 Get:49 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libctf0 amd64 2.42-4ubuntu2.10 [94.5 kB] +#6 9.395 Get:50 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgprofng0 amd64 2.42-4ubuntu2.10 [849 kB] +#6 9.402 Get:51 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 binutils-x86-64-linux-gnu amd64 2.42-4ubuntu2.10 [2463 kB] +#6 9.414 Get:52 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 binutils amd64 2.42-4ubuntu2.10 [18.2 kB] +#6 9.417 Get:53 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libc-dev-bin amd64 2.39-0ubuntu8.7 [20.4 kB] +#6 9.423 Get:54 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 linux-libc-dev amd64 6.8.0-124.124 [1442 kB] +#6 9.432 Get:55 http://archive.ubuntu.com/ubuntu noble/main amd64 libcrypt-dev amd64 1:4.4.36-4build1 [112 kB] +#6 9.438 Get:56 http://archive.ubuntu.com/ubuntu noble/main amd64 rpcsvc-proto amd64 1.4.2-0ubuntu7 [67.4 kB] +#6 9.443 Get:57 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libc6-dev amd64 2.39-0ubuntu8.7 [2124 kB] +#6 9.452 Get:58 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gcc-13-base amd64 13.3.0-6ubuntu2~24.04.1 [51.6 kB] +#6 9.456 Get:59 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libisl23 amd64 0.26-3build1.1 [680 kB] +#6 9.465 Get:60 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libmpfr6 amd64 4.2.1-1build1.1 [353 kB] +#6 9.472 Get:61 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libmpc3 amd64 1.3.1-1build1.1 [54.6 kB] +#6 9.478 Get:62 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 cpp-13-x86-64-linux-gnu amd64 13.3.0-6ubuntu2~24.04.1 [10.7 MB] +#6 9.525 Get:63 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 cpp-13 amd64 13.3.0-6ubuntu2~24.04.1 [1042 B] +#6 9.525 Get:64 http://archive.ubuntu.com/ubuntu noble/main amd64 cpp-x86-64-linux-gnu amd64 4:13.2.0-7ubuntu1 [5326 B] +#6 9.528 Get:65 http://archive.ubuntu.com/ubuntu noble/main amd64 cpp amd64 4:13.2.0-7ubuntu1 [22.4 kB] +#6 9.535 Get:66 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libcc1-0 amd64 14.2.0-4ubuntu2~24.04.1 [48.0 kB] +#6 9.540 Get:67 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libitm1 amd64 14.2.0-4ubuntu2~24.04.1 [29.7 kB] +#6 9.545 Get:68 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libasan8 amd64 14.2.0-4ubuntu2~24.04.1 [3027 kB] +#6 9.558 Get:69 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 liblsan0 amd64 14.2.0-4ubuntu2~24.04.1 [1322 kB] +#6 9.565 Get:70 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libtsan2 amd64 14.2.0-4ubuntu2~24.04.1 [2772 kB] +#6 9.580 Get:71 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libubsan1 amd64 14.2.0-4ubuntu2~24.04.1 [1184 kB] +#6 9.588 Get:72 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libhwasan0 amd64 14.2.0-4ubuntu2~24.04.1 [1641 kB] +#6 9.599 Get:73 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libquadmath0 amd64 14.2.0-4ubuntu2~24.04.1 [153 kB] +#6 9.602 Get:74 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgcc-13-dev amd64 13.3.0-6ubuntu2~24.04.1 [2681 kB] +#6 9.617 Get:75 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gcc-13-x86-64-linux-gnu amd64 13.3.0-6ubuntu2~24.04.1 [21.1 MB] +#6 9.708 Get:76 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gcc-13 amd64 13.3.0-6ubuntu2~24.04.1 [494 kB] +#6 9.710 Get:77 http://archive.ubuntu.com/ubuntu noble/main amd64 gcc-x86-64-linux-gnu amd64 4:13.2.0-7ubuntu1 [1212 B] +#6 9.712 Get:78 http://archive.ubuntu.com/ubuntu noble/main amd64 gcc amd64 4:13.2.0-7ubuntu1 [5018 B] +#6 9.717 Get:79 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libstdc++-13-dev amd64 13.3.0-6ubuntu2~24.04.1 [2420 kB] +#6 9.728 Get:80 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 g++-13-x86-64-linux-gnu amd64 13.3.0-6ubuntu2~24.04.1 [12.2 MB] +#6 9.778 Get:81 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 g++-13 amd64 13.3.0-6ubuntu2~24.04.1 [16.0 kB] +#6 9.778 Get:82 http://archive.ubuntu.com/ubuntu noble/main amd64 g++-x86-64-linux-gnu amd64 4:13.2.0-7ubuntu1 [964 B] +#6 9.785 Get:83 http://archive.ubuntu.com/ubuntu noble/main amd64 g++ amd64 4:13.2.0-7ubuntu1 [1100 B] +#6 9.791 Get:84 http://archive.ubuntu.com/ubuntu noble/main amd64 make amd64 4.3-4.1build2 [180 kB] +#6 9.797 Get:85 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdpkg-perl all 1.22.6ubuntu6.6 [268 kB] +#6 9.802 Get:86 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 bzip2 amd64 1.0.8-5.1build0.1 [34.5 kB] +#6 9.808 Get:87 http://archive.ubuntu.com/ubuntu noble/main amd64 patch amd64 2.7.6-7build3 [104 kB] +#6 9.814 Get:88 http://archive.ubuntu.com/ubuntu noble/main amd64 lto-disabled-list all 47 [12.4 kB] +#6 9.820 Get:89 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dpkg-dev all 1.22.6ubuntu6.6 [1074 kB] +#6 9.827 Get:90 http://archive.ubuntu.com/ubuntu noble/main amd64 build-essential amd64 12.10ubuntu1 [4928 B] +#6 9.832 Get:91 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libarchive13t64 amd64 3.7.2-2ubuntu0.7 [382 kB] +#6 9.839 Get:92 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 curl amd64 8.5.0-2ubuntu10.9 [227 kB] +#6 9.844 Get:93 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libcurl4t64 amd64 8.5.0-2ubuntu10.9 [342 kB] +#6 9.850 Get:94 http://archive.ubuntu.com/ubuntu noble/main amd64 libjsoncpp25 amd64 1.9.5-6build1 [82.8 kB] +#6 9.855 Get:95 http://archive.ubuntu.com/ubuntu noble/main amd64 librhash0 amd64 1.4.3-3build1 [129 kB] +#6 9.862 Get:96 http://archive.ubuntu.com/ubuntu noble/main amd64 cmake-data all 3.28.3-1build7 [2155 kB] +#6 9.872 Get:97 http://archive.ubuntu.com/ubuntu noble/main amd64 cmake amd64 3.28.3-1build7 [11.2 MB] +#6 9.923 Get:98 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gpgconf amd64 2.4.4-2ubuntu17.4 [104 kB] +#6 9.923 Get:99 http://archive.ubuntu.com/ubuntu noble/main amd64 libksba8 amd64 1.6.6-1build1 [122 kB] +#6 9.927 Get:100 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dirmngr amd64 2.4.4-2ubuntu17.4 [323 kB] +#6 9.935 Get:101 http://archive.ubuntu.com/ubuntu noble/main amd64 fonts-dejavu-mono all 2.37-8 [502 kB] +#6 9.941 Get:102 http://archive.ubuntu.com/ubuntu noble/main amd64 fonts-dejavu-core all 2.37-8 [835 kB] +#6 9.948 Get:103 http://archive.ubuntu.com/ubuntu noble/main amd64 fontconfig-config amd64 2.15.0-1.1ubuntu2 [37.3 kB] +#6 9.953 Get:104 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdw1t64 amd64 0.190-1.1ubuntu0.1 [261 kB] +#6 9.961 Get:105 http://archive.ubuntu.com/ubuntu noble/main amd64 libbabeltrace1 amd64 1.5.11-3build3 [164 kB] +#6 9.967 Get:106 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libcurl3t64-gnutls amd64 8.5.0-2ubuntu10.9 [334 kB] +#6 9.977 Get:107 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdebuginfod1t64 amd64 0.190-1.1ubuntu0.1 [17.1 kB] +#6 9.981 Get:108 http://archive.ubuntu.com/ubuntu noble/main amd64 libipt2 amd64 2.0.6-1build1 [45.7 kB] +#6 9.987 Get:109 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpython3.12t64 amd64 3.12.3-1ubuntu0.13 [2338 kB] +#6 9.997 Get:110 http://archive.ubuntu.com/ubuntu noble/main amd64 libsource-highlight-common all 3.1.9-4.3build1 [64.2 kB] +#6 10.00 Get:111 http://archive.ubuntu.com/ubuntu noble/main amd64 libsource-highlight4t64 amd64 3.1.9-4.3build1 [258 kB] +#6 10.01 Get:112 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gdb amd64 15.1-1ubuntu1~24.04.1 [4083 kB] +#6 10.03 Get:113 http://archive.ubuntu.com/ubuntu noble/main amd64 liberror-perl all 0.17029-2 [25.6 kB] +#6 10.03 Get:114 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 git-man all 1:2.43.0-1ubuntu7.3 [1100 kB] +#6 10.05 Get:115 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 git amd64 1:2.43.0-1ubuntu7.3 [3680 kB] +#6 10.07 Get:116 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gnupg-utils amd64 2.4.4-2ubuntu17.4 [109 kB] +#6 10.07 Get:117 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gpg amd64 2.4.4-2ubuntu17.4 [565 kB] +#6 10.08 Get:118 http://archive.ubuntu.com/ubuntu noble/main amd64 pinentry-curses amd64 1.2.1-3ubuntu5 [35.2 kB] +#6 10.08 Get:119 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gpg-agent amd64 2.4.4-2ubuntu17.4 [227 kB] +#6 10.09 Get:120 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gpgsm amd64 2.4.4-2ubuntu17.4 [232 kB] +#6 10.10 Get:121 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 keyboxd amd64 2.4.4-2ubuntu17.4 [78.3 kB] +#6 10.10 Get:122 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gnupg all 2.4.4-2ubuntu17.4 [359 kB] +#6 10.11 Get:123 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libnl-genl-3-200 amd64 3.7.0-0.3build1.1 [12.2 kB] +#6 10.12 Get:124 http://archive.ubuntu.com/ubuntu noble/main amd64 htop amd64 3.3.0-4build1 [171 kB] +#6 10.12 Get:125 http://archive.ubuntu.com/ubuntu noble/main amd64 libonig5 amd64 6.9.9-1build1 [172 kB] +#6 10.13 Get:126 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libjq1 amd64 1.7.1-3ubuntu0.24.04.2 [142 kB] +#6 10.14 Get:127 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 jq amd64 1.7.1-3ubuntu0.24.04.2 [65.7 kB] +#6 10.14 Get:128 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost1.83-dev amd64 1.83.0-2.1ubuntu3.2 [10.7 MB] +#6 10.19 Get:129 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-atomic1.83.0 amd64 1.83.0-2.1ubuntu3.2 [240 kB] +#6 10.20 Get:130 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-atomic1.83-dev amd64 1.83.0-2.1ubuntu3.2 [235 kB] +#6 10.20 Get:131 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-chrono1.83.0t64 amd64 1.83.0-2.1ubuntu3.2 [245 kB] +#6 10.21 Get:132 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-chrono1.83-dev amd64 1.83.0-2.1ubuntu3.2 [246 kB] +#6 10.22 Get:133 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-date-time1.83.0 amd64 1.83.0-2.1ubuntu3.2 [236 kB] +#6 10.22 Get:134 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-serialization1.83.0 amd64 1.83.0-2.1ubuntu3.2 [341 kB] +#6 10.23 Get:135 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-serialization1.83-dev amd64 1.83.0-2.1ubuntu3.2 [387 kB] +#6 10.24 Get:136 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-date-time1.83-dev amd64 1.83.0-2.1ubuntu3.2 [239 kB] +#6 10.25 Get:137 http://archive.ubuntu.com/ubuntu noble/main amd64 libboost-dev amd64 1.83.0.1ubuntu2 [4308 B] +#6 10.25 Get:138 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-program-options1.83.0 amd64 1.83.0-2.1ubuntu3.2 [321 kB] +#6 10.26 Get:139 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-program-options1.83-dev amd64 1.83.0-2.1ubuntu3.2 [388 kB] +#6 10.27 Get:140 http://archive.ubuntu.com/ubuntu noble/main amd64 libboost-program-options-dev amd64 1.83.0.1ubuntu2 [4086 B] +#6 10.28 Get:141 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-system1.83.0 amd64 1.83.0-2.1ubuntu3.2 [236 kB] +#6 10.28 Get:142 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-system1.83-dev amd64 1.83.0-2.1ubuntu3.2 [231 kB] +#6 10.29 Get:143 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-system-dev amd64 1.83.0.1ubuntu2 [4206 B] +#6 10.30 Get:144 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-thread1.83.0 amd64 1.83.0-2.1ubuntu3.2 [276 kB] +#6 10.30 Get:145 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-thread1.83-dev amd64 1.83.0-2.1ubuntu3.2 [282 kB] +#6 10.31 Get:146 http://archive.ubuntu.com/ubuntu noble/main amd64 libboost-thread-dev amd64 1.83.0.1ubuntu2 [4088 B] +#6 10.31 Get:147 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgmpxx4ldbl amd64 2:6.3.0+dfsg-2ubuntu6.1 [9888 B] +#6 10.32 Get:148 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgmp-dev amd64 2:6.3.0+dfsg-2ubuntu6.1 [340 kB] +#6 10.32 Get:149 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libmpfr-dev amd64 4.2.1-1build1.1 [288 kB] +#6 10.33 Get:150 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 zlib1g-dev amd64 1:1.3.dfsg-3.1ubuntu2.1 [894 kB] +#6 10.34 Get:151 http://archive.ubuntu.com/ubuntu noble/universe amd64 libcgal-dev amd64 5.6-1build3 [4970 kB] +#6 10.36 Get:152 http://archive.ubuntu.com/ubuntu noble/main amd64 libevent-core-2.1-7t64 amd64 2.1.12-stable-9ubuntu2 [91.3 kB] +#6 10.37 Get:153 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libfreetype6 amd64 2.13.2+dfsg-1ubuntu0.1 [402 kB] +#6 10.37 Get:154 http://archive.ubuntu.com/ubuntu noble/main amd64 libfontconfig1 amd64 2.15.0-1.1ubuntu2 [139 kB] +#6 10.38 Get:155 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libsodium23 amd64 1.0.18-1ubuntu0.24.04.1 [161 kB] +#6 10.39 Get:156 http://archive.ubuntu.com/ubuntu noble/main amd64 libutempter0 amd64 1.2.1-3build1 [9606 B] +#6 10.40 Get:157 http://archive.ubuntu.com/ubuntu noble/main amd64 libxmu6 amd64 2:1.1.3-3build2 [47.6 kB] +#6 10.40 Get:158 http://archive.ubuntu.com/ubuntu noble/main amd64 libxpm4 amd64 1:3.5.17-1build2 [36.5 kB] +#6 10.41 Get:159 http://archive.ubuntu.com/ubuntu noble/main amd64 libxaw7 amd64 2:1.0.14-1build2 [187 kB] +#6 10.42 Get:160 http://archive.ubuntu.com/ubuntu noble/main amd64 libxft2 amd64 2.3.6-1build1 [45.3 kB] +#6 10.42 Get:161 http://archive.ubuntu.com/ubuntu noble/main amd64 libxinerama1 amd64 2:1.1.4-3build1 [6396 B] +#6 10.43 Get:162 http://archive.ubuntu.com/ubuntu noble/universe amd64 ninja-build amd64 1.11.1-2 [129 kB] +#6 10.44 Get:163 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3-setuptools all 68.1.2-2ubuntu1.2 [397 kB] +#6 10.44 Get:164 http://archive.ubuntu.com/ubuntu noble/universe amd64 meson all 1.3.2-1ubuntu1 [604 kB] +#6 10.45 Get:165 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 net-tools amd64 2.10-0.1ubuntu4.4 [204 kB] +#6 10.46 Get:166 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-wheel all 0.42.0-2 [53.1 kB] +#6 10.46 Get:167 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 python3-pip all 24.0+dfsg-1ubuntu1.3 [1320 kB] +#6 10.47 Get:168 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 tmux amd64 3.4-1ubuntu0.1 [480 kB] +#6 10.48 Get:169 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 tree amd64 2.1.1-2ubuntu3.24.04.2 [47.4 kB] +#6 10.49 Get:170 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 vim-runtime all 2:9.1.0016-1ubuntu7.14 [7283 kB] +#6 10.52 Get:171 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 vim amd64 2:9.1.0016-1ubuntu7.14 [1883 kB] +#6 10.53 Get:172 http://archive.ubuntu.com/ubuntu noble/main amd64 xbitmaps all 1.1.1-2.2 [22.4 kB] +#6 10.53 Get:173 http://archive.ubuntu.com/ubuntu noble/universe amd64 xterm amd64 390-1ubuntu3 [883 kB] +#6 10.54 Get:174 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 gnupg2 all 2.4.4-2ubuntu17.4 [4752 B] +#6 10.69 debconf: delaying package configuration, since apt-utils is not installed +#6 10.73 Fetched 163 MB in 2s (103 MB/s) +#6 10.75 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 6167 files and directories currently installed.) +#6 10.76 Preparing to unpack .../dpkg_1.22.6ubuntu6.6_amd64.deb ... +#6 10.77 Unpacking dpkg (1.22.6ubuntu6.6) over (1.22.6ubuntu6.1) ... +#6 10.96 Setting up dpkg (1.22.6ubuntu6.6) ... +#6 11.12 (Reading database ... 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(Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 6167 files and directories currently installed.) +#6 13.58 Preparing to unpack .../libc6_2.39-0ubuntu8.7_amd64.deb ... +#6 13.64 debconf: unable to initialize frontend: Dialog +#6 13.64 debconf: (TERM is not set, so the dialog frontend is not usable.) +#6 13.64 debconf: falling back to frontend: Readline +#6 13.64 debconf: unable to initialize frontend: Readline +#6 13.64 debconf: (Can't locate Term/ReadLine.pm in @INC (you may need to install the Term::ReadLine module) (@INC entries checked: /etc/perl /usr/local/lib/x86_64-linux-gnu/perl/5.38.2 /usr/local/share/perl/5.38.2 /usr/lib/x86_64-linux-gnu/perl5/5.38 /usr/share/perl5 /usr/lib/x86_64-linux-gnu/perl-base /usr/lib/x86_64-linux-gnu/perl/5.38 /usr/share/perl/5.38 /usr/local/lib/site_perl) at /usr/share/perl5/Debconf/FrontEnd/Readline.pm line 8.) +#6 13.64 debconf: falling back to frontend: Teletype +#6 13.69 Unpacking libc6:amd64 (2.39-0ubuntu8.7) over (2.39-0ubuntu8.4) ... +#6 14.60 Setting up libc6:amd64 (2.39-0ubuntu8.7) ... +#6 14.67 debconf: unable to initialize frontend: Dialog +#6 14.67 debconf: (TERM is not set, so the dialog frontend is not usable.) +#6 14.67 debconf: falling back to frontend: Readline +#6 14.67 debconf: unable to initialize frontend: Readline +#6 14.67 debconf: (Can't locate Term/ReadLine.pm in @INC (you may need to install the Term::ReadLine module) (@INC entries checked: /etc/perl /usr/local/lib/x86_64-linux-gnu/perl/5.38.2 /usr/local/share/perl/5.38.2 /usr/lib/x86_64-linux-gnu/perl5/5.38 /usr/share/perl5 /usr/lib/x86_64-linux-gnu/perl-base /usr/lib/x86_64-linux-gnu/perl/5.38 /usr/share/perl/5.38 /usr/local/lib/site_perl) at /usr/share/perl5/Debconf/FrontEnd/Readline.pm line 8.) +#6 14.67 debconf: falling back to frontend: Teletype +#6 15.75 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 6167 files and directories currently installed.) +#6 15.76 Preparing to unpack .../libc-bin_2.39-0ubuntu8.7_amd64.deb ... +#6 15.77 Unpacking libc-bin (2.39-0ubuntu8.7) over (2.39-0ubuntu8.4) ... +#6 15.93 Setting up libc-bin (2.39-0ubuntu8.7) ... +#6 16.03 Selecting previously unselected package libpython3.12-minimal:amd64. +#6 16.03 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 6167 files and directories currently installed.) +#6 16.04 Preparing to unpack .../libpython3.12-minimal_3.12.3-1ubuntu0.13_amd64.deb ... +#6 16.04 Unpacking libpython3.12-minimal:amd64 (3.12.3-1ubuntu0.13) ... +#6 16.14 Selecting previously unselected package python3.12-minimal. +#6 16.14 Preparing to unpack .../python3.12-minimal_3.12.3-1ubuntu0.13_amd64.deb ... +#6 16.15 Unpacking python3.12-minimal (3.12.3-1ubuntu0.13) ... +#6 16.22 Setting up libpython3.12-minimal:amd64 (3.12.3-1ubuntu0.13) ... +#6 16.25 Setting up python3.12-minimal (3.12.3-1ubuntu0.13) ... +#6 16.81 Selecting previously unselected package python3-minimal. +#6 16.81 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 6478 files and directories currently installed.) +#6 16.82 Preparing to unpack .../0-python3-minimal_3.12.3-0ubuntu2.1_amd64.deb ... +#6 16.82 Unpacking python3-minimal (3.12.3-0ubuntu2.1) ... +#6 16.86 Selecting previously unselected package media-types. +#6 16.86 Preparing to unpack .../1-media-types_10.1.0_all.deb ... +#6 16.87 Unpacking media-types (10.1.0) ... +#6 16.90 Selecting previously unselected package netbase. +#6 16.90 Preparing to unpack .../2-netbase_6.4_all.deb ... +#6 16.91 Unpacking netbase (6.4) ... +#6 16.94 Selecting previously unselected package readline-common. +#6 16.94 Preparing to unpack .../3-readline-common_8.2-4build1_all.deb ... +#6 16.95 Unpacking readline-common (8.2-4build1) ... +#6 16.99 Selecting previously unselected package libreadline8t64:amd64. +#6 16.99 Preparing to unpack .../4-libreadline8t64_8.2-4build1_amd64.deb ... +#6 17.00 Adding 'diversion of /lib/x86_64-linux-gnu/libhistory.so.8 to /lib/x86_64-linux-gnu/libhistory.so.8.usr-is-merged by libreadline8t64' +#6 17.01 Adding 'diversion of /lib/x86_64-linux-gnu/libhistory.so.8.2 to /lib/x86_64-linux-gnu/libhistory.so.8.2.usr-is-merged by libreadline8t64' +#6 17.02 Adding 'diversion of /lib/x86_64-linux-gnu/libreadline.so.8 to /lib/x86_64-linux-gnu/libreadline.so.8.usr-is-merged by libreadline8t64' +#6 17.02 Adding 'diversion of /lib/x86_64-linux-gnu/libreadline.so.8.2 to /lib/x86_64-linux-gnu/libreadline.so.8.2.usr-is-merged by libreadline8t64' +#6 17.03 Unpacking libreadline8t64:amd64 (8.2-4build1) ... +#6 17.07 Selecting previously unselected package libsqlite3-0:amd64. +#6 17.07 Preparing to unpack .../5-libsqlite3-0_3.45.1-1ubuntu2.5_amd64.deb ... +#6 17.07 Unpacking libsqlite3-0:amd64 (3.45.1-1ubuntu2.5) ... +#6 17.12 Selecting previously unselected package libpython3.12-stdlib:amd64. +#6 17.12 Preparing to unpack .../6-libpython3.12-stdlib_3.12.3-1ubuntu0.13_amd64.deb ... +#6 17.12 Unpacking libpython3.12-stdlib:amd64 (3.12.3-1ubuntu0.13) ... +#6 17.22 Selecting previously unselected package python3.12. +#6 17.22 Preparing to unpack .../7-python3.12_3.12.3-1ubuntu0.13_amd64.deb ... +#6 17.23 Unpacking python3.12 (3.12.3-1ubuntu0.13) ... +#6 17.27 Selecting previously unselected package libpython3-stdlib:amd64. +#6 17.27 Preparing to unpack .../8-libpython3-stdlib_3.12.3-0ubuntu2.1_amd64.deb ... +#6 17.28 Unpacking libpython3-stdlib:amd64 (3.12.3-0ubuntu2.1) ... +#6 17.32 Setting up python3-minimal (3.12.3-0ubuntu2.1) ... +#6 17.47 Selecting previously unselected package python3. +#6 17.47 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 6955 files and directories currently installed.) +#6 17.48 Preparing to unpack .../0-python3_3.12.3-0ubuntu2.1_amd64.deb ... +#6 17.48 Unpacking python3 (3.12.3-0ubuntu2.1) ... +#6 17.54 Selecting previously unselected package ucf. +#6 17.54 Preparing to unpack .../1-ucf_3.0043+nmu1_all.deb ... +#6 17.55 Moving old data out of the way +#6 17.55 Unpacking ucf (3.0043+nmu1) ... +#6 17.59 Selecting previously unselected package libdebuginfod-common. +#6 17.60 Preparing to unpack .../2-libdebuginfod-common_0.190-1.1ubuntu0.1_all.deb ... +#6 17.60 Unpacking libdebuginfod-common (0.190-1.1ubuntu0.1) ... +#6 17.64 Selecting previously unselected package perl-modules-5.38. +#6 17.64 Preparing to unpack .../3-perl-modules-5.38_5.38.2-3.2ubuntu0.2_all.deb ... +#6 17.64 Unpacking perl-modules-5.38 (5.38.2-3.2ubuntu0.2) ... +#6 17.88 Selecting previously unselected package libgdbm6t64:amd64. +#6 17.88 Preparing to unpack .../4-libgdbm6t64_1.23-5.1build1_amd64.deb ... +#6 17.88 Unpacking libgdbm6t64:amd64 (1.23-5.1build1) ... +#6 17.92 Selecting previously unselected package libgdbm-compat4t64:amd64. +#6 17.92 Preparing to unpack .../5-libgdbm-compat4t64_1.23-5.1build1_amd64.deb ... +#6 17.93 Unpacking libgdbm-compat4t64:amd64 (1.23-5.1build1) ... +#6 17.96 Selecting previously unselected package libperl5.38t64:amd64. +#6 17.96 Preparing to unpack .../6-libperl5.38t64_5.38.2-3.2ubuntu0.2_amd64.deb ... +#6 17.97 Unpacking libperl5.38t64:amd64 (5.38.2-3.2ubuntu0.2) ... +#6 18.15 Selecting previously unselected package perl. +#6 18.15 Preparing to unpack .../7-perl_5.38.2-3.2ubuntu0.2_amd64.deb ... +#6 18.16 Unpacking perl (5.38.2-3.2ubuntu0.2) ... +#6 18.21 Preparing to unpack .../8-libcap2_1%3a2.66-5ubuntu2.4_amd64.deb ... +#6 18.23 Unpacking libcap2:amd64 (1:2.66-5ubuntu2.4) over (1:2.66-5ubuntu2.2) ... +#6 18.28 Setting up libcap2:amd64 (1:2.66-5ubuntu2.4) ... +#6 18.34 Selecting previously unselected package adduser. +#6 18.34 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 9045 files and directories currently installed.) +#6 18.35 Preparing to unpack .../adduser_3.137ubuntu1_all.deb ... +#6 18.35 Unpacking adduser (3.137ubuntu1) ... +#6 18.40 Setting up adduser (3.137ubuntu1) ... +#6 18.46 (Reading database ... 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(Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 9093 files and directories currently installed.) +#6 18.60 Preparing to unpack .../000-libcap2-bin_1%3a2.66-5ubuntu2.4_amd64.deb ... +#6 18.60 Unpacking libcap2-bin (1:2.66-5ubuntu2.4) ... +#6 18.64 Selecting previously unselected package iputils-ping. +#6 18.64 Preparing to unpack .../001-iputils-ping_3%3a20240117-1ubuntu0.1_amd64.deb ... +#6 18.64 Unpacking iputils-ping (3:20240117-1ubuntu0.1) ... +#6 18.68 Selecting previously unselected package less. +#6 18.68 Preparing to unpack .../002-less_590-2ubuntu2.1_amd64.deb ... +#6 18.69 Unpacking less (590-2ubuntu2.1) ... +#6 18.73 Selecting previously unselected package python3-pkg-resources. +#6 18.73 Preparing to unpack .../003-python3-pkg-resources_68.1.2-2ubuntu1.2_all.deb ... +#6 18.74 Unpacking python3-pkg-resources (68.1.2-2ubuntu1.2) ... +#6 18.79 Selecting previously unselected package vim-common. +#6 18.79 Preparing to unpack .../004-vim-common_2%3a9.1.0016-1ubuntu7.14_all.deb ... +#6 18.80 Unpacking vim-common (2:9.1.0016-1ubuntu7.14) ... +#6 18.85 Selecting previously unselected package libgpm2:amd64. +#6 18.85 Preparing to unpack .../005-libgpm2_1.20.7-11_amd64.deb ... +#6 18.85 Unpacking libgpm2:amd64 (1.20.7-11) ... +#6 18.89 Selecting previously unselected package libjansson4:amd64. +#6 18.89 Preparing to unpack .../006-libjansson4_2.14-2build2_amd64.deb ... +#6 18.90 Unpacking libjansson4:amd64 (2.14-2build2) ... +#6 18.94 Selecting previously unselected package libnl-3-200:amd64. +#6 18.94 Preparing to unpack .../007-libnl-3-200_3.7.0-0.3build1.1_amd64.deb ... +#6 18.94 Unpacking libnl-3-200:amd64 (3.7.0-0.3build1.1) ... +#6 18.98 Selecting previously unselected package libpng16-16t64:amd64. +#6 18.98 Preparing to unpack .../008-libpng16-16t64_1.6.43-5ubuntu0.6_amd64.deb ... +#6 18.98 Unpacking libpng16-16t64:amd64 (1.6.43-5ubuntu0.6) ... +#6 19.03 Selecting previously unselected package libuv1t64:amd64. +#6 19.03 Preparing to unpack .../009-libuv1t64_1.48.0-1.1build1_amd64.deb ... +#6 19.03 Unpacking libuv1t64:amd64 (1.48.0-1.1build1) ... +#6 19.07 Selecting previously unselected package nano. +#6 19.07 Preparing to unpack .../010-nano_7.2-2ubuntu0.1_amd64.deb ... +#6 19.08 Unpacking nano (7.2-2ubuntu0.1) ... +#6 19.12 Selecting previously unselected package wget. +#6 19.12 Preparing to unpack .../011-wget_1.21.4-1ubuntu4.1_amd64.deb ... +#6 19.13 Unpacking wget (1.21.4-1ubuntu4.1) ... +#6 19.16 Selecting previously unselected package xz-utils. +#6 19.16 Preparing to unpack .../012-xz-utils_5.6.1+really5.4.5-1ubuntu0.2_amd64.deb ... +#6 19.17 Unpacking xz-utils (5.6.1+really5.4.5-1ubuntu0.2) ... +#6 19.21 Selecting previously unselected package binutils-common:amd64. +#6 19.21 Preparing to unpack .../013-binutils-common_2.42-4ubuntu2.10_amd64.deb ... +#6 19.21 Unpacking binutils-common:amd64 (2.42-4ubuntu2.10) ... +#6 19.25 Selecting previously unselected package libsframe1:amd64. +#6 19.25 Preparing to unpack .../014-libsframe1_2.42-4ubuntu2.10_amd64.deb ... +#6 19.26 Unpacking libsframe1:amd64 (2.42-4ubuntu2.10) ... +#6 19.30 Selecting previously unselected package libbinutils:amd64. +#6 19.30 Preparing to unpack .../015-libbinutils_2.42-4ubuntu2.10_amd64.deb ... +#6 19.30 Unpacking libbinutils:amd64 (2.42-4ubuntu2.10) ... +#6 19.35 Selecting previously unselected package libctf-nobfd0:amd64. +#6 19.35 Preparing to unpack .../016-libctf-nobfd0_2.42-4ubuntu2.10_amd64.deb ... +#6 19.35 Unpacking libctf-nobfd0:amd64 (2.42-4ubuntu2.10) ... +#6 19.40 Selecting previously unselected package libctf0:amd64. +#6 19.40 Preparing to unpack .../017-libctf0_2.42-4ubuntu2.10_amd64.deb ... +#6 19.40 Unpacking libctf0:amd64 (2.42-4ubuntu2.10) ... +#6 19.44 Selecting previously unselected package libgprofng0:amd64. +#6 19.44 Preparing to unpack .../018-libgprofng0_2.42-4ubuntu2.10_amd64.deb ... +#6 19.45 Unpacking libgprofng0:amd64 (2.42-4ubuntu2.10) ... +#6 19.49 Selecting previously unselected package binutils-x86-64-linux-gnu. +#6 19.49 Preparing to unpack .../019-binutils-x86-64-linux-gnu_2.42-4ubuntu2.10_amd64.deb ... +#6 19.50 Unpacking binutils-x86-64-linux-gnu (2.42-4ubuntu2.10) ... +#6 19.58 Selecting previously unselected package binutils. +#6 19.59 Preparing to unpack .../020-binutils_2.42-4ubuntu2.10_amd64.deb ... +#6 19.59 Unpacking binutils (2.42-4ubuntu2.10) ... +#6 19.63 Selecting previously unselected package libc-dev-bin. +#6 19.63 Preparing to unpack .../021-libc-dev-bin_2.39-0ubuntu8.7_amd64.deb ... +#6 19.63 Unpacking libc-dev-bin (2.39-0ubuntu8.7) ... +#6 19.67 Selecting previously unselected package linux-libc-dev:amd64. +#6 19.67 Preparing to unpack .../022-linux-libc-dev_6.8.0-124.124_amd64.deb ... +#6 19.68 Unpacking linux-libc-dev:amd64 (6.8.0-124.124) ... +#6 19.86 Selecting previously unselected package libcrypt-dev:amd64. +#6 19.86 Preparing to unpack .../023-libcrypt-dev_1%3a4.4.36-4build1_amd64.deb ... +#6 19.87 Unpacking libcrypt-dev:amd64 (1:4.4.36-4build1) ... +#6 19.91 Selecting previously unselected package rpcsvc-proto. +#6 19.91 Preparing to unpack .../024-rpcsvc-proto_1.4.2-0ubuntu7_amd64.deb ... +#6 19.92 Unpacking rpcsvc-proto (1.4.2-0ubuntu7) ... +#6 19.95 Selecting previously unselected package libc6-dev:amd64. +#6 19.95 Preparing to unpack .../025-libc6-dev_2.39-0ubuntu8.7_amd64.deb ... +#6 19.96 Unpacking libc6-dev:amd64 (2.39-0ubuntu8.7) ... +#6 20.10 Selecting previously unselected package gcc-13-base:amd64. +#6 20.10 Preparing to unpack .../026-gcc-13-base_13.3.0-6ubuntu2~24.04.1_amd64.deb ... +#6 20.10 Unpacking gcc-13-base:amd64 (13.3.0-6ubuntu2~24.04.1) ... +#6 20.14 Selecting previously unselected package libisl23:amd64. +#6 20.14 Preparing to unpack .../027-libisl23_0.26-3build1.1_amd64.deb ... +#6 20.15 Unpacking libisl23:amd64 (0.26-3build1.1) ... +#6 20.20 Selecting previously unselected package libmpfr6:amd64. +#6 20.20 Preparing to unpack .../028-libmpfr6_4.2.1-1build1.1_amd64.deb ... +#6 20.21 Unpacking libmpfr6:amd64 (4.2.1-1build1.1) ... +#6 20.24 Selecting previously unselected package libmpc3:amd64. +#6 20.24 Preparing to unpack .../029-libmpc3_1.3.1-1build1.1_amd64.deb ... +#6 20.25 Unpacking libmpc3:amd64 (1.3.1-1build1.1) ... +#6 20.28 Selecting previously unselected package cpp-13-x86-64-linux-gnu. +#6 20.29 Preparing to unpack .../030-cpp-13-x86-64-linux-gnu_13.3.0-6ubuntu2~24.04.1_amd64.deb ... +#6 20.29 Unpacking cpp-13-x86-64-linux-gnu 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libhwasan0:amd64. +#6 20.91 Preparing to unpack .../040-libhwasan0_14.2.0-4ubuntu2~24.04.1_amd64.deb ... +#6 20.91 Unpacking libhwasan0:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 20.97 Selecting previously unselected package libquadmath0:amd64. +#6 20.97 Preparing to unpack .../041-libquadmath0_14.2.0-4ubuntu2~24.04.1_amd64.deb ... +#6 20.97 Unpacking libquadmath0:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 21.01 Selecting previously unselected package libgcc-13-dev:amd64. +#6 21.01 Preparing to unpack .../042-libgcc-13-dev_13.3.0-6ubuntu2~24.04.1_amd64.deb ... +#6 21.02 Unpacking libgcc-13-dev:amd64 (13.3.0-6ubuntu2~24.04.1) ... +#6 21.11 Selecting previously unselected package gcc-13-x86-64-linux-gnu. +#6 21.11 Preparing to unpack .../043-gcc-13-x86-64-linux-gnu_13.3.0-6ubuntu2~24.04.1_amd64.deb ... +#6 21.12 Unpacking gcc-13-x86-64-linux-gnu (13.3.0-6ubuntu2~24.04.1) ... +#6 21.36 Selecting previously unselected package gcc-13. +#6 21.36 Preparing to unpack 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package libarchive13t64:amd64. +#6 22.31 Preparing to unpack .../059-libarchive13t64_3.7.2-2ubuntu0.7_amd64.deb ... +#6 22.31 Unpacking libarchive13t64:amd64 (3.7.2-2ubuntu0.7) ... +#6 22.36 Preparing to unpack .../060-curl_8.5.0-2ubuntu10.9_amd64.deb ... +#6 22.38 Unpacking curl (8.5.0-2ubuntu10.9) over (8.5.0-2ubuntu10.6) ... +#6 22.44 Preparing to unpack .../061-libcurl4t64_8.5.0-2ubuntu10.9_amd64.deb ... +#6 22.46 Unpacking libcurl4t64:amd64 (8.5.0-2ubuntu10.9) over (8.5.0-2ubuntu10.6) ... +#6 22.53 Selecting previously unselected package libjsoncpp25:amd64. +#6 22.54 Preparing to unpack .../062-libjsoncpp25_1.9.5-6build1_amd64.deb ... +#6 22.55 Unpacking libjsoncpp25:amd64 (1.9.5-6build1) ... +#6 22.60 Selecting previously unselected package librhash0:amd64. +#6 22.60 Preparing to unpack .../063-librhash0_1.4.3-3build1_amd64.deb ... +#6 22.61 Unpacking librhash0:amd64 (1.4.3-3build1) ... +#6 22.67 Selecting previously unselected package cmake-data. +#6 22.67 Preparing to unpack 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23.52 Unpacking fonts-dejavu-mono (2.37-8) ... +#6 23.57 Selecting previously unselected package fonts-dejavu-core. +#6 23.58 Preparing to unpack .../070-fonts-dejavu-core_2.37-8_all.deb ... +#6 23.60 Unpacking fonts-dejavu-core (2.37-8) ... +#6 23.66 Selecting previously unselected package fontconfig-config. +#6 23.66 Preparing to unpack .../071-fontconfig-config_2.15.0-1.1ubuntu2_amd64.deb ... +#6 23.83 Unpacking fontconfig-config (2.15.0-1.1ubuntu2) ... +#6 23.89 Selecting previously unselected package libdw1t64:amd64. +#6 23.89 Preparing to unpack .../072-libdw1t64_0.190-1.1ubuntu0.1_amd64.deb ... +#6 23.90 Unpacking libdw1t64:amd64 (0.190-1.1ubuntu0.1) ... +#6 23.95 Selecting previously unselected package libbabeltrace1:amd64. +#6 23.95 Preparing to unpack .../073-libbabeltrace1_1.5.11-3build3_amd64.deb ... +#6 23.95 Unpacking libbabeltrace1:amd64 (1.5.11-3build3) ... +#6 24.00 Selecting previously unselected package libcurl3t64-gnutls:amd64. +#6 24.01 Preparing to unpack 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Selecting previously unselected package keyboxd. +#6 25.13 Preparing to unpack .../089-keyboxd_2.4.4-2ubuntu17.4_amd64.deb ... +#6 25.13 Unpacking keyboxd (2.4.4-2ubuntu17.4) ... +#6 25.17 Selecting previously unselected package gnupg. +#6 25.17 Preparing to unpack .../090-gnupg_2.4.4-2ubuntu17.4_all.deb ... +#6 25.17 Unpacking gnupg (2.4.4-2ubuntu17.4) ... +#6 25.22 Selecting previously unselected package libnl-genl-3-200:amd64. +#6 25.22 Preparing to unpack .../091-libnl-genl-3-200_3.7.0-0.3build1.1_amd64.deb ... +#6 25.23 Unpacking libnl-genl-3-200:amd64 (3.7.0-0.3build1.1) ... +#6 25.26 Selecting previously unselected package htop. +#6 25.26 Preparing to unpack .../092-htop_3.3.0-4build1_amd64.deb ... +#6 25.27 Unpacking htop (3.3.0-4build1) ... +#6 25.32 Selecting previously unselected package libonig5:amd64. +#6 25.32 Preparing to unpack .../093-libonig5_6.9.9-1build1_amd64.deb ... +#6 25.32 Unpacking libonig5:amd64 (6.9.9-1build1) ... +#6 25.37 Selecting previously unselected package libjq1:amd64. +#6 25.37 Preparing to unpack .../094-libjq1_1.7.1-3ubuntu0.24.04.2_amd64.deb ... +#6 25.38 Unpacking libjq1:amd64 (1.7.1-3ubuntu0.24.04.2) ... +#6 25.42 Selecting previously unselected package jq. +#6 25.42 Preparing to unpack .../095-jq_1.7.1-3ubuntu0.24.04.2_amd64.deb ... +#6 25.42 Unpacking jq (1.7.1-3ubuntu0.24.04.2) ... +#6 25.47 Selecting previously unselected package libboost1.83-dev:amd64. +#6 25.48 Preparing to unpack .../096-libboost1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 25.48 Unpacking libboost1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 27.66 Selecting previously unselected package libboost-atomic1.83.0:amd64. +#6 27.67 Preparing to unpack .../097-libboost-atomic1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 27.68 Unpacking libboost-atomic1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 27.72 Selecting previously unselected package libboost-atomic1.83-dev:amd64. +#6 27.72 Preparing to unpack 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27.94 Preparing to unpack .../102-libboost-serialization1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 27.94 Unpacking libboost-serialization1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 27.99 Selecting previously unselected package libboost-serialization1.83-dev:amd64. +#6 27.99 Preparing to unpack .../103-libboost-serialization1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 28.00 Unpacking libboost-serialization1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 28.05 Selecting previously unselected package libboost-date-time1.83-dev:amd64. +#6 28.05 Preparing to unpack .../104-libboost-date-time1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 28.06 Unpacking libboost-date-time1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 28.10 Selecting previously unselected package libboost-dev:amd64. +#6 28.10 Preparing to unpack .../105-libboost-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 28.10 Unpacking libboost-dev:amd64 (1.83.0.1ubuntu2) ... +#6 28.14 Selecting previously unselected package libboost-program-options1.83.0:amd64. +#6 28.14 Preparing to unpack .../106-libboost-program-options1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 28.15 Unpacking libboost-program-options1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 28.18 Selecting previously unselected package libboost-program-options1.83-dev:amd64. +#6 28.19 Preparing to unpack .../107-libboost-program-options1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 28.19 Unpacking libboost-program-options1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 28.23 Selecting previously unselected package libboost-program-options-dev:amd64. +#6 28.24 Preparing to unpack .../108-libboost-program-options-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 28.24 Unpacking libboost-program-options-dev:amd64 (1.83.0.1ubuntu2) ... +#6 28.28 Selecting previously unselected package libboost-system1.83.0:amd64. +#6 28.29 Preparing to unpack .../109-libboost-system1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 28.29 Unpacking libboost-system1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 28.33 Selecting previously unselected package libboost-system1.83-dev:amd64. +#6 28.33 Preparing to unpack .../110-libboost-system1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 28.34 Unpacking libboost-system1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 28.39 Selecting previously unselected package libboost-system-dev:amd64. +#6 28.39 Preparing to unpack .../111-libboost-system-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 28.40 Unpacking libboost-system-dev:amd64 (1.83.0.1ubuntu2) ... +#6 28.44 Selecting previously unselected package libboost-thread1.83.0:amd64. +#6 28.44 Preparing to unpack .../112-libboost-thread1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 28.44 Unpacking libboost-thread1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 28.49 Selecting previously unselected package libboost-thread1.83-dev:amd64. +#6 28.49 Preparing to unpack .../113-libboost-thread1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 28.50 Unpacking libboost-thread1.83-dev:amd64 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+#6 31.00 Unpacking xterm (390-1ubuntu3) ... +#6 31.06 Selecting previously unselected package gnupg2. +#6 31.06 Preparing to unpack .../142-gnupg2_2.4.4-2ubuntu17.4_all.deb ... +#6 31.06 Unpacking gnupg2 (2.4.4-2ubuntu17.4) ... +#6 31.12 Setting up libksba8:amd64 (1.6.6-1build1) ... +#6 31.14 Setting up pinentry-curses (1.2.1-3ubuntu5) ... +#6 31.16 Setting up media-types (10.1.0) ... +#6 31.18 Setting up libboost-program-options1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 31.19 Setting up net-tools (2.10-0.1ubuntu4.4) ... +#6 31.20 Setting up lto-disabled-list (47) ... +#6 31.21 Setting up libxmu6:amd64 (2:1.1.3-3build2) ... +#6 31.22 Setting up libsodium23:amd64 (1.0.18-1ubuntu0.24.04.1) ... +#6 31.23 Setting up libgpm2:amd64 (1.20.7-11) ... +#6 31.25 Setting up libgdbm6t64:amd64 (1.23-5.1build1) ... +#6 31.26 Setting up libxpm4:amd64 (1:3.5.17-1build2) ... +#6 31.27 Setting up wget (1.21.4-1ubuntu4.1) ... +#6 31.29 Setting up libboost-date-time1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 31.30 Setting up libcurl4t64:amd64 (8.5.0-2ubuntu10.9) ... +#6 31.32 Setting up libgdbm-compat4t64:amd64 (1.23-5.1build1) ... +#6 31.33 Setting up libsqlite3-0:amd64 (3.45.1-1ubuntu2.5) ... +#6 31.34 Setting up libboost-system1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 31.35 Setting up libuv1t64:amd64 (1.48.0-1.1build1) ... +#6 31.37 Setting up binutils-common:amd64 (2.42-4ubuntu2.10) ... +#6 31.39 Setting up libcurl3t64-gnutls:amd64 (8.5.0-2ubuntu10.9) ... +#6 31.40 Setting up less (590-2ubuntu2.1) ... +#6 31.42 Setting up linux-libc-dev:amd64 (6.8.0-124.124) ... +#6 31.43 Setting up libctf-nobfd0:amd64 (2.42-4ubuntu2.10) ... +#6 31.44 Setting up libboost-thread1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 31.45 Setting up libxaw7:amd64 (2:1.0.14-1build2) ... +#6 31.46 Setting up libgomp1:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 31.47 Setting up bzip2 (1.0.8-5.1build0.1) ... +#6 31.48 Setting up libsource-highlight-common (3.1.9-4.3build1) ... +#6 31.49 Setting up libsframe1:amd64 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associated file /usr/share/man/man1/xzdiff.1.gz (of link group lzma) doesn't exist +#6 31.67 update-alternatives: warning: skip creation of /usr/share/man/man1/lzcmp.1.gz because associated file /usr/share/man/man1/xzcmp.1.gz (of link group lzma) doesn't exist +#6 31.67 update-alternatives: warning: skip creation of /usr/share/man/man1/lzgrep.1.gz because associated file /usr/share/man/man1/xzgrep.1.gz (of link group lzma) doesn't exist +#6 31.67 update-alternatives: warning: skip creation of /usr/share/man/man1/lzegrep.1.gz because associated file /usr/share/man/man1/xzegrep.1.gz (of link group lzma) doesn't exist +#6 31.67 update-alternatives: warning: skip creation of /usr/share/man/man1/lzfgrep.1.gz because associated file /usr/share/man/man1/xzfgrep.1.gz (of link group lzma) doesn't exist +#6 31.68 Setting up perl-modules-5.38 (5.38.2-3.2ubuntu0.2) ... +#6 31.69 Setting up libquadmath0:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 31.70 Setting up libxinerama1:amd64 (2:1.1.4-3build1) ... +#6 31.72 Setting up fonts-dejavu-mono (2.37-8) ... +#6 31.74 Setting up tree (2.1.1-2ubuntu3.24.04.2) ... +#6 31.75 Setting up libpng16-16t64:amd64 (1.6.43-5ubuntu0.6) ... +#6 31.77 Setting up libmpc3:amd64 (1.3.1-1build1.1) ... +#6 31.78 Setting up libatomic1:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 31.79 Setting up patch (2.7.6-7build3) ... +#6 31.80 Setting up libjsoncpp25:amd64 (1.9.5-6build1) ... +#6 31.81 Setting up libipt2 (2.0.6-1build1) ... +#6 31.83 Setting up fonts-dejavu-core (2.37-8) ... +#6 31.89 Setting up ucf (3.0043+nmu1) ... +#6 31.96 debconf: unable to initialize frontend: Dialog +#6 31.96 debconf: (TERM is not set, so the dialog frontend is not usable.) +#6 31.96 debconf: falling back to frontend: Readline +#6 31.96 debconf: unable to initialize frontend: Readline +#6 31.96 debconf: (This frontend requires a controlling tty.) +#6 31.96 debconf: falling back to frontend: Teletype +#6 32.00 Setting up libbabeltrace1:amd64 (1.5.11-3build3) ... +#6 32.01 Setting up libutempter0:amd64 (1.2.1-3build1) ... +#6 32.02 Setting up libubsan1:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 32.04 Setting up nano (7.2-2ubuntu0.1) ... +#6 32.05 update-alternatives: using /bin/nano to provide /usr/bin/editor (editor) in auto mode +#6 32.05 update-alternatives: warning: skip creation of /usr/share/man/man1/editor.1.gz because associated file /usr/share/man/man1/nano.1.gz (of link group editor) doesn't exist +#6 32.06 update-alternatives: using /bin/nano to provide /usr/bin/pico (pico) in auto mode +#6 32.06 update-alternatives: warning: skip creation of /usr/share/man/man1/pico.1.gz because associated file /usr/share/man/man1/nano.1.gz (of link group pico) doesn't exist +#6 32.06 Setting up libhwasan0:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 32.08 Setting up librhash0:amd64 (1.4.3-3build1) ... +#6 32.09 Setting up libcrypt-dev:amd64 (1:4.4.36-4build1) ... +#6 32.10 Setting up libasan8:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 32.12 Setting up libnl-3-200:amd64 (3.7.0-0.3build1.1) ... +#6 32.16 Setting up git-man (1:2.43.0-1ubuntu7.3) ... +#6 32.17 Setting up netbase (6.4) ... +#6 32.20 Setting up cmake-data (3.28.3-1build7) ... +#6 32.22 Setting up libevent-core-2.1-7t64:amd64 (2.1.12-stable-9ubuntu2) ... +#6 32.23 Setting up curl (8.5.0-2ubuntu10.9) ... +#6 32.25 Setting up libperl5.38t64:amd64 (5.38.2-3.2ubuntu0.2) ... +#6 32.26 Setting up libtsan2:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 32.27 Setting up libbinutils:amd64 (2.42-4ubuntu2.10) ... +#6 32.28 Setting up vim-runtime (2:9.1.0016-1ubuntu7.14) ... +#6 32.31 Setting up libisl23:amd64 (0.26-3build1.1) ... +#6 32.32 Setting up libc-dev-bin (2.39-0ubuntu8.7) ... +#6 32.35 Setting up libarchive13t64:amd64 (3.7.2-2ubuntu0.7) ... +#6 32.36 Setting up iputils-ping (3:20240117-1ubuntu0.1) ... +#6 32.39 Setting up readline-common (8.2-4build1) ... +#6 32.40 Setting up tmux (3.4-1ubuntu0.1) ... +#6 32.41 Setting up libcc1-0:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 32.42 Setting up libonig5:amd64 (6.9.9-1build1) ... +#6 32.43 Setting up xbitmaps (1.1.1-2.2) ... +#6 32.44 Setting up liblsan0:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 32.46 Setting up libitm1:amd64 (14.2.0-4ubuntu2~24.04.1) ... +#6 32.47 Setting up gnupg-utils (2.4.4-2ubuntu17.4) ... +#6 32.48 Setting up libctf0:amd64 (2.42-4ubuntu2.10) ... +#6 32.49 Setting up libgmp-dev:amd64 (2:6.3.0+dfsg-2ubuntu6.1) ... +#6 32.51 Setting up libdebuginfod-common (0.190-1.1ubuntu0.1) ... +#6 32.57 debconf: unable to initialize frontend: Dialog +#6 32.57 debconf: (TERM is not set, so the dialog frontend is not usable.) +#6 32.57 debconf: falling back to frontend: Readline +#6 32.57 debconf: unable to initialize frontend: Readline +#6 32.57 debconf: (This frontend requires a controlling tty.) +#6 32.57 debconf: falling back to frontend: Teletype +#6 32.62 Setting up cpp-13-x86-64-linux-gnu (13.3.0-6ubuntu2~24.04.1) ... +#6 32.64 Setting up libjq1:amd64 (1.7.1-3ubuntu0.24.04.2) ... +#6 32.65 Setting up fontconfig-config (2.15.0-1.1ubuntu2) ... +#6 32.84 Setting up libsource-highlight4t64:amd64 (3.1.9-4.3build1) ... +#6 32.86 Setting up libmpfr-dev:amd64 (4.2.1-1build1.1) ... +#6 32.87 Setting up perl (5.38.2-3.2ubuntu0.2) ... +#6 32.90 Setting up libgprofng0:amd64 (2.42-4ubuntu2.10) ... +#6 32.91 Setting up libfreetype6:amd64 (2.13.2+dfsg-1ubuntu0.1) ... +#6 32.92 Setting up libdpkg-perl (1.22.6ubuntu6.6) ... +#6 32.93 Setting up libreadline8t64:amd64 (8.2-4build1) ... +#6 32.95 Setting up libgcc-13-dev:amd64 (13.3.0-6ubuntu2~24.04.1) ... +#6 32.96 Setting up jq (1.7.1-3ubuntu0.24.04.2) ... +#6 32.97 Setting up libnl-genl-3-200:amd64 (3.7.0-0.3build1.1) ... +#6 32.99 Setting up gpgconf (2.4.4-2ubuntu17.4) ... +#6 33.00 Setting up cmake (3.28.3-1build7) ... +#6 33.02 Setting up libc6-dev:amd64 (2.39-0ubuntu8.7) ... +#6 33.03 Setting up libfontconfig1:amd64 (2.15.0-1.1ubuntu2) ... +#6 33.04 Setting up gpg (2.4.4-2ubuntu17.4) ... +#6 33.05 Setting up libstdc++-13-dev:amd64 (13.3.0-6ubuntu2~24.04.1) ... +#6 33.06 Setting up binutils-x86-64-linux-gnu (2.42-4ubuntu2.10) ... +#6 33.08 Setting up cpp-x86-64-linux-gnu (4:13.2.0-7ubuntu1) ... +#6 33.09 Setting up libdebuginfod1t64:amd64 (0.190-1.1ubuntu0.1) ... +#6 33.10 Setting up libxft2:amd64 (2.3.6-1build1) ... +#6 33.12 Setting up libboost1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 33.13 Setting up gpg-agent (2.4.4-2ubuntu17.4) ... +#6 33.46 Setting up libboost-chrono1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 33.49 Setting up libpython3.12-stdlib:amd64 (3.12.3-1ubuntu0.13) ... +#6 33.51 Setting up cpp-13 (13.3.0-6ubuntu2~24.04.1) ... +#6 33.52 Setting up htop (3.3.0-4build1) ... +#6 33.54 Setting up gcc-13-x86-64-linux-gnu (13.3.0-6ubuntu2~24.04.1) ... +#6 33.55 Setting up python3.12 (3.12.3-1ubuntu0.13) ... +#6 34.19 Setting up gpgsm (2.4.4-2ubuntu17.4) ... +#6 34.20 Setting up libboost-program-options1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 34.22 Setting up libboost-serialization1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 34.23 Setting up binutils (2.42-4ubuntu2.10) ... +#6 34.25 Setting up dpkg-dev (1.22.6ubuntu6.6) ... +#6 34.27 Setting up liberror-perl (0.17029-2) ... +#6 34.29 Setting up libpython3.12t64:amd64 (3.12.3-1ubuntu0.13) ... +#6 34.30 Setting up dirmngr (2.4.4-2ubuntu17.4) ... +#6 34.40 Setting up gdb (15.1-1ubuntu1~24.04.1) ... +#6 34.43 Setting up libboost-program-options-dev:amd64 (1.83.0.1ubuntu2) ... +#6 34.45 Setting up libboost-date-time1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 34.46 Setting up gcc-13 (13.3.0-6ubuntu2~24.04.1) ... +#6 34.48 Setting up keyboxd (2.4.4-2ubuntu17.4) ... +#6 34.58 Setting up git (1:2.43.0-1ubuntu7.3) ... +#6 34.61 Setting up libboost-atomic1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 34.63 Setting up zlib1g-dev:amd64 (1:1.3.dfsg-3.1ubuntu2.1) ... +#6 34.64 Setting up cpp (4:13.2.0-7ubuntu1) ... +#6 34.67 Setting up gnupg (2.4.4-2ubuntu17.4) ... +#6 34.69 Setting up libboost-dev:amd64 (1.83.0.1ubuntu2) ... +#6 34.70 Setting up xterm (390-1ubuntu3) ... +#6 34.74 update-alternatives: using /usr/bin/xterm to provide /usr/bin/x-terminal-emulator (x-terminal-emulator) in auto mode +#6 34.74 update-alternatives: warning: skip creation of /usr/share/man/man1/x-terminal-emulator.1.gz because associated file /usr/share/man/man1/xterm.1.gz (of link group x-terminal-emulator) doesn't exist +#6 34.75 update-alternatives: using /usr/bin/lxterm to provide /usr/bin/x-terminal-emulator (x-terminal-emulator) in auto mode +#6 34.75 update-alternatives: warning: skip creation of /usr/share/man/man1/x-terminal-emulator.1.gz because associated file /usr/share/man/man1/lxterm.1.gz (of link group x-terminal-emulator) doesn't exist +#6 34.76 Setting up libboost-system1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 34.77 Setting up libpython3-stdlib:amd64 (3.12.3-0ubuntu2.1) ... +#6 34.78 Setting up libboost-thread1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 34.80 Setting up gnupg2 (2.4.4-2ubuntu17.4) ... +#6 34.81 Setting up vim (2:9.1.0016-1ubuntu7.14) ... +#6 34.83 update-alternatives: using /usr/bin/vim.basic to provide /usr/bin/ex (ex) in auto mode +#6 34.83 update-alternatives: warning: skip creation of /usr/share/man/man1/ex.1.gz because associated file /usr/share/man/man1/vim.1.gz (of link group ex) doesn't exist +#6 34.83 update-alternatives: warning: skip creation of /usr/share/man/da/man1/ex.1.gz because associated file /usr/share/man/da/man1/vim.1.gz (of link group ex) doesn't exist +#6 34.83 update-alternatives: warning: skip creation of /usr/share/man/de/man1/ex.1.gz because associated file /usr/share/man/de/man1/vim.1.gz (of link group ex) doesn't exist +#6 34.83 update-alternatives: warning: skip creation of /usr/share/man/fr/man1/ex.1.gz because associated file /usr/share/man/fr/man1/vim.1.gz (of link group ex) doesn't exist +#6 34.83 update-alternatives: warning: skip creation of /usr/share/man/it/man1/ex.1.gz because associated file /usr/share/man/it/man1/vim.1.gz (of link group ex) doesn't exist +#6 34.83 update-alternatives: warning: skip creation of /usr/share/man/ja/man1/ex.1.gz because associated file /usr/share/man/ja/man1/vim.1.gz (of link group ex) doesn't exist +#6 34.83 update-alternatives: warning: skip creation of /usr/share/man/pl/man1/ex.1.gz because associated file /usr/share/man/pl/man1/vim.1.gz (of link group ex) doesn't exist +#6 34.83 update-alternatives: warning: skip creation of /usr/share/man/ru/man1/ex.1.gz because associated file /usr/share/man/ru/man1/vim.1.gz (of link group ex) doesn't exist +#6 34.83 update-alternatives: warning: skip creation of /usr/share/man/tr/man1/ex.1.gz because associated file /usr/share/man/tr/man1/vim.1.gz (of link group ex) doesn't exist +#6 34.84 update-alternatives: using /usr/bin/vim.basic to provide /usr/bin/rview (rview) in auto mode +#6 34.84 update-alternatives: using /usr/bin/vim.basic to provide /usr/bin/rvim (rvim) in auto mode +#6 34.85 update-alternatives: using /usr/bin/vim.basic to provide /usr/bin/vi (vi) in auto mode +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/man1/vi.1.gz because associated file /usr/share/man/man1/vim.1.gz (of link group vi) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/da/man1/vi.1.gz because associated file /usr/share/man/da/man1/vim.1.gz (of link group vi) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/de/man1/vi.1.gz because associated file /usr/share/man/de/man1/vim.1.gz (of link group vi) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/fr/man1/vi.1.gz because associated file /usr/share/man/fr/man1/vim.1.gz (of link group vi) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/it/man1/vi.1.gz because associated file /usr/share/man/it/man1/vim.1.gz (of link group vi) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/ja/man1/vi.1.gz because associated file /usr/share/man/ja/man1/vim.1.gz (of link group vi) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/pl/man1/vi.1.gz because associated file /usr/share/man/pl/man1/vim.1.gz (of link group vi) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/ru/man1/vi.1.gz because associated file /usr/share/man/ru/man1/vim.1.gz (of link group vi) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/tr/man1/vi.1.gz because associated file /usr/share/man/tr/man1/vim.1.gz (of link group vi) doesn't exist +#6 34.85 update-alternatives: using /usr/bin/vim.basic to provide /usr/bin/view (view) in auto mode +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/man1/view.1.gz because associated file /usr/share/man/man1/vim.1.gz (of link group view) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/da/man1/view.1.gz because associated file /usr/share/man/da/man1/vim.1.gz (of link group view) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/de/man1/view.1.gz because associated file /usr/share/man/de/man1/vim.1.gz (of link group view) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/fr/man1/view.1.gz because associated file /usr/share/man/fr/man1/vim.1.gz (of link group view) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/it/man1/view.1.gz because associated file /usr/share/man/it/man1/vim.1.gz (of link group view) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/ja/man1/view.1.gz because associated file /usr/share/man/ja/man1/vim.1.gz (of link group view) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/pl/man1/view.1.gz because associated file /usr/share/man/pl/man1/vim.1.gz (of link group view) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/ru/man1/view.1.gz because associated file /usr/share/man/ru/man1/vim.1.gz (of link group view) doesn't exist +#6 34.85 update-alternatives: warning: skip creation of /usr/share/man/tr/man1/view.1.gz because associated file /usr/share/man/tr/man1/vim.1.gz (of link group view) doesn't exist +#6 34.86 update-alternatives: using /usr/bin/vim.basic to provide /usr/bin/vim (vim) in auto mode +#6 34.87 update-alternatives: using /usr/bin/vim.basic to provide /usr/bin/vimdiff (vimdiff) in auto mode +#6 34.87 Setting up g++-13-x86-64-linux-gnu (13.3.0-6ubuntu2~24.04.1) ... +#6 34.89 Setting up gcc-x86-64-linux-gnu (4:13.2.0-7ubuntu1) ... +#6 34.90 Setting up libboost-system-dev:amd64 (1.83.0.1ubuntu2) ... +#6 34.91 Setting up python3 (3.12.3-0ubuntu2.1) ... +#6 34.93 running python rtupdate hooks for python3.12... +#6 34.93 running python post-rtupdate hooks for python3.12... +#6 35.02 Setting up python3-wheel (0.42.0-2) ... +#6 35.14 Setting up gcc (4:13.2.0-7ubuntu1) ... +#6 35.17 Setting up g++-x86-64-linux-gnu (4:13.2.0-7ubuntu1) ... +#6 35.19 Setting up libboost-thread-dev:amd64 (1.83.0.1ubuntu2) ... +#6 35.20 Setting up python3-pkg-resources (68.1.2-2ubuntu1.2) ... +#6 35.37 Setting up g++-13 (13.3.0-6ubuntu2~24.04.1) ... +#6 35.38 Setting up python3-setuptools (68.1.2-2ubuntu1.2) ... +#6 35.71 Setting up meson (1.3.2-1ubuntu1) ... +#6 36.27 Setting up libcgal-dev:amd64 (5.6-1build3) ... +#6 36.29 Setting up python3-pip (24.0+dfsg-1ubuntu1.3) ... +#6 37.07 Setting up g++ (4:13.2.0-7ubuntu1) ... +#6 37.08 update-alternatives: using /usr/bin/g++ to provide /usr/bin/c++ (c++) in auto mode +#6 37.08 update-alternatives: warning: skip creation of /usr/share/man/man1/c++.1.gz because associated file /usr/share/man/man1/g++.1.gz (of link group c++) doesn't exist +#6 37.09 Setting up build-essential (12.10ubuntu1) ... +#6 37.10 Processing triggers for libc-bin (2.39-0ubuntu8.7) ... +#6 37.13 Processing triggers for debianutils (5.17build1) ... +#6 37.26 + key=C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 +#6 37.26 + mktemp -d +#6 37.26 + export GNUPGHOME=/tmp/tmp.wZZXZY934K +#6 37.26 + gpg --batch --keyserver keyserver.ubuntu.com --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 +#6 37.26 gpg: keybox '/tmp/tmp.wZZXZY934K/pubring.kbx' created +#6 37.93 gpg: /tmp/tmp.wZZXZY934K/trustdb.gpg: trustdb created +#6 37.93 gpg: key F42ED6FBAB17C654: public key "Open Robotics " imported +#6 37.94 gpg: Total number processed: 1 +#6 37.94 gpg: imported: 1 +#6 37.94 + mkdir -p /usr/share/keyrings +#6 37.95 + gpg --batch --export C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 +#6 37.95 + gpgconf --kill all +#6 37.96 + rm -rf /tmp/tmp.wZZXZY934K +#6 38.00 + echo deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2/ubuntu noble main +#6 38.00 + rm -f /etc/apt/sources.list.d/*deb.sury.org*.list +#6 38.00 + apt-get update +#6 38.14 Get:1 http://packages.ros.org/ros2/ubuntu noble InRelease [4676 B] +#6 38.22 Hit:2 http://archive.ubuntu.com/ubuntu noble InRelease +#6 38.22 Get:3 http://packages.ros.org/ros2/ubuntu noble/main amd64 Packages [1877 kB] +#6 38.22 Hit:4 http://security.ubuntu.com/ubuntu noble-security InRelease +#6 38.30 Hit:5 http://archive.ubuntu.com/ubuntu noble-updates InRelease +#6 38.40 Hit:6 http://archive.ubuntu.com/ubuntu noble-backports InRelease +#6 38.48 Fetched 1882 kB in 0s (4156 kB/s) +#6 38.48 Reading package lists... +#6 39.29 + apt-get install -y --no-install-recommends libbrotli1 +#6 39.30 Reading package lists... +#6 40.12 Building dependency tree... +#6 40.34 Reading state information... +#6 40.58 libbrotli1 is already the newest version (1.1.0-2build2). +#6 40.58 libbrotli1 set to manually installed. +#6 40.58 0 upgraded, 0 newly installed, 0 to remove and 37 not upgraded. +#6 40.58 + apt-mark hold libbrotli1 +#6 41.35 libbrotli1 set on hold. +#6 41.35 + apt-get install -y --no-install-recommends libfreetype6-dev libfontconfig1-dev ros-jazzy-desktop ros-dev-tools python3-rosdep ros-jazzy-tf2* ros-jazzy-mavros ros-jazzy-ackermann-msgs ros-jazzy-topic-tools ros-jazzy-grid-map ros-jazzy-domain-bridge ros-jazzy-moveit python3-colcon-common-extensions +#6 41.36 Reading package lists... +#6 42.17 Building dependency tree... +#6 42.41 Reading state information... +#6 42.73 The following additional packages will be installed: +#6 42.73 adwaita-icon-theme at-spi2-common autoconf automake autotools-dev blt brz +#6 42.73 bsdutils bzr ca-certificates-java catch2 cppcheck dbus dbus-bin dbus-daemon +#6 42.73 dbus-session-bus-common dbus-system-bus-common dbus-user-session +#6 42.73 dconf-gsettings-backend dconf-service default-jdk default-jdk-headless +#6 42.73 default-jre default-jre-headless default-libmysqlclient-dev docutils-common +#6 42.73 fontconfig fonts-lyx gdal-data gdal-plugins geographiclib-tools gfortran-13 +#6 42.73 gfortran-13-x86-64-linux-gnu gir1.2-glib-2.0 gir1.2-ibus-1.0 google-mock +#6 42.73 googletest graphviz gtk-update-icon-cache hdf5-helpers hicolor-icon-theme +#6 42.73 humanity-icon-theme ibverbs-providers icu-devtools iso-codes java-common +#6 42.73 libaec-dev libaec0 libamd-comgr2 libamdhip64-5 libann0 libaom-dev libaom3 +#6 42.73 libapparmor1 libapr1t64 libaprutil1t64 libargon2-1 libarmadillo-dev +#6 42.73 libarmadillo12 libarpack2-dev libarpack2t64 libasio-dev libasound2-data +#6 42.73 libasound2-dev libasound2t64 libassimp-dev libassimp5 libasyncns0 +#6 42.73 libatk-bridge2.0-0t64 libatk1.0-0t64 libatspi2.0-0t64 libavahi-client3 +#6 42.73 libavahi-common-data libavahi-common3 libavcodec-dev libavcodec60 +#6 42.73 libavformat-dev libavformat60 libavutil-dev libavutil58 libbenchmark-dev +#6 42.73 libbenchmark1.8.3 libblas-dev libblas3 libblkid-dev libblkid1 libblosc-dev +#6 42.73 libblosc1 libbluray2 libboost-all-dev libboost-atomic-dev +#6 42.73 libboost-chrono-dev libboost-container-dev libboost-container1.83-dev +#6 42.73 libboost-container1.83.0 libboost-context-dev libboost-context1.83-dev +#6 42.73 libboost-context1.83.0 libboost-coroutine-dev libboost-coroutine1.83-dev +#6 42.73 libboost-coroutine1.83.0 libboost-date-time-dev libboost-exception-dev +#6 42.73 libboost-exception1.83-dev libboost-fiber-dev libboost-fiber1.83-dev +#6 42.73 libboost-fiber1.83.0 libboost-filesystem-dev libboost-filesystem1.83-dev +#6 42.73 libboost-filesystem1.83.0 libboost-graph-dev libboost-graph-parallel-dev +#6 42.73 libboost-graph-parallel1.83-dev libboost-graph-parallel1.83.0 +#6 42.73 libboost-graph1.83-dev libboost-graph1.83.0 libboost-iostreams-dev +#6 42.73 libboost-iostreams1.83-dev libboost-iostreams1.83.0 libboost-json-dev +#6 42.73 libboost-json1.83-dev libboost-json1.83.0 libboost-locale-dev +#6 42.73 libboost-locale1.83-dev libboost-locale1.83.0 libboost-log-dev +#6 42.73 libboost-log1.83-dev libboost-log1.83.0 libboost-math-dev +#6 42.73 libboost-math1.83-dev libboost-math1.83.0 libboost-mpi-dev +#6 42.73 libboost-mpi-python-dev 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42.73 ros-jazzy-bond ros-jazzy-bondcpp ros-jazzy-builtin-interfaces +#6 42.73 ros-jazzy-chomp-motion-planner ros-jazzy-class-loader +#6 42.73 ros-jazzy-common-interfaces ros-jazzy-composition +#6 42.73 ros-jazzy-composition-interfaces ros-jazzy-console-bridge-vendor +#6 42.73 ros-jazzy-control-msgs ros-jazzy-cv-bridge ros-jazzy-demo-nodes-cpp +#6 42.73 ros-jazzy-demo-nodes-cpp-native ros-jazzy-demo-nodes-py +#6 42.73 ros-jazzy-depthimage-to-laserscan ros-jazzy-diagnostic-msgs +#6 42.73 ros-jazzy-diagnostic-updater ros-jazzy-domain-coordinator +#6 42.73 ros-jazzy-dummy-map-server ros-jazzy-dummy-robot-bringup +#6 42.73 ros-jazzy-dummy-sensors ros-jazzy-eigen-stl-containers +#6 42.73 ros-jazzy-eigen3-cmake-module ros-jazzy-example-interfaces +#6 42.73 ros-jazzy-examples-rclcpp-minimal-action-client +#6 42.73 ros-jazzy-examples-rclcpp-minimal-action-server +#6 42.73 ros-jazzy-examples-rclcpp-minimal-client +#6 42.73 ros-jazzy-examples-rclcpp-minimal-composition +#6 42.73 ros-jazzy-examples-rclcpp-minimal-publisher +#6 42.73 ros-jazzy-examples-rclcpp-minimal-service +#6 42.73 ros-jazzy-examples-rclcpp-minimal-subscriber +#6 42.73 ros-jazzy-examples-rclcpp-minimal-timer +#6 42.73 ros-jazzy-examples-rclcpp-multithreaded-executor +#6 42.73 ros-jazzy-examples-rclpy-executors +#6 42.73 ros-jazzy-examples-rclpy-minimal-action-client +#6 42.73 ros-jazzy-examples-rclpy-minimal-action-server +#6 42.73 ros-jazzy-examples-rclpy-minimal-client +#6 42.73 ros-jazzy-examples-rclpy-minimal-publisher +#6 42.73 ros-jazzy-examples-rclpy-minimal-service +#6 42.73 ros-jazzy-examples-rclpy-minimal-subscriber ros-jazzy-fastcdr +#6 42.73 ros-jazzy-fastrtps ros-jazzy-fastrtps-cmake-module ros-jazzy-filters +#6 42.73 ros-jazzy-foonathan-memory-vendor ros-jazzy-generate-parameter-library +#6 42.73 ros-jazzy-generate-parameter-library-py ros-jazzy-geographic-msgs +#6 42.73 ros-jazzy-geometric-shapes ros-jazzy-geometry-msgs ros-jazzy-geometry2 +#6 42.73 ros-jazzy-gmock-vendor ros-jazzy-google-benchmark-vendor +#6 42.73 ros-jazzy-grid-map-cmake-helpers ros-jazzy-grid-map-core +#6 42.73 ros-jazzy-grid-map-costmap-2d ros-jazzy-grid-map-cv ros-jazzy-grid-map-demos +#6 42.73 ros-jazzy-grid-map-filters ros-jazzy-grid-map-loader ros-jazzy-grid-map-msgs +#6 42.73 ros-jazzy-grid-map-octomap ros-jazzy-grid-map-pcl ros-jazzy-grid-map-ros +#6 42.73 ros-jazzy-grid-map-rviz-plugin ros-jazzy-grid-map-sdf +#6 42.73 ros-jazzy-grid-map-visualization ros-jazzy-gtest-vendor +#6 42.73 ros-jazzy-gz-cmake-vendor ros-jazzy-gz-math-vendor ros-jazzy-gz-utils-vendor +#6 42.73 ros-jazzy-image-geometry ros-jazzy-image-tools ros-jazzy-image-transport +#6 42.73 ros-jazzy-interactive-markers ros-jazzy-intra-process-demo ros-jazzy-joy +#6 42.73 ros-jazzy-kdl-parser ros-jazzy-keyboard-handler ros-jazzy-laser-geometry +#6 42.73 ros-jazzy-launch ros-jazzy-launch-param-builder ros-jazzy-launch-ros +#6 42.73 ros-jazzy-launch-testing ros-jazzy-launch-testing-ament-cmake +#6 42.73 ros-jazzy-launch-testing-ros ros-jazzy-launch-xml ros-jazzy-launch-yaml +#6 42.73 ros-jazzy-libcurl-vendor ros-jazzy-liblz4-vendor ros-jazzy-libmavconn +#6 42.73 ros-jazzy-libstatistics-collector ros-jazzy-libyaml-vendor +#6 42.73 ros-jazzy-lifecycle ros-jazzy-lifecycle-msgs ros-jazzy-logging-demo +#6 42.73 ros-jazzy-map-msgs ros-jazzy-mavlink ros-jazzy-mavros-msgs +#6 42.73 ros-jazzy-mcap-vendor ros-jazzy-message-filters ros-jazzy-moveit-common +#6 42.73 ros-jazzy-moveit-configs-utils ros-jazzy-moveit-core +#6 42.73 ros-jazzy-moveit-kinematics ros-jazzy-moveit-msgs ros-jazzy-moveit-planners +#6 42.73 ros-jazzy-moveit-planners-chomp ros-jazzy-moveit-planners-ompl +#6 42.73 ros-jazzy-moveit-planners-stomp ros-jazzy-moveit-plugins +#6 42.73 ros-jazzy-moveit-ros ros-jazzy-moveit-ros-benchmarks +#6 42.73 ros-jazzy-moveit-ros-move-group ros-jazzy-moveit-ros-occupancy-map-monitor +#6 42.73 ros-jazzy-moveit-ros-planning ros-jazzy-moveit-ros-planning-interface +#6 42.73 ros-jazzy-moveit-ros-robot-interaction ros-jazzy-moveit-ros-visualization +#6 42.73 ros-jazzy-moveit-ros-warehouse ros-jazzy-moveit-setup-app-plugins +#6 42.73 ros-jazzy-moveit-setup-assistant ros-jazzy-moveit-setup-controllers +#6 42.73 ros-jazzy-moveit-setup-core-plugins ros-jazzy-moveit-setup-framework +#6 42.73 ros-jazzy-moveit-setup-srdf-plugins +#6 42.73 ros-jazzy-moveit-simple-controller-manager ros-jazzy-nav-msgs +#6 42.73 ros-jazzy-nav2-common ros-jazzy-nav2-costmap-2d ros-jazzy-nav2-msgs +#6 42.73 ros-jazzy-nav2-util ros-jazzy-nav2-voxel-grid +#6 42.73 ros-jazzy-object-recognition-msgs ros-jazzy-octomap ros-jazzy-octomap-msgs +#6 42.73 ros-jazzy-octomap-ros ros-jazzy-octomap-rviz-plugins +#6 42.73 ros-jazzy-octomap-server ros-jazzy-ompl ros-jazzy-orocos-kdl-vendor +#6 42.73 ros-jazzy-osqp-vendor ros-jazzy-osrf-pycommon ros-jazzy-parameter-traits +#6 42.73 ros-jazzy-pcl-conversions ros-jazzy-pcl-msgs ros-jazzy-pcl-ros +#6 42.73 ros-jazzy-pendulum-control ros-jazzy-pendulum-msgs +#6 42.73 ros-jazzy-pilz-industrial-motion-planner ros-jazzy-pluginlib +#6 42.73 ros-jazzy-point-cloud-transport ros-jazzy-pybind11-vendor +#6 42.73 ros-jazzy-python-cmake-module ros-jazzy-python-orocos-kdl-vendor +#6 42.73 ros-jazzy-python-qt-binding ros-jazzy-qt-dotgraph ros-jazzy-qt-gui +#6 42.73 ros-jazzy-qt-gui-cpp ros-jazzy-qt-gui-py-common +#6 42.73 ros-jazzy-quality-of-service-demo-cpp ros-jazzy-quality-of-service-demo-py +#6 42.73 ros-jazzy-random-numbers ros-jazzy-rcl ros-jazzy-rcl-action +#6 42.73 ros-jazzy-rcl-interfaces ros-jazzy-rcl-lifecycle +#6 42.73 ros-jazzy-rcl-logging-interface ros-jazzy-rcl-logging-spdlog +#6 42.73 ros-jazzy-rcl-yaml-param-parser ros-jazzy-rclcpp ros-jazzy-rclcpp-action +#6 42.73 ros-jazzy-rclcpp-components ros-jazzy-rclcpp-lifecycle ros-jazzy-rclpy +#6 42.73 ros-jazzy-rcpputils ros-jazzy-rcutils ros-jazzy-resource-retriever +#6 42.73 ros-jazzy-rmw ros-jazzy-rmw-dds-common ros-jazzy-rmw-fastrtps-cpp +#6 42.73 ros-jazzy-rmw-fastrtps-shared-cpp ros-jazzy-rmw-implementation +#6 42.73 ros-jazzy-rmw-implementation-cmake ros-jazzy-robot-state-publisher +#6 42.73 ros-jazzy-ros-base ros-jazzy-ros-core ros-jazzy-ros-environment +#6 42.73 ros-jazzy-ros-workspace ros-jazzy-ros2action ros-jazzy-ros2bag +#6 42.73 ros-jazzy-ros2cli ros-jazzy-ros2cli-common-extensions +#6 42.73 ros-jazzy-ros2component ros-jazzy-ros2doctor ros-jazzy-ros2interface +#6 42.73 ros-jazzy-ros2launch ros-jazzy-ros2lifecycle ros-jazzy-ros2multicast +#6 42.73 ros-jazzy-ros2node ros-jazzy-ros2param ros-jazzy-ros2pkg +#6 42.73 ros-jazzy-ros2plugin ros-jazzy-ros2run ros-jazzy-ros2service +#6 42.73 ros-jazzy-ros2topic ros-jazzy-rosbag2 ros-jazzy-rosbag2-compression +#6 42.73 ros-jazzy-rosbag2-compression-zstd ros-jazzy-rosbag2-cpp +#6 42.73 ros-jazzy-rosbag2-interfaces ros-jazzy-rosbag2-py ros-jazzy-rosbag2-storage +#6 42.73 ros-jazzy-rosbag2-storage-default-plugins ros-jazzy-rosbag2-storage-mcap +#6 42.73 ros-jazzy-rosbag2-storage-sqlite3 ros-jazzy-rosbag2-transport +#6 42.73 ros-jazzy-rosgraph-msgs ros-jazzy-rosidl-adapter ros-jazzy-rosidl-cli +#6 42.73 ros-jazzy-rosidl-cmake ros-jazzy-rosidl-core-generators +#6 42.73 ros-jazzy-rosidl-core-runtime ros-jazzy-rosidl-default-generators +#6 42.73 ros-jazzy-rosidl-default-runtime ros-jazzy-rosidl-dynamic-typesupport +#6 42.73 ros-jazzy-rosidl-dynamic-typesupport-fastrtps ros-jazzy-rosidl-generator-c +#6 42.73 ros-jazzy-rosidl-generator-cpp ros-jazzy-rosidl-generator-py +#6 42.73 ros-jazzy-rosidl-generator-rs ros-jazzy-rosidl-generator-type-description +#6 42.73 ros-jazzy-rosidl-parser ros-jazzy-rosidl-pycommon ros-jazzy-rosidl-runtime-c +#6 42.73 ros-jazzy-rosidl-runtime-cpp ros-jazzy-rosidl-runtime-py +#6 42.73 ros-jazzy-rosidl-typesupport-c ros-jazzy-rosidl-typesupport-cpp +#6 42.73 ros-jazzy-rosidl-typesupport-fastrtps-c +#6 42.73 ros-jazzy-rosidl-typesupport-fastrtps-cpp +#6 42.73 ros-jazzy-rosidl-typesupport-interface +#6 42.73 ros-jazzy-rosidl-typesupport-introspection-c +#6 42.73 ros-jazzy-rosidl-typesupport-introspection-cpp ros-jazzy-rpyutils +#6 42.73 ros-jazzy-rqt-action ros-jazzy-rqt-bag ros-jazzy-rqt-bag-plugins +#6 42.73 ros-jazzy-rqt-common-plugins ros-jazzy-rqt-console ros-jazzy-rqt-graph +#6 42.73 ros-jazzy-rqt-gui ros-jazzy-rqt-gui-cpp ros-jazzy-rqt-gui-py +#6 42.73 ros-jazzy-rqt-image-view ros-jazzy-rqt-msg ros-jazzy-rqt-plot +#6 42.73 ros-jazzy-rqt-publisher ros-jazzy-rqt-py-common ros-jazzy-rqt-py-console +#6 42.73 ros-jazzy-rqt-reconfigure ros-jazzy-rqt-service-caller ros-jazzy-rqt-shell +#6 42.73 ros-jazzy-rqt-srv ros-jazzy-rqt-topic ros-jazzy-rsl ros-jazzy-rttest +#6 42.73 ros-jazzy-ruckig ros-jazzy-rviz-assimp-vendor ros-jazzy-rviz-common +#6 42.73 ros-jazzy-rviz-default-plugins ros-jazzy-rviz-ogre-vendor +#6 42.73 ros-jazzy-rviz-rendering ros-jazzy-rviz2 ros-jazzy-sdl2-vendor +#6 42.73 ros-jazzy-sensor-msgs ros-jazzy-sensor-msgs-py ros-jazzy-service-msgs +#6 42.73 ros-jazzy-shape-msgs ros-jazzy-smclib ros-jazzy-spdlog-vendor +#6 42.73 ros-jazzy-sqlite3-vendor ros-jazzy-srdfdom ros-jazzy-sros2 +#6 42.73 ros-jazzy-sros2-cmake ros-jazzy-statistics-msgs ros-jazzy-std-msgs +#6 42.73 ros-jazzy-std-srvs ros-jazzy-stereo-msgs ros-jazzy-stomp +#6 42.73 ros-jazzy-tango-icons-vendor ros-jazzy-tcb-span ros-jazzy-teleop-twist-joy +#6 42.73 ros-jazzy-teleop-twist-keyboard ros-jazzy-tinyxml2-vendor +#6 42.73 ros-jazzy-tl-expected ros-jazzy-tlsf ros-jazzy-tlsf-cpp +#6 42.73 ros-jazzy-topic-monitor ros-jazzy-topic-tools-interfaces +#6 42.73 ros-jazzy-tracetools ros-jazzy-trajectory-msgs ros-jazzy-turtlesim +#6 42.73 ros-jazzy-type-description-interfaces ros-jazzy-uncrustify-vendor +#6 42.73 ros-jazzy-unique-identifier-msgs ros-jazzy-urdf ros-jazzy-urdf-parser-plugin +#6 42.73 ros-jazzy-urdfdom ros-jazzy-urdfdom-headers ros-jazzy-urdfdom-py +#6 42.73 ros-jazzy-visualization-msgs ros-jazzy-warehouse-ros ros-jazzy-xacro +#6 42.73 ros-jazzy-yaml-cpp-vendor ros-jazzy-zstd-vendor sgml-base shared-mime-info +#6 42.73 shiboken2 sip-dev subversion sudo systemd systemd-dev systemd-sysv +#6 42.73 tango-icon-theme tcl tcl-dev tcl8.6 tcl8.6-dev tk tk-dev tk8.6 tk8.6-blt2.5 +#6 42.73 tk8.6-dev ubuntu-mono uncrustify unicode-data unixodbc-common unixodbc-dev +#6 42.73 util-linux uuid-dev vtk9 x11proto-dev xkb-data xml-core xorg-sgml-doctools +#6 42.73 xtrans-dev +#6 42.73 Suggested packages: +#6 42.73 autoconf-archive gnu-standards autoconf-doc libtool gettext blt-demo brz-doc +#6 42.73 python3-breezy.tests python3-fastimport cppcheck-gui clang clang-tidy +#6 42.73 proj-bin geographiclib-doc gfortran-13-multilib gfortran-13-doc +#6 42.73 libcoarrays-dev gsfonts graphviz-doc isoquery libitpp-dev alsa-utils +#6 42.73 libasound2-doc libasound2-plugins libcuda1 libnvcuvid1 libnvidia-encode1 +#6 42.73 libbenchmark-tools liblapack-doc libbluray-bdj libboost1.83-doc gccxml +#6 42.73 xsltproc doxygen docbook-xml docbook-xsl fop colord cups-common libcurl4-doc +#6 42.73 libidn-dev libkrb5-dev libldap2-dev librtmp-dev libssh2-1-dev libeigen3-doc +#6 42.73 libmpfrc++-dev libfmt-doc freetype2-doc libgd-tools libgdal-doc +#6 42.73 libgeotiff-epsg geotiff-bin gdal-bin glew-utils low-memory-monitor +#6 42.73 gir1.2-glib-2.0-dev libglib2.0-doc libgdk-pixbuf2.0-bin gphoto2 +#6 42.73 libvisual-0.4-plugins gstreamer1.0-tools gvfs libhdf4-doc hdf4-tools +#6 42.73 libhdf5-doc libheif-plugin-libde265 libheif-plugin-x265 +#6 42.73 libheif-plugin-ffmpegdec libheif-plugin-jpegdec libheif-plugin-jpegenc +#6 42.73 libheif-plugin-j2kdec libheif-plugin-j2kenc libheif-plugin-rav1e +#6 42.73 libheif-plugin-svtenc libhwloc-contrib-plugins libice-doc icu-doc +#6 42.73 libjs-jquery-ui-docs liblcms2-utils libtool-doc liblzma-doc cryptsetup-bin +#6 42.73 netcdf-bin netcdf-doc odbc-postgresql tdsodbc ogdi-bin libomp-18-doc +#6 42.73 opencv-doc openmpi-doc openni-doc openni2-doc opus-tools libpcl-doc pcscd +#6 42.73 postgresql-doc-16 pulseaudio qgnomeplatform-qt5 qt5-image-formats-plugins +#6 42.73 libraw1394-doc librsvg2-bin xdg-utils libsm-doc sndiod libsystemd-dev speex +#6 42.73 sqlite3-doc libssl-doc libsuperlu-doc libtbb-doc vtk9-doc vtk9-examples +#6 42.73 java-virtual-machine libwacom-bin libwayland-doc libx11-doc libx265-doc +#6 42.73 libxaw-doc libxcb-doc libxerces-c-doc libxext-doc libxt-doc libyaml-doc +#6 42.73 lttng-modules-dkms m4-doc kdiff3 | kdiff3-qt | kompare | meld | tkcvs +#6 42.73 | mgdiff qct python3-mysqldb python3-openssl nfs-common opencl-icd +#6 42.73 openjdk-21-demo openjdk-21-source visualvm libnss-mdns fonts-dejavu-extra +#6 42.73 fonts-ipafont-gothic fonts-ipafont-mincho fonts-wqy-microhei +#6 42.73 | fonts-wqy-zenhei fonts-indic gfortran | fortran-compiler keychain +#6 42.73 libpam-ssh monkeysphere ssh-askpass pybind11-doc python-attr-doc +#6 42.73 python3-breezy-dbg python3-kerberos python3-paramiko python3-pytest-repeat +#6 42.73 python3-pytest-rerunfailures python-configobj-doc python-cryptography-doc +#6 42.73 python3-cryptography-vectors python-cycler-doc python-dbus-doc docutils-doc +#6 42.73 fonts-linuxlibertine | ttf-linux-libertine texlive-lang-french +#6 42.73 texlive-latex-base texlive-latex-recommended python3-gpg python-jinja2-doc +#6 42.73 python-lark-doc python3-atomicwrites python3-regex python-lxml-doc +#6 42.73 cm-super-minimal dvipng ffmpeg fonts-staypuft ghostscript gir1.2-gtk-3.0 +#6 42.73 inkscape ipython3 librsvg2-common python3-cairocffi python3-gi +#6 42.73 python3-gi-cairo python3-gobject python3-tornado texlive-extra-utils +#6 42.73 texlive-latex-extra python-mpmath-doc python3-gmpy2 gfortran python-pil-doc +#6 42.73 python3-toml python-pygments-doc ttf-bitstream-vera python-pyparsing-doc +#6 42.73 python-pyside2-doc python-scipy-doc python-sip-doc python3-stemmer +#6 42.73 texlive-fonts-extra python-sympy-doc tix python3-tk-dbg python3-idna +#6 42.73 python3-socks mayavi2 qt5-doc firebird-dev sgml-base-doc db5.3-util +#6 42.73 libapache2-mod-svn subversion-tools systemd-container systemd-homed +#6 42.73 systemd-userdbd systemd-boot libip4tc2 libqrencode4 libtss2-esys-3.0.2-0 +#6 42.73 libtss2-mu-4.0.1-0 libtss2-rc0 libtss2-tcti-device0 polkitd gnome-icon-theme +#6 42.73 kdelibs-data tcl-doc tcl-tclreadline tcl8.6-doc tk-doc tk8.6-doc dosfstools +#6 42.73 kbd util-linux-extra util-linux-locales debhelper +#6 42.73 Recommended packages: +#6 42.73 librsvg2-common python3-gpg bsdextrautils fonts-liberation2 alsa-ucm-conf +#6 42.73 alsa-topology-conf at-spi2-core libaacs0 bzip2-doc libcfitsio-doc +#6 42.73 default-libdecor-0-plugin-1 | libdecor-0-plugin-1 dmsetup libexif-doc +#6 42.73 proj-bin libgdk-pixbuf2.0-bin xdg-user-dirs libgphoto2-l10n +#6 42.73 gstreamer1.0-plugins-base libgtk-3-bin libgts-bin libheif-plugin-aomenc +#6 42.73 javascript-common libtool opencv-data libopencv-java libcoarrays-openmpi-dev +#6 42.73 libopenni-sensor-pointclouds0 | libopenni-sensor-primesense0 libpng-tools +#6 42.73 poppler-data qttranslations5-l10n qt5-gtk-platformtheme qtwayland5 +#6 42.73 geoclue-2.0 libraw1394-tools libusb-1.0-doc uuid-runtime va-driver-all +#6 42.73 | va-driver vdpau-driver-all | vdpau-driver babeltrace +#6 42.73 libatk-wrapper-java-jni fonts-dejavu-extra xauth python3-launchpadlib +#6 42.73 python3-github python3-colcon-override-check python3-pytest-cov python3-gi +#6 42.73 libpaper-utils python3-fastimport python3-babel python3-bs4 +#6 42.73 python3-cssselect python3-html5lib notification-daemon python3-olefile +#6 42.73 pyflakes3 isympy-common networkd-dispatcher systemd-timesyncd | time-daemon +#6 42.73 systemd-resolved libnss-systemd +#6 44.50 The following NEW packages will be installed: +#6 44.50 adwaita-icon-theme at-spi2-common autoconf automake autotools-dev blt brz +#6 44.50 bzr ca-certificates-java catch2 cppcheck dbus dbus-bin dbus-daemon +#6 44.50 dbus-session-bus-common dbus-system-bus-common dbus-user-session +#6 44.50 dconf-gsettings-backend dconf-service default-jdk default-jdk-headless +#6 44.50 default-jre default-jre-headless default-libmysqlclient-dev docutils-common +#6 44.50 fontconfig fonts-lyx gdal-data gdal-plugins geographiclib-tools gfortran-13 +#6 44.50 gfortran-13-x86-64-linux-gnu gir1.2-glib-2.0 gir1.2-ibus-1.0 google-mock +#6 44.50 googletest graphviz gtk-update-icon-cache hdf5-helpers hicolor-icon-theme +#6 44.50 humanity-icon-theme ibverbs-providers icu-devtools iso-codes java-common +#6 44.50 libaec-dev libaec0 libamd-comgr2 libamdhip64-5 libann0 libaom-dev libaom3 +#6 44.50 libapparmor1 libapr1t64 libaprutil1t64 libargon2-1 libarmadillo-dev +#6 44.50 libarmadillo12 libarpack2-dev libarpack2t64 libasio-dev libasound2-data +#6 44.50 libasound2-dev libasound2t64 libassimp-dev libassimp5 libasyncns0 +#6 44.50 libatk-bridge2.0-0t64 libatk1.0-0t64 libatspi2.0-0t64 libavahi-client3 +#6 44.50 libavahi-common-data libavahi-common3 libavcodec-dev libavcodec60 +#6 44.50 libavformat-dev libavformat60 libavutil-dev libavutil58 libbenchmark-dev +#6 44.50 libbenchmark1.8.3 libblas-dev libblas3 libblkid-dev libblosc-dev libblosc1 +#6 44.50 libbluray2 libboost-all-dev libboost-atomic-dev libboost-chrono-dev +#6 44.50 libboost-container-dev libboost-container1.83-dev libboost-container1.83.0 +#6 44.50 libboost-context-dev libboost-context1.83-dev libboost-context1.83.0 +#6 44.50 libboost-coroutine-dev libboost-coroutine1.83-dev libboost-coroutine1.83.0 +#6 44.50 libboost-date-time-dev libboost-exception-dev libboost-exception1.83-dev +#6 44.50 libboost-fiber-dev libboost-fiber1.83-dev libboost-fiber1.83.0 +#6 44.50 libboost-filesystem-dev libboost-filesystem1.83-dev +#6 44.50 libboost-filesystem1.83.0 libboost-graph-dev libboost-graph-parallel-dev +#6 44.50 libboost-graph-parallel1.83-dev libboost-graph-parallel1.83.0 +#6 44.50 libboost-graph1.83-dev libboost-graph1.83.0 libboost-iostreams-dev +#6 44.50 libboost-iostreams1.83-dev libboost-iostreams1.83.0 libboost-json-dev +#6 44.50 libboost-json1.83-dev libboost-json1.83.0 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ros-jazzy-moveit-ros-benchmarks +#6 44.51 ros-jazzy-moveit-ros-move-group ros-jazzy-moveit-ros-occupancy-map-monitor +#6 44.51 ros-jazzy-moveit-ros-planning ros-jazzy-moveit-ros-planning-interface +#6 44.51 ros-jazzy-moveit-ros-robot-interaction ros-jazzy-moveit-ros-visualization +#6 44.51 ros-jazzy-moveit-ros-warehouse ros-jazzy-moveit-setup-app-plugins +#6 44.51 ros-jazzy-moveit-setup-assistant ros-jazzy-moveit-setup-controllers +#6 44.51 ros-jazzy-moveit-setup-core-plugins ros-jazzy-moveit-setup-framework +#6 44.51 ros-jazzy-moveit-setup-srdf-plugins +#6 44.51 ros-jazzy-moveit-simple-controller-manager ros-jazzy-nav-msgs +#6 44.51 ros-jazzy-nav2-common ros-jazzy-nav2-costmap-2d ros-jazzy-nav2-msgs +#6 44.51 ros-jazzy-nav2-util ros-jazzy-nav2-voxel-grid +#6 44.51 ros-jazzy-object-recognition-msgs ros-jazzy-octomap ros-jazzy-octomap-msgs +#6 44.51 ros-jazzy-octomap-ros ros-jazzy-octomap-rviz-plugins +#6 44.51 ros-jazzy-octomap-server ros-jazzy-ompl ros-jazzy-orocos-kdl-vendor +#6 44.51 ros-jazzy-osqp-vendor ros-jazzy-osrf-pycommon ros-jazzy-parameter-traits +#6 44.51 ros-jazzy-pcl-conversions ros-jazzy-pcl-msgs ros-jazzy-pcl-ros +#6 44.51 ros-jazzy-pendulum-control ros-jazzy-pendulum-msgs +#6 44.51 ros-jazzy-pilz-industrial-motion-planner ros-jazzy-pluginlib +#6 44.51 ros-jazzy-point-cloud-transport ros-jazzy-pybind11-vendor +#6 44.51 ros-jazzy-python-cmake-module ros-jazzy-python-orocos-kdl-vendor +#6 44.51 ros-jazzy-python-qt-binding ros-jazzy-qt-dotgraph ros-jazzy-qt-gui +#6 44.51 ros-jazzy-qt-gui-cpp ros-jazzy-qt-gui-py-common +#6 44.51 ros-jazzy-quality-of-service-demo-cpp ros-jazzy-quality-of-service-demo-py +#6 44.51 ros-jazzy-random-numbers ros-jazzy-rcl ros-jazzy-rcl-action +#6 44.51 ros-jazzy-rcl-interfaces ros-jazzy-rcl-lifecycle +#6 44.51 ros-jazzy-rcl-logging-interface ros-jazzy-rcl-logging-spdlog +#6 44.51 ros-jazzy-rcl-yaml-param-parser ros-jazzy-rclcpp ros-jazzy-rclcpp-action +#6 44.51 ros-jazzy-rclcpp-components ros-jazzy-rclcpp-lifecycle ros-jazzy-rclpy +#6 44.51 ros-jazzy-rcpputils ros-jazzy-rcutils ros-jazzy-resource-retriever +#6 44.51 ros-jazzy-rmw ros-jazzy-rmw-dds-common ros-jazzy-rmw-fastrtps-cpp +#6 44.51 ros-jazzy-rmw-fastrtps-shared-cpp ros-jazzy-rmw-implementation +#6 44.51 ros-jazzy-rmw-implementation-cmake ros-jazzy-robot-state-publisher +#6 44.51 ros-jazzy-ros-base ros-jazzy-ros-core ros-jazzy-ros-environment +#6 44.51 ros-jazzy-ros-workspace ros-jazzy-ros2action ros-jazzy-ros2bag +#6 44.51 ros-jazzy-ros2cli ros-jazzy-ros2cli-common-extensions +#6 44.51 ros-jazzy-ros2component ros-jazzy-ros2doctor ros-jazzy-ros2interface +#6 44.51 ros-jazzy-ros2launch ros-jazzy-ros2lifecycle ros-jazzy-ros2multicast +#6 44.51 ros-jazzy-ros2node ros-jazzy-ros2param ros-jazzy-ros2pkg +#6 44.51 ros-jazzy-ros2plugin ros-jazzy-ros2run ros-jazzy-ros2service +#6 44.51 ros-jazzy-ros2topic ros-jazzy-rosbag2 ros-jazzy-rosbag2-compression +#6 44.51 ros-jazzy-rosbag2-compression-zstd ros-jazzy-rosbag2-cpp +#6 44.51 ros-jazzy-rosbag2-interfaces ros-jazzy-rosbag2-py ros-jazzy-rosbag2-storage +#6 44.51 ros-jazzy-rosbag2-storage-default-plugins ros-jazzy-rosbag2-storage-mcap +#6 44.51 ros-jazzy-rosbag2-storage-sqlite3 ros-jazzy-rosbag2-transport +#6 44.51 ros-jazzy-rosgraph-msgs ros-jazzy-rosidl-adapter ros-jazzy-rosidl-cli +#6 44.51 ros-jazzy-rosidl-cmake ros-jazzy-rosidl-core-generators +#6 44.51 ros-jazzy-rosidl-core-runtime ros-jazzy-rosidl-default-generators +#6 44.51 ros-jazzy-rosidl-default-runtime ros-jazzy-rosidl-dynamic-typesupport +#6 44.51 ros-jazzy-rosidl-dynamic-typesupport-fastrtps ros-jazzy-rosidl-generator-c +#6 44.51 ros-jazzy-rosidl-generator-cpp ros-jazzy-rosidl-generator-py +#6 44.51 ros-jazzy-rosidl-generator-rs ros-jazzy-rosidl-generator-type-description +#6 44.51 ros-jazzy-rosidl-parser ros-jazzy-rosidl-pycommon ros-jazzy-rosidl-runtime-c +#6 44.51 ros-jazzy-rosidl-runtime-cpp ros-jazzy-rosidl-runtime-py +#6 44.51 ros-jazzy-rosidl-typesupport-c ros-jazzy-rosidl-typesupport-cpp +#6 44.51 ros-jazzy-rosidl-typesupport-fastrtps-c +#6 44.51 ros-jazzy-rosidl-typesupport-fastrtps-cpp +#6 44.51 ros-jazzy-rosidl-typesupport-interface +#6 44.51 ros-jazzy-rosidl-typesupport-introspection-c +#6 44.51 ros-jazzy-rosidl-typesupport-introspection-cpp ros-jazzy-rpyutils +#6 44.51 ros-jazzy-rqt-action ros-jazzy-rqt-bag ros-jazzy-rqt-bag-plugins +#6 44.51 ros-jazzy-rqt-common-plugins ros-jazzy-rqt-console ros-jazzy-rqt-graph +#6 44.51 ros-jazzy-rqt-gui ros-jazzy-rqt-gui-cpp ros-jazzy-rqt-gui-py +#6 44.51 ros-jazzy-rqt-image-view ros-jazzy-rqt-msg ros-jazzy-rqt-plot +#6 44.51 ros-jazzy-rqt-publisher ros-jazzy-rqt-py-common ros-jazzy-rqt-py-console +#6 44.51 ros-jazzy-rqt-reconfigure ros-jazzy-rqt-service-caller ros-jazzy-rqt-shell +#6 44.51 ros-jazzy-rqt-srv ros-jazzy-rqt-topic ros-jazzy-rsl ros-jazzy-rttest +#6 44.51 ros-jazzy-ruckig ros-jazzy-rviz-assimp-vendor ros-jazzy-rviz-common +#6 44.51 ros-jazzy-rviz-default-plugins ros-jazzy-rviz-ogre-vendor +#6 44.51 ros-jazzy-rviz-rendering ros-jazzy-rviz2 ros-jazzy-sdl2-vendor +#6 44.51 ros-jazzy-sensor-msgs ros-jazzy-sensor-msgs-py ros-jazzy-service-msgs +#6 44.51 ros-jazzy-shape-msgs ros-jazzy-smclib ros-jazzy-spdlog-vendor +#6 44.51 ros-jazzy-sqlite3-vendor ros-jazzy-srdfdom ros-jazzy-sros2 +#6 44.51 ros-jazzy-sros2-cmake ros-jazzy-statistics-msgs ros-jazzy-std-msgs +#6 44.51 ros-jazzy-std-srvs ros-jazzy-stereo-msgs ros-jazzy-stomp +#6 44.51 ros-jazzy-tango-icons-vendor ros-jazzy-tcb-span ros-jazzy-teleop-twist-joy +#6 44.51 ros-jazzy-teleop-twist-keyboard ros-jazzy-tf2 ros-jazzy-tf2-2d +#6 44.51 ros-jazzy-tf2-bullet ros-jazzy-tf2-dbgsym ros-jazzy-tf2-eigen +#6 44.51 ros-jazzy-tf2-eigen-kdl ros-jazzy-tf2-eigen-kdl-dbgsym +#6 44.51 ros-jazzy-tf2-geometry-msgs ros-jazzy-tf2-kdl ros-jazzy-tf2-msgs +#6 44.51 ros-jazzy-tf2-msgs-dbgsym ros-jazzy-tf2-py ros-jazzy-tf2-py-dbgsym +#6 44.51 ros-jazzy-tf2-ros ros-jazzy-tf2-ros-dbgsym ros-jazzy-tf2-ros-py +#6 44.51 ros-jazzy-tf2-sensor-msgs ros-jazzy-tf2-tools ros-jazzy-tf2-web-republisher +#6 44.51 ros-jazzy-tf2-web-republisher-dbgsym +#6 44.51 ros-jazzy-tf2-web-republisher-interfaces +#6 44.51 ros-jazzy-tf2-web-republisher-interfaces-dbgsym ros-jazzy-tinyxml2-vendor +#6 44.51 ros-jazzy-tl-expected ros-jazzy-tlsf ros-jazzy-tlsf-cpp +#6 44.51 ros-jazzy-topic-monitor ros-jazzy-topic-tools +#6 44.51 ros-jazzy-topic-tools-interfaces ros-jazzy-tracetools +#6 44.51 ros-jazzy-trajectory-msgs ros-jazzy-turtlesim +#6 44.51 ros-jazzy-type-description-interfaces ros-jazzy-uncrustify-vendor +#6 44.51 ros-jazzy-unique-identifier-msgs ros-jazzy-urdf ros-jazzy-urdf-parser-plugin +#6 44.51 ros-jazzy-urdfdom ros-jazzy-urdfdom-headers ros-jazzy-urdfdom-py +#6 44.51 ros-jazzy-visualization-msgs ros-jazzy-warehouse-ros ros-jazzy-xacro +#6 44.51 ros-jazzy-yaml-cpp-vendor ros-jazzy-zstd-vendor sgml-base shared-mime-info +#6 44.51 shiboken2 sip-dev subversion sudo systemd systemd-dev systemd-sysv +#6 44.51 tango-icon-theme tcl tcl-dev tcl8.6 tcl8.6-dev tk tk-dev tk8.6 tk8.6-blt2.5 +#6 44.51 tk8.6-dev ubuntu-mono uncrustify unicode-data unixodbc-common unixodbc-dev +#6 44.51 uuid-dev vtk9 x11proto-dev xkb-data xml-core xorg-sgml-doctools xtrans-dev +#6 44.51 The following packages will be upgraded: +#6 44.51 bsdutils libblkid1 libdrm-amdgpu1 libdrm-common libdrm-intel1 libdrm2 +#6 44.51 libegl-mesa0 libexpat1 libgbm1 libgl1-mesa-dri libglib2.0-0t64 libglx-mesa0 +#6 44.51 libmount1 libsmartcols1 libssh-4 libssl3t64 libsystemd0 libudev1 libuuid1 +#6 44.51 libxml2 mesa-libgallium mount openssl util-linux +#6 44.63 24 upgraded, 1322 newly installed, 0 to remove and 13 not upgraded. +#6 44.63 Need to get 796 MB of archives. +#6 44.63 After this operation, 3483 MB of additional disk space will be used. +#6 44.63 Get:1 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-catkin-pkg-modules all 1.1.0-2 [43.3 kB] +#6 44.63 Get:2 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 bsdutils amd64 1:2.39.3-9ubuntu6.5 [96.1 kB] +#6 44.65 Get:3 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 util-linux amd64 2.39.3-9ubuntu6.5 [1128 kB] +#6 44.66 Get:4 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-rospkg-modules all 1.6.1-1 [24.3 kB] +#6 44.66 Get:5 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-rosdistro-modules all 1.0.1-1 [36.2 kB] +#6 44.67 Get:6 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-rosdep-modules all 0.26.0-1 [54.7 kB] +#6 44.67 Get:7 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-rosdep all 0.26.0-1 [3320 B] +#6 44.67 Get:8 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-rosdistro all 1.0.1-100 [3724 B] +#6 44.67 Get:9 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-vcstools all 0.1.42-1 [30.1 kB] +#6 44.67 Get:10 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-catkin-pkg all 1.1.0-101 [3932 B] +#6 44.67 Get:11 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-bloom all 0.14.3+upstream-1 [72.2 kB] +#6 44.68 Get:12 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 mount amd64 2.39.3-9ubuntu6.5 [118 kB] +#6 44.68 Get:13 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-core all 0.20.1+upstream-1 [71.0 kB] +#6 44.68 Get:14 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-argcomplete all 0.3.3+upstream-1 [5500 B] +#6 44.68 Get:15 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-bash all 0.5.0-100 [5620 B] +#6 44.69 Get:16 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libapparmor1 amd64 4.0.1really4.0.1-0ubuntu0.24.04.6 [51.2 kB] +#6 44.69 Get:17 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-package-information all 0.4.1+upstream-1 [8716 B] +#6 44.69 Get:18 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-cd all 0.2.1-100 [4676 B] +#6 44.69 Get:19 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-library-path all 0.2.1-100 [3544 B] +#6 44.69 Get:20 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-test-result all 0.3.8-100 [7172 B] +#6 44.69 Get:21 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-cmake all 0.2.29-100 [15.5 kB] +#6 44.69 Get:22 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-defaults all 0.2.9+upstream-1 [5776 B] +#6 44.70 Get:23 http://archive.ubuntu.com/ubuntu noble/main amd64 libargon2-1 amd64 0~20190702+dfsg-4build1 [20.8 kB] +#6 44.70 Get:24 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-devtools all 0.3.0-100 [4856 B] +#6 44.70 Get:25 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-metadata all 0.2.5-100 [9188 B] +#6 44.70 Get:26 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-notification all 0.3.1+upstream-1 [10.9 kB] +#6 44.70 Get:27 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-output all 0.2.14+upstream-1 [6884 B] +#6 44.71 Get:28 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libblkid1 amd64 2.39.3-9ubuntu6.5 [123 kB] +#6 44.71 Get:29 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-package-selection all 0.2.10-100 [7540 B] +#6 44.71 Get:30 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-parallel-executor all 0.3.0-100 [5532 B] +#6 44.71 Get:31 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-powershell all 0.5.0+upstream-1 [7016 B] +#6 44.71 Get:32 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-python-setup-py all 0.2.9-100 [6596 B] +#6 44.71 Get:33 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-recursive-crawl all 0.2.3-100 [3896 B] +#6 44.71 Get:34 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-pkg-config all 0.1.0-100 [3204 B] +#6 44.72 Get:35 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libudev1 amd64 255.4-1ubuntu8.15 [177 kB] +#6 44.72 Get:36 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-ros all 0.5.0+upstream-1 [12.6 kB] +#6 44.72 Get:37 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-zsh all 0.5.0-100 [5560 B] +#6 44.72 Get:38 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-common-extensions all 0.3.0-100 [2972 B] +#6 44.72 Get:39 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-colcon-mixin all 0.2.3-100 [11.0 kB] +#6 44.73 Get:40 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdevmapper1.02.1 amd64 2:1.02.185-3ubuntu3.2 [139 kB] +#6 44.73 Get:41 http://packages.ros.org/ros2/ubuntu noble/main amd64 python3-vcstool all 0.3.0-1 [23.1 kB] +#6 44.73 Get:42 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-build-essential all 1.0.1 [2256 B] +#6 44.73 Get:43 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-dev-tools all 1.0.1 [1752 B] +#6 44.73 Get:44 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros-workspace amd64 1.0.3-7noble.20260224.191628 [14.9 kB] +#6 44.73 Get:45 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-fastcdr amd64 2.2.7-1noble.20260225.051855 [62.0 kB] +#6 44.73 Get:46 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-package amd64 0.16.5-1noble.20260121.174946 [25.9 kB] +#6 44.74 Get:47 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-core amd64 2.5.6-2noble.20260224.191131 [27.1 kB] +#6 44.74 Get:48 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-export-definitions amd64 2.5.6-2noble.20260224.232207 [7262 B] +#6 44.74 Get:49 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-libraries amd64 2.5.6-2noble.20260225.042312 [7192 B] +#6 44.74 Get:50 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-export-dependencies amd64 2.5.6-2noble.20260225.043730 [8638 B] +#6 44.75 Get:51 http://archive.ubuntu.com/ubuntu noble/main amd64 libjson-c5 amd64 0.17-1build1 [35.3 kB] +#6 44.75 Get:52 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-export-include-directories amd64 2.5.6-2noble.20260224.232223 [7568 B] +#6 44.75 Get:53 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libssl3t64 amd64 3.0.13-0ubuntu3.9 [1941 kB] +#6 44.75 Get:54 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-export-libraries amd64 2.5.6-2noble.20260224.232254 [9598 B] +#6 44.75 Get:55 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-export-interfaces amd64 2.5.6-2noble.20260225.042039 [7976 B] +#6 44.75 Get:56 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-export-link-flags amd64 2.5.6-2noble.20260225.042107 [7180 B] +#6 44.75 Get:57 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-export-targets amd64 2.5.6-2noble.20260225.042100 [8286 B] +#6 44.76 Get:58 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-gen-version-h amd64 2.5.6-2noble.20260225.042237 [9758 B] +#6 44.76 Get:59 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-python amd64 2.5.6-2noble.20260225.042312 [10.3 kB] +#6 44.76 Get:60 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-include-directories amd64 2.5.6-2noble.20260225.042241 [7342 B] +#6 44.76 Get:61 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-target-dependencies amd64 2.5.6-2noble.20260225.043936 [9516 B] +#6 44.77 Get:62 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-test amd64 2.5.6-2noble.20260225.143205 [15.5 kB] +#6 44.77 Get:63 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libuuid1 amd64 2.39.3-9ubuntu6.5 [36.1 kB] +#6 44.78 Get:64 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-version amd64 2.5.6-2noble.20260225.042330 [7546 B] +#6 44.78 Get:65 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake amd64 2.5.6-2noble.20260225.222913 [7482 B] +#6 44.78 Get:66 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cppcheck amd64 0.17.5-1noble.20260410.080408 [16.6 kB] +#6 44.78 Get:67 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-cppcheck amd64 0.17.5-1noble.20260410.113607 [9628 B] +#6 44.78 Get:68 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cpplint amd64 0.17.5-1noble.20260410.080348 [147 kB] +#6 44.78 Get:69 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-cpplint amd64 0.17.5-1noble.20260410.105800 [8464 B] +#6 44.78 Get:70 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libcryptsetup12 amd64 2:2.7.0-1ubuntu4.2 [266 kB] +#6 44.79 Get:71 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-lint amd64 0.17.5-1noble.20260410.080358 [4806 B] +#6 44.79 Get:72 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-flake8 amd64 0.17.5-1noble.20260410.113507 [17.5 kB] +#6 44.79 Get:73 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-flake8 amd64 0.17.5-1noble.20260410.113910 [7716 B] +#6 44.79 Get:74 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-pep257 amd64 0.17.5-1noble.20260410.113520 [13.6 kB] +#6 44.79 Get:75 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libfdisk1 amd64 2.39.3-9ubuntu6.5 [146 kB] +#6 44.80 Get:76 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-pep257 amd64 0.17.5-1noble.20260410.113929 [7434 B] +#6 44.80 Get:77 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-uncrustify-vendor amd64 3.0.1-1noble.20260225.230730 [8308 B] +#6 44.80 Get:78 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-uncrustify amd64 0.17.5-1noble.20260410.080359 [50.8 kB] +#6 44.80 Get:79 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-uncrustify amd64 0.17.5-1noble.20260410.113615 [8918 B] +#6 44.80 Get:80 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-index-python amd64 1.8.2-1noble.20260412.024953 [14.7 kB] +#6 44.80 Get:81 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-python-cmake-module amd64 0.11.1-2noble.20260226.000327 [7456 B] +#6 44.80 Get:82 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libkmod2 amd64 31+20240202-2ubuntu7.2 [51.8 kB] +#6 44.81 Get:83 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rcutils amd64 6.7.5-1noble.20260226.001538 [91.6 kB] +#6 44.81 Get:84 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-typesupport-interface amd64 4.6.7-1noble.20260225.225451 [9384 B] +#6 44.81 Get:85 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-runtime-c amd64 4.6.7-1noble.20260226.002400 [56.1 kB] +#6 44.81 Get:86 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-dynamic-typesupport amd64 0.1.2-3noble.20260226.003402 [37.4 kB] +#6 44.81 Get:87 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libmount1 amd64 2.39.3-9ubuntu6.5 [134 kB] +#6 44.82 Get:88 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rmw amd64 7.3.3-1noble.20260226.004315 [72.1 kB] +#6 44.82 Get:89 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-cli amd64 4.6.7-1noble.20260225.142152 [26.6 kB] +#6 44.82 Get:90 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-adapter amd64 4.6.7-1noble.20260225.225255 [20.0 kB] +#6 44.82 Get:91 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-parser amd64 4.6.7-1noble.20260225.230105 [20.0 kB] +#6 44.82 Get:92 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-pycommon amd64 4.6.7-1noble.20260226.000402 [11.1 kB] +#6 44.82 Get:93 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-cmake amd64 4.6.7-1noble.20260226.001208 [16.0 kB] +#6 44.82 Get:94 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libsystemd-shared amd64 255.4-1ubuntu8.15 [2076 kB] +#6 44.83 Get:95 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-generator-type-description amd64 4.6.7-1noble.20260412.025231 [15.4 kB] +#6 44.83 Get:96 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-generator-c amd64 4.6.7-1noble.20260412.025459 [25.8 kB] +#6 44.83 Get:97 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rcpputils amd64 2.11.3-1noble.20260226.002359 [55.6 kB] +#6 44.83 Get:98 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-typesupport-c amd64 3.2.2-1noble.20260412.030231 [24.7 kB] +#6 44.84 Get:99 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rpyutils amd64 0.4.2-1noble.20260225.142204 [7352 B] +#6 44.84 Get:100 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-generator-py amd64 0.22.2-1noble.20260412.030620 [29.1 kB] +#6 44.84 Get:101 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-runtime-cpp amd64 4.6.7-1noble.20260226.003416 [20.7 kB] +#6 44.84 Get:102 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-typesupport-cpp amd64 3.2.2-1noble.20260412.030737 [23.8 kB] +#6 44.84 Get:103 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-gtest-vendor amd64 1.14.9000-2noble.20260225.055309 [183 kB] +#6 44.84 Get:104 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libsystemd0 amd64 255.4-1ubuntu8.15 [435 kB] +#6 44.84 Get:105 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-gtest amd64 2.5.6-2noble.20260225.145055 [10.3 kB] +#6 44.85 Get:106 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-gmock-vendor amd64 1.14.9000-2noble.20260225.143751 [102 kB] +#6 44.85 Get:107 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 systemd-dev all 255.4-1ubuntu8.15 [106 kB] +#6 44.85 Get:108 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-gmock amd64 2.5.6-2noble.20260225.215706 [10.1 kB] +#6 44.85 Get:109 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-pytest amd64 2.5.6-2noble.20260225.145739 [10.3 kB] +#6 44.85 Get:110 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-domain-coordinator amd64 0.12.0-3noble.20260225.051359 [5916 B] +#6 44.86 Get:111 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 systemd amd64 255.4-1ubuntu8.15 [3475 kB] +#6 44.86 Get:112 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-ros amd64 0.12.0-3noble.20260225.232209 [8188 B] +#6 44.86 Get:113 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-fastrtps-cmake-module amd64 3.6.3-1noble.20260225.234436 [7010 B] +#6 44.86 Get:114 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-generator-cpp amd64 4.6.7-1noble.20260412.025832 [23.3 kB] +#6 44.86 Get:115 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-typesupport-fastrtps-cpp amd64 3.6.3-1noble.20260412.030048 [28.3 kB] +#6 44.86 Get:116 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-typesupport-fastrtps-c amd64 3.6.3-1noble.20260412.030624 [26.4 kB] +#6 44.86 Get:117 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-typesupport-introspection-c amd64 4.6.7-1noble.20260412.025838 [24.6 kB] +#6 44.87 Get:118 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-typesupport-introspection-cpp amd64 4.6.7-1noble.20260412.030123 [24.5 kB] +#6 44.87 Get:119 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-core-runtime amd64 0.2.1-1noble.20260412.030912 [5858 B] +#6 44.87 Get:120 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-builtin-interfaces amd64 2.0.3-1noble.20260412.031450 [46.5 kB] +#6 44.88 Get:121 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 systemd-sysv amd64 255.4-1ubuntu8.15 [11.9 kB] +#6 44.89 Get:122 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libglib2.0-0t64 amd64 2.80.0-6ubuntu3.8 [1545 kB] +#6 44.89 Get:123 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-service-msgs amd64 2.0.3-1noble.20260412.031935 [45.0 kB] +#6 44.90 Get:124 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdrm-common all 2.4.125-1ubuntu0.1~24.04.1 [9174 B] +#6 44.91 Get:125 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdrm2 amd64 2.4.125-1ubuntu0.1~24.04.1 [41.3 kB] +#6 44.92 Get:126 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libunwind8 amd64 1.6.2-3build1.1 [55.3 kB] +#6 44.93 Get:127 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-unique-identifier-msgs amd64 2.5.0-3noble.20260412.031407 [40.5 kB] +#6 44.93 Get:128 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgstreamer1.0-0 amd64 1.24.2-1ubuntu0.1 [1165 kB] +#6 44.94 Get:129 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-action-msgs amd64 2.0.3-1noble.20260412.032342 [99.7 kB] +#6 44.95 Get:130 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-default-runtime amd64 1.6.0-3noble.20260412.032511 [7144 B] +#6 44.95 Get:131 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-std-msgs amd64 5.3.7-1noble.20260412.033140 [236 kB] +#6 44.95 Get:132 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 liborc-0.4-0t64 amd64 1:0.4.38-1ubuntu0.1 [207 kB] +#6 44.96 Get:133 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ackermann-msgs amd64 2.0.2-6noble.20260412.033758 [53.2 kB] +#6 44.96 Get:134 http://archive.ubuntu.com/ubuntu noble/main amd64 iso-codes all 4.16.0-1 [3492 kB] +#6 44.97 Get:135 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-action-tutorials-interfaces amd64 0.33.10-1noble.20260412.032748 [123 kB] +#6 44.97 Get:136 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-index-cpp amd64 1.8.2-1noble.20260412.024949 [24.8 kB] +#6 44.97 Get:137 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-libyaml-vendor amd64 1.6.3-2noble.20260225.235345 [8482 B] +#6 44.97 Get:138 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rcl-interfaces amd64 2.0.3-1noble.20260412.033104 [397 kB] +#6 44.98 Get:139 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rcl-logging-interface amd64 3.1.1-1noble.20260226.002403 [13.3 kB] +#6 44.98 Get:140 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-spdlog-vendor amd64 1.6.1-1noble.20260225.225958 [6736 B] +#6 44.98 Get:141 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rcl-logging-spdlog amd64 3.1.1-1noble.20260226.003321 [22.5 kB] +#6 44.98 Get:142 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rcl-yaml-param-parser amd64 9.2.9-1noble.20260226.005115 [29.7 kB] +#6 44.98 Get:143 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rmw-implementation-cmake amd64 7.3.3-1noble.20260225.225156 [9032 B] +#6 44.99 Get:144 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgstreamer-plugins-base1.0-0 amd64 1.24.2-1ubuntu0.4 [862 kB] +#6 44.99 Get:145 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-foonathan-memory-vendor amd64 1.3.1-3noble.20260225.055155 [787 kB] +#6 44.99 Get:146 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-fastrtps amd64 2.14.6-1noble.20260303.233638 [3148 kB] +#6 45.00 Get:147 http://archive.ubuntu.com/ubuntu noble/main amd64 libhyphen0 amd64 2.8.8-7build3 [26.5 kB] +#6 45.01 Get:148 http://archive.ubuntu.com/ubuntu noble/main amd64 libjpeg-turbo8 amd64 2.1.5-2ubuntu2 [150 kB] +#6 45.01 Get:149 http://archive.ubuntu.com/ubuntu noble/main amd64 libjpeg8 amd64 8c-2ubuntu11 [2148 B] +#6 45.02 Get:150 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rmw-dds-common amd64 3.1.1-1noble.20260412.033108 [121 kB] +#6 45.02 Get:151 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tracetools amd64 8.2.5-1noble.20260226.001709 [37.4 kB] +#6 45.02 Get:152 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rmw-fastrtps-shared-cpp amd64 8.4.3-1noble.20260412.033316 [172 kB] +#6 45.02 Get:153 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-dynamic-typesupport-fastrtps amd64 0.1.0-3noble.20260304.002637 [49.1 kB] +#6 45.02 Get:154 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rmw-fastrtps-cpp amd64 8.4.3-1noble.20260412.034154 [91.9 kB] +#6 45.02 Get:155 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rmw-implementation amd64 2.15.6-1noble.20260412.040200 [24.5 kB] +#6 45.02 Get:156 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-type-description-interfaces amd64 2.0.3-1noble.20260412.032338 [160 kB] +#6 45.02 Get:157 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libxml2 amd64 2.9.14+dfsg-1.3ubuntu3.7 [764 kB] +#6 45.02 Get:158 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rcl amd64 9.2.9-1noble.20260412.040633 [160 kB] +#6 45.02 Get:159 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-statistics-msgs amd64 2.0.3-1noble.20260412.033131 [68.5 kB] +#6 45.03 Get:160 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-libstatistics-collector amd64 1.7.4-1noble.20260412.041007 [26.9 kB] +#6 45.03 Get:161 http://archive.ubuntu.com/ubuntu noble/main amd64 shared-mime-info amd64 2.4-4 [474 kB] +#6 45.03 Get:162 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosgraph-msgs amd64 2.0.3-1noble.20260412.033127 [39.9 kB] +#6 45.03 Get:163 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rclcpp amd64 28.1.18-1noble.20260412.041931 [784 kB] +#6 45.04 Get:164 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rcl-action amd64 9.2.9-1noble.20260412.041043 [47.9 kB] +#6 45.04 Get:165 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rclcpp-action amd64 28.1.18-1noble.20260412.042748 [100 kB] +#6 45.04 Get:166 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-console-bridge-vendor amd64 1.7.1-3noble.20260225.232019 [5386 B] +#6 45.04 Get:167 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-class-loader amd64 2.7.0-3noble.20260226.003328 [46.9 kB] +#6 45.04 Get:168 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-composition-interfaces amd64 2.0.3-1noble.20260412.034209 [156 kB] +#6 45.04 Get:169 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rclcpp-components amd64 28.1.18-1noble.20260412.042656 [87.0 kB] +#6 45.04 Get:170 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-action-tutorials-cpp amd64 0.33.10-1noble.20260412.044552 [70.5 kB] +#6 45.04 Get:171 http://archive.ubuntu.com/ubuntu noble/universe amd64 libdouble-conversion3 amd64 3.3.0-1build1 [40.3 kB] +#6 45.05 Get:172 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-lifecycle-msgs amd64 2.0.3-1noble.20260412.032912 [183 kB] +#6 45.05 Get:173 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rcl-lifecycle amd64 9.2.9-1noble.20260412.040958 [27.9 kB] +#6 45.05 Get:174 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpcre2-16-0 amd64 10.42-4ubuntu2.1 [210 kB] +#6 45.05 Get:175 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rclpy amd64 7.1.11-1noble.20260412.041747 [467 kB] +#6 45.05 Get:176 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-action-tutorials-py amd64 0.33.10-1noble.20260412.042036 [8336 B] +#6 45.05 Get:177 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-actionlib-msgs amd64 5.3.7-1noble.20260412.034232 [70.7 kB] +#6 45.05 Get:178 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-auto amd64 2.5.6-2noble.20260225.232257 [11.0 kB] +#6 45.05 Get:179 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-copyright amd64 0.17.5-1noble.20260410.105859 [52.2 kB] +#6 45.06 Get:180 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-copyright amd64 0.17.5-1noble.20260410.113746 [7870 B] +#6 45.06 Get:181 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-lint-cmake amd64 0.17.5-1noble.20260410.080405 [25.8 kB] +#6 45.06 Get:182 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-lint-cmake amd64 0.17.5-1noble.20260410.113602 [7694 B] +#6 45.06 Get:183 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5core5t64 amd64 5.15.13+dfsg-1ubuntu1 [2011 kB] +#6 45.07 Get:184 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-xmllint amd64 0.17.5-1noble.20260410.113521 [13.7 kB] +#6 45.07 Get:185 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-cmake-xmllint amd64 0.17.5-1noble.20260410.113914 [7420 B] +#6 45.07 Get:186 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-lint-auto amd64 0.17.5-1noble.20260410.080333 [7694 B] +#6 45.07 Get:187 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ament-lint-common amd64 0.17.5-1noble.20260410.114154 [7522 B] +#6 45.07 Get:188 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-angles amd64 1.16.1-1noble.20260225.231445 [13.9 kB] +#6 45.07 Get:189 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-backward-ros amd64 1.0.8-1noble.20260225.051215 [57.5 kB] +#6 45.07 Get:190 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-bond amd64 4.2.0-1noble.20260412.034243 [55.2 kB] +#6 45.07 Get:191 http://archive.ubuntu.com/ubuntu noble/main amd64 fontconfig amd64 2.15.0-1.1ubuntu2 [180 kB] +#6 45.08 Get:192 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rclcpp-lifecycle amd64 28.1.18-1noble.20260412.042728 [82.4 kB] +#6 45.08 Get:193 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgl1-mesa-dri amd64 25.2.8-0ubuntu0.24.04.1 [37.9 kB] +#6 45.08 Get:194 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-smclib amd64 4.2.0-1noble.20260317.155007 [14.1 kB] +#6 45.08 Get:195 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-bondcpp amd64 4.2.0-1noble.20260412.051032 [123 kB] +#6 45.09 Get:196 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-eigen-stl-containers amd64 1.1.0-1noble.20260225.233822 [9570 B] +#6 45.09 Get:197 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-eigen3-cmake-module amd64 0.3.0-3noble.20260225.233716 [6184 B] +#6 45.09 Get:198 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-geometry-msgs amd64 5.3.7-1noble.20260412.033928 [264 kB] +#6 45.09 Get:199 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-random-numbers amd64 2.0.1-5noble.20260225.225100 [25.4 kB] +#6 45.09 Get:200 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-libcurl-vendor amd64 3.4.4-1noble.20260225.235243 [7562 B] +#6 45.09 Get:201 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-resource-retriever amd64 3.4.4-1noble.20260412.025343 [20.3 kB] +#6 45.09 Get:202 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libexpat1 amd64 2.6.1-2ubuntu0.4 [88.2 kB] +#6 45.09 Get:203 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-shape-msgs amd64 5.3.7-1noble.20260412.035632 [82.2 kB] +#6 45.10 Get:204 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-sensor-msgs amd64 5.3.7-1noble.20260412.034842 [390 kB] +#6 45.10 Get:205 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libglx-mesa0 amd64 25.2.8-0ubuntu0.24.04.1 [110 kB] +#6 45.10 Get:206 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-visualization-msgs amd64 5.3.7-1noble.20260412.035359 [264 kB] +#6 45.10 Get:207 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-geometric-shapes amd64 2.3.2-1noble.20260412.042659 [97.2 kB] +#6 45.10 Get:208 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tinyxml2-vendor amd64 0.9.2-1noble.20260225.230621 [6798 B] +#6 45.10 Get:209 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-urdfdom-headers amd64 1.1.2-1noble.20260225.142752 [13.4 kB] +#6 45.10 Get:210 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-urdfdom amd64 4.0.2-1noble.20260225.232653 [72.4 kB] +#6 45.10 Get:211 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-pluginlib amd64 5.4.5-1noble.20260412.025240 [98.2 kB] +#6 45.10 Get:212 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-urdf-parser-plugin amd64 2.10.0-3noble.20260226.001913 [9600 B] +#6 45.10 Get:213 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-urdf amd64 2.10.0-3noble.20260412.025422 [105 kB] +#6 45.11 Get:214 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdrm-amdgpu1 amd64 2.4.125-1ubuntu0.1~24.04.1 [21.4 kB] +#6 45.11 Get:215 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-urdfdom-py amd64 1.2.1-3noble.20260412.042521 [38.7 kB] +#6 45.11 Get:216 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-srdfdom amd64 2.0.7-1noble.20260412.053212 [60.6 kB] +#6 45.11 Get:217 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-diagnostic-msgs amd64 5.3.7-1noble.20260412.034614 [142 kB] +#6 45.12 Get:218 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-nav-msgs amd64 5.3.7-1noble.20260412.034710 [244 kB] +#6 45.12 Get:219 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-std-srvs amd64 5.3.7-1noble.20260412.033137 [112 kB] +#6 45.12 Get:220 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-stereo-msgs amd64 5.3.7-1noble.20260412.035620 [49.1 kB] +#6 45.12 Get:221 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-trajectory-msgs amd64 5.3.7-1noble.20260412.034949 [101 kB] +#6 45.12 Get:222 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-common-interfaces amd64 5.3.7-1noble.20260412.035857 [6164 B] +#6 45.12 Get:223 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdrm-intel1 amd64 2.4.125-1ubuntu0.1~24.04.1 [63.8 kB] +#6 45.13 Get:224 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-generate-parameter-library-py amd64 0.7.1-1noble.20260323.095134 [55.8 kB] +#6 45.13 Get:225 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tcb-span amd64 1.2.0-1noble.20260304.072946 [10.7 kB] +#6 45.13 Get:226 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rsl amd64 1.3.0-1noble.20260412.052851 [18.2 kB] +#6 45.13 Get:227 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tl-expected amd64 1.2.0-1noble.20260225.230700 [17.0 kB] +#6 45.13 Get:228 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-parameter-traits amd64 0.7.1-1noble.20260412.053054 [10.4 kB] +#6 45.13 Get:229 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-generate-parameter-library amd64 0.7.1-1noble.20260412.053405 [9086 B] +#6 45.13 Get:230 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-google-benchmark-vendor amd64 0.5.1-1noble.20260225.055256 [207 kB] +#6 45.13 Get:231 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-orocos-kdl-vendor amd64 0.5.1-2noble.20260225.234720 [6986 B] +#6 45.13 Get:232 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libegl-mesa0 amd64 25.2.8-0ubuntu0.24.04.1 [117 kB] +#6 45.14 Get:233 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-kdl-parser amd64 2.11.0-3noble.20260412.025844 [20.9 kB] +#6 45.14 Get:234 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-common amd64 2.12.4-1noble.20260225.235600 [8956 B] +#6 45.14 Get:235 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgbm1 amd64 25.2.8-0ubuntu0.24.04.1 [34.2 kB] +#6 45.14 Get:236 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-object-recognition-msgs amd64 2.0.0-5noble.20260412.035902 [245 kB] +#6 45.14 Get:237 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-octomap-msgs amd64 2.0.1-1noble.20260412.035529 [125 kB] +#6 45.14 Get:238 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-msgs amd64 2.6.0-1noble.20260412.041739 [1996 kB] +#6 45.15 Get:239 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 mesa-libgallium amd64 25.2.8-0ubuntu0.24.04.1 [10.8 MB] +#6 45.16 Get:240 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-osqp-vendor amd64 0.2.0-4noble.20260226.000013 [87.6 kB] +#6 45.16 Get:241 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ruckig amd64 0.9.2-5noble.20260225.142307 [75.2 kB] +#6 45.16 Get:242 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2 amd64 0.36.20-1noble.20260412.034858 [93.7 kB] +#6 45.16 Get:243 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-message-filters amd64 4.11.12-1noble.20260412.042737 [46.3 kB] +#6 45.16 Get:244 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-msgs amd64 0.36.20-1noble.20260412.034900 [179 kB] +#6 45.16 Get:245 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-ros amd64 0.36.20-1noble.20260412.044056 [325 kB] +#6 45.16 Get:246 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-eigen amd64 0.36.20-1noble.20260412.051518 [13.7 kB] +#6 45.16 Get:247 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-py amd64 0.36.20-1noble.20260412.052955 [28.2 kB] +#6 45.19 Get:248 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-ros-py amd64 0.36.20-1noble.20260412.053403 [27.3 kB] +#6 45.20 Get:249 http://archive.ubuntu.com/ubuntu noble/main amd64 libgraphite2-3 amd64 1.3.14-2build1 [73.0 kB] +#6 45.21 Get:250 http://archive.ubuntu.com/ubuntu noble/main amd64 libharfbuzz0b amd64 8.3.0-2build2 [469 kB] +#6 45.22 Get:251 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-geometry-msgs amd64 0.36.20-1noble.20260412.053505 [20.0 kB] +#6 45.22 Get:252 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-pybind11-vendor amd64 3.1.3-1noble.20260226.000033 [6384 B] +#6 45.22 Get:253 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-python-orocos-kdl-vendor amd64 0.5.1-2noble.20260226.001217 [5806 B] +#6 45.22 Get:254 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-kdl amd64 0.36.20-1noble.20260412.053442 [13.8 kB] +#6 45.22 Get:255 http://archive.ubuntu.com/ubuntu noble/main amd64 libevdev2 amd64 1.13.1+dfsg-1build1 [37.8 kB] +#6 45.23 Get:256 http://archive.ubuntu.com/ubuntu noble/main amd64 libmtdev1t64 amd64 1.1.6-1.1build1 [14.4 kB] +#6 45.23 Get:257 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-core amd64 2.12.4-1noble.20260412.053952 [1385 kB] +#6 45.24 Get:258 http://archive.ubuntu.com/ubuntu noble/main amd64 libgudev-1.0-0 amd64 1:238-5ubuntu1 [15.9 kB] +#6 45.25 Get:259 http://archive.ubuntu.com/ubuntu noble/main amd64 libwacom-common all 2.10.0-2 [63.4 kB] +#6 45.25 Get:260 http://archive.ubuntu.com/ubuntu noble/main amd64 libwacom9 amd64 2.10.0-2 [23.9 kB] +#6 45.26 Get:261 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libinput-bin amd64 1.25.0-1ubuntu3.4 [23.1 kB] +#6 45.27 Get:262 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libinput10 amd64 1.25.0-1ubuntu3.4 [133 kB] +#6 45.28 Get:263 http://archive.ubuntu.com/ubuntu noble/universe amd64 libmd4c0 amd64 0.4.8-1build1 [42.3 kB] +#6 45.29 Get:264 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdbus-1-3 amd64 1.14.10-4ubuntu4.1 [210 kB] +#6 45.29 Get:265 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-chomp-motion-planner amd64 2.12.4-1noble.20260412.063134 [109 kB] +#6 45.29 Get:266 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-example-interfaces amd64 0.12.0-3noble.20260412.032829 [376 kB] +#6 45.29 Get:267 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-osrf-pycommon amd64 2.1.7-1noble.20260225.055811 [49.5 kB] +#6 45.30 Get:268 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5dbus5t64 amd64 5.15.13+dfsg-1ubuntu1 [220 kB] +#6 45.31 Get:269 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-launch amd64 3.4.10-1noble.20260412.025232 [204 kB] +#6 45.31 Get:270 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-launch-ros amd64 0.26.11-1noble.20260412.042642 [93.6 kB] +#6 45.31 Get:271 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-composition amd64 0.33.10-1noble.20260412.044808 [219 kB] +#6 45.31 Get:272 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5network5t64 amd64 5.15.13+dfsg-1ubuntu1 [723 kB] +#6 45.31 Get:273 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-control-msgs amd64 5.9.0-1noble.20260412.040109 [901 kB] +#6 45.31 Get:274 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-cv-bridge amd64 4.1.0-1noble.20260412.042648 [125 kB] +#6 45.31 Get:275 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-launch-xml amd64 3.4.10-1noble.20260412.025343 [11.6 kB] +#6 45.31 Get:276 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-demo-nodes-cpp amd64 0.33.10-1noble.20260412.044049 [930 kB] +#6 45.32 Get:277 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb-icccm4 amd64 0.4.1-1.1build3 [10.8 kB] +#6 45.32 Get:278 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-demo-nodes-cpp-native amd64 0.33.10-1noble.20260412.044602 [64.7 kB] +#6 45.32 Get:279 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-demo-nodes-py amd64 0.33.10-1noble.20260412.042524 [28.8 kB] +#6 45.33 Get:280 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-image-geometry amd64 4.1.0-1noble.20260412.040226 [33.0 kB] +#6 45.33 Get:281 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-depthimage-to-laserscan amd64 2.5.1-3noble.20260412.051904 [183 kB] +#6 45.33 Get:282 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb-util1 amd64 0.4.0-1build3 [10.7 kB] +#6 45.34 Get:283 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb-image0 amd64 0.4.0-2build1 [10.8 kB] +#6 45.34 Get:284 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-dummy-map-server amd64 0.33.10-1noble.20260412.051842 [47.6 kB] +#6 45.34 Get:285 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-dummy-sensors amd64 0.33.10-1noble.20260412.051906 [65.9 kB] +#6 45.34 Get:286 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-robot-state-publisher amd64 3.3.3-3noble.20260412.044622 [178 kB] +#6 45.34 Get:287 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-dummy-robot-bringup amd64 0.33.10-1noble.20260412.052140 [9240 B] +#6 45.34 Get:288 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclcpp-minimal-action-client amd64 0.19.7-1noble.20260412.051021 [93.8 kB] +#6 45.35 Get:289 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb-keysyms1 amd64 0.4.0-1build4 [7956 B] +#6 45.35 Get:290 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclcpp-minimal-action-server amd64 0.19.7-1noble.20260412.051019 [45.7 kB] +#6 45.35 Get:291 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclcpp-minimal-client amd64 0.19.7-1noble.20260412.051022 [27.5 kB] +#6 45.35 Get:292 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclcpp-minimal-composition amd64 0.19.7-1noble.20260412.045356 [114 kB] +#6 45.35 Get:293 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclcpp-minimal-publisher amd64 0.19.7-1noble.20260412.045354 [133 kB] +#6 45.35 Get:294 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb-render0 amd64 1.15-1ubuntu2 [16.2 kB] +#6 45.35 Get:295 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclcpp-minimal-service amd64 0.19.7-1noble.20260412.051024 [22.9 kB] +#6 45.36 Get:296 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb-render-util0 amd64 0.3.9-1build4 [9608 B] +#6 45.37 Get:297 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclcpp-minimal-subscriber amd64 0.19.7-1noble.20260412.045426 [441 kB] +#6 45.37 Get:298 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclcpp-minimal-timer amd64 0.19.7-1noble.20260412.052718 [16.7 kB] +#6 45.37 Get:299 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclcpp-multithreaded-executor amd64 0.19.7-1noble.20260412.045432 [104 kB] +#6 45.37 Get:300 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclpy-executors amd64 0.19.7-1noble.20260412.042551 [13.3 kB] +#6 45.37 Get:301 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclpy-minimal-action-client amd64 0.19.7-1noble.20260412.042555 [12.0 kB] +#6 45.37 Get:302 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb-shape0 amd64 1.15-1ubuntu2 [6100 B] +#6 45.38 Get:303 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb-xinerama0 amd64 1.15-1ubuntu2 [5410 B] +#6 45.38 Get:304 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclpy-minimal-action-server amd64 0.19.7-1noble.20260412.042203 [13.1 kB] +#6 45.38 Get:305 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclpy-minimal-client amd64 0.19.7-1noble.20260412.042556 [9088 B] +#6 45.38 Get:306 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclpy-minimal-publisher amd64 0.19.7-1noble.20260412.042601 [9686 B] +#6 45.38 Get:307 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclpy-minimal-service amd64 0.19.7-1noble.20260412.042602 [6852 B] +#6 45.38 Get:308 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-examples-rclpy-minimal-subscriber amd64 0.19.7-1noble.20260412.042605 [7320 B] +#6 45.39 Get:309 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb-xinput0 amd64 1.15-1ubuntu2 [33.2 kB] +#6 45.40 Get:310 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb-xkb1 amd64 1.15-1ubuntu2 [32.3 kB] +#6 45.40 Get:311 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-image-tools amd64 0.33.10-1noble.20260412.045451 [185 kB] +#6 45.40 Get:312 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-intra-process-demo amd64 0.33.10-1noble.20260412.045501 [384 kB] +#6 45.40 Get:313 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-sdl2-vendor amd64 3.3.0-3noble.20260225.225708 [5994 B] +#6 45.40 Get:314 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-joy amd64 3.3.0-3noble.20260412.051931 [186 kB] +#6 45.40 Get:315 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-lifecycle amd64 0.33.10-1noble.20260412.045645 [181 kB] +#6 45.40 Get:316 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 xkb-data all 2.41-2ubuntu1.1 [397 kB] +#6 45.41 Get:317 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-logging-demo amd64 0.33.10-1noble.20260412.044110 [142 kB] +#6 45.41 Get:318 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-pcl-msgs amd64 1.0.0-9noble.20260412.035559 [114 kB] +#6 45.41 Get:319 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-pcl-conversions amd64 2.6.4-1noble.20260412.045759 [12.7 kB] +#6 45.41 Get:320 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-pendulum-msgs amd64 0.33.10-1noble.20260412.033002 [61.1 kB] +#6 45.41 Get:321 http://archive.ubuntu.com/ubuntu noble/main amd64 libxkbcommon0 amd64 1.6.0-1build1 [122 kB] +#6 45.41 Get:322 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rttest amd64 0.17.1-3noble.20260225.225641 [30.7 kB] +#6 45.42 Get:323 http://archive.ubuntu.com/ubuntu noble/main amd64 libxkbcommon-x11-0 amd64 1.6.0-1build1 [14.5 kB] +#6 45.42 Get:324 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tlsf amd64 0.9.0-3noble.20260225.230709 [12.0 kB] +#6 45.43 Get:325 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tlsf-cpp amd64 0.17.1-3noble.20260412.050239 [120 kB] +#6 45.43 Get:326 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-pendulum-control amd64 0.33.10-1noble.20260412.050614 [247 kB] +#6 45.43 Get:327 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-quality-of-service-demo-cpp amd64 0.33.10-1noble.20260412.050216 [436 kB] +#6 45.43 Get:328 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-quality-of-service-demo-py amd64 0.33.10-1noble.20260412.042122 [20.7 kB] +#6 45.43 Get:329 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5gui5t64 amd64 5.15.13+dfsg-1ubuntu1 [3748 kB] +#6 45.44 Get:330 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-bullet amd64 0.36.20-1noble.20260412.051516 [10.5 kB] +#6 45.44 Get:331 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-eigen-kdl amd64 0.36.20-1noble.20260412.040107 [15.1 kB] +#6 45.44 Get:332 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-sensor-msgs-py amd64 5.3.7-1noble.20260412.035802 [16.5 kB] +#6 45.44 Get:333 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-sensor-msgs amd64 0.36.20-1noble.20260412.053455 [15.2 kB] +#6 45.44 Get:334 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-tools amd64 0.36.20-1noble.20260412.053524 [10.4 kB] +#6 45.45 Get:335 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5positioning5 amd64 5.15.13+dfsg-1 [222 kB] +#6 45.45 Get:336 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-geometry2 amd64 0.36.20-1noble.20260412.060249 [6340 B] +#6 45.45 Get:337 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-launch-yaml amd64 3.4.10-1noble.20260412.025341 [11.9 kB] +#6 45.45 Get:338 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-launch-testing amd64 3.4.10-1noble.20260412.025508 [87.7 kB] +#6 45.46 Get:339 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-launch-testing-ament-cmake amd64 3.4.10-1noble.20260412.025830 [8962 B] +#6 45.46 Get:340 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-launch-testing-ros amd64 0.26.11-1noble.20260412.043323 [22.6 kB] +#6 45.46 Get:341 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libavahi-common-data amd64 0.8-13ubuntu6.2 [30.1 kB] +#6 45.47 Get:342 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libavahi-common3 amd64 0.8-13ubuntu6.2 [23.4 kB] +#6 45.47 Get:343 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros-environment amd64 4.2.1-1noble.20260225.043405 [5732 B] +#6 45.47 Get:344 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2cli amd64 0.32.9-1noble.20260412.042300 [53.3 kB] +#6 45.47 Get:345 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-runtime-py amd64 0.13.1-2noble.20260226.000416 [20.3 kB] +#6 45.47 Get:346 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2action amd64 0.32.9-1noble.20260412.053021 [19.7 kB] +#6 45.47 Get:347 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2node amd64 0.32.9-1noble.20260412.042626 [15.3 kB] +#6 45.48 Get:348 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libavahi-client3 amd64 0.8-13ubuntu6.2 [26.8 kB] +#6 45.48 Get:349 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2topic amd64 0.32.9-1noble.20260412.042628 [48.8 kB] +#6 45.48 Get:350 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libcups2t64 amd64 2.4.7-1.2ubuntu7.9 [273 kB] +#6 45.48 Get:351 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2service amd64 0.32.9-1noble.20260412.052412 [23.2 kB] +#6 45.48 Get:352 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2param amd64 0.32.9-1noble.20260412.052450 [23.1 kB] +#6 45.48 Get:353 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2pkg amd64 0.32.9-1noble.20260412.042622 [30.5 kB] +#6 45.49 Get:354 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2component amd64 0.32.9-1noble.20260412.052519 [22.9 kB] +#6 45.49 Get:355 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5widgets5t64 amd64 5.15.13+dfsg-1ubuntu1 [2561 kB] +#6 45.50 Get:356 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2doctor amd64 0.32.9-1noble.20260412.042619 [41.7 kB] +#6 45.50 Get:357 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2interface amd64 0.32.9-1noble.20260412.042621 [18.4 kB] +#6 45.50 Get:358 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2launch amd64 0.26.11-1noble.20260412.043200 [18.1 kB] +#6 45.50 Get:359 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2lifecycle amd64 0.32.9-1noble.20260412.052446 [16.3 kB] +#6 45.50 Get:360 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2multicast amd64 0.32.9-1noble.20260412.053041 [10.7 kB] +#6 45.51 Get:361 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5printsupport5t64 amd64 5.15.13+dfsg-1ubuntu1 [208 kB] +#6 45.51 Get:362 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2plugin amd64 5.4.5-1noble.20260412.042739 [9996 B] +#6 45.51 Get:363 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2run amd64 0.32.9-1noble.20260412.053103 [9840 B] +#6 45.51 Get:364 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-sros2 amd64 0.13.6-1noble.20260412.042622 [44.9 kB] +#6 45.51 Get:365 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2cli-common-extensions amd64 0.3.1-1noble.20260412.053337 [5760 B] +#6 45.51 Get:366 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-generator-rs amd64 0.4.11-1noble.20260412.030734 [24.1 kB] +#6 45.52 Get:367 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libqt5qml5 amd64 5.15.13+dfsg-1ubuntu0.1 [1482 kB] +#6 45.53 Get:368 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-core-generators amd64 0.2.1-1noble.20260412.030913 [6812 B] +#6 45.53 Get:369 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosidl-default-generators amd64 1.6.0-3noble.20260412.032513 [6788 B] +#6 45.53 Get:370 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-sros2-cmake amd64 0.13.6-1noble.20260412.053208 [6988 B] +#6 45.53 Get:371 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros-core amd64 0.11.0-1noble.20260412.053408 [6456 B] +#6 45.53 Get:372 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-yaml-cpp-vendor amd64 9.0.1-1noble.20260225.230938 [6824 B] +#6 45.53 Get:373 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libqt5qmlmodels5 amd64 5.15.13+dfsg-1ubuntu0.1 [203 kB] +#6 45.54 Get:374 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2-storage amd64 0.26.10-2noble.20260412.042713 [184 kB] +#6 45.54 Get:375 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libqt5quick5 amd64 5.15.13+dfsg-1ubuntu0.1 [1733 kB] +#6 45.54 Get:376 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2-cpp amd64 0.26.10-2noble.20260412.043347 [238 kB] +#6 45.54 Get:377 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2-compression amd64 0.26.10-2noble.20260412.053554 [134 kB] +#6 45.55 Get:378 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-keyboard-handler amd64 0.3.2-1noble.20260225.235108 [32.6 kB] +#6 45.55 Get:379 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2-interfaces amd64 0.26.10-2noble.20260412.033118 [401 kB] +#6 45.56 Get:380 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2-transport amd64 0.26.10-2noble.20260412.054424 [401 kB] +#6 45.56 Get:381 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5sensors5 amd64 5.15.13-1 [122 kB] +#6 45.56 Get:382 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2-py amd64 0.26.10-2noble.20260412.060353 [581 kB] +#6 45.56 Get:383 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-liblz4-vendor amd64 0.26.10-2noble.20260408.222020 [6944 B] +#6 45.56 Get:384 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-zstd-vendor amd64 0.26.10-2noble.20260408.222105 [7780 B] +#6 45.56 Get:385 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-mcap-vendor amd64 0.26.10-2noble.20260408.222435 [127 kB] +#6 45.57 Get:386 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5webchannel5 amd64 5.15.13-1 [61.9 kB] +#6 45.57 Get:387 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2-storage-mcap amd64 0.26.10-2noble.20260412.043351 [137 kB] +#6 45.58 Get:388 http://archive.ubuntu.com/ubuntu noble/main amd64 libsharpyuv0 amd64 1.3.2-0.4build3 [15.8 kB] +#6 45.59 Get:389 http://archive.ubuntu.com/ubuntu noble/main amd64 libwebp7 amd64 1.3.2-0.4build3 [230 kB] +#6 45.59 Get:390 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-sqlite3-vendor amd64 0.26.10-2noble.20260408.222053 [8016 B] +#6 45.60 Get:391 http://archive.ubuntu.com/ubuntu noble/main amd64 libwoff1 amd64 1.0.2-2build1 [45.3 kB] +#6 45.60 Get:392 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libxslt1.1 amd64 1.1.39-0exp1ubuntu0.24.04.3 [168 kB] +#6 45.60 Get:393 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2-storage-sqlite3 amd64 0.26.10-2noble.20260412.043751 [168 kB] +#6 45.62 Get:394 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5webkit5 amd64 5.212.0~alpha4-36 [12.8 MB] +#6 45.64 Get:395 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2-storage-default-plugins amd64 0.26.10-2noble.20260412.065628 [5782 B] +#6 45.64 Get:396 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros2bag amd64 0.26.10-2noble.20260412.065702 [43.2 kB] +#6 45.64 Get:397 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2-compression-zstd amd64 0.26.10-2noble.20260412.054126 [32.7 kB] +#6 45.65 Get:398 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rosbag2 amd64 0.26.10-2noble.20260412.070736 [8896 B] +#6 45.65 Get:399 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ros-base amd64 0.11.0-1noble.20260412.071950 [5672 B] +#6 45.65 Get:400 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-python-qt-binding amd64 2.2.2-1noble.20260226.000339 [17.2 kB] +#6 45.65 Get:401 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tango-icons-vendor amd64 0.3.1-1noble.20260225.230515 [6318 B] +#6 45.65 Get:402 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-qt-gui amd64 2.7.6-1noble.20260412.025229 [53.4 kB] +#6 45.65 Get:403 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-gui amd64 1.6.3-1noble.20260412.052948 [97.7 kB] +#6 45.65 Get:404 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-gui-py amd64 1.6.3-1noble.20260412.053546 [8768 B] +#6 45.65 Get:405 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-py-common amd64 1.6.3-1noble.20260412.042316 [22.3 kB] +#6 45.66 Get:406 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-console amd64 2.2.2-1noble.20260412.053839 [66.4 kB] +#6 45.66 Get:407 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-msg amd64 1.5.2-1noble.20260412.053912 [16.2 kB] +#6 45.66 Get:408 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-action amd64 2.2.1-1noble.20260412.060445 [7096 B] +#6 45.66 Get:409 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-bag amd64 1.5.6-1noble.20260412.063147 [117 kB] +#6 45.67 Get:410 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-qt-gui-py-common amd64 2.7.6-1noble.20260412.025229 [11.0 kB] +#6 45.67 Get:411 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-plot amd64 1.4.5-1noble.20260412.053903 [55.1 kB] +#6 45.67 Get:412 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-bag-plugins amd64 1.5.6-1noble.20260412.071952 [38.5 kB] +#6 45.67 Get:413 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-qt-dotgraph amd64 2.7.6-1noble.20260330.190755 [14.9 kB] +#6 45.67 Get:414 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-graph amd64 1.5.6-1noble.20260412.053847 [56.7 kB] +#6 45.67 Get:415 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-image-transport amd64 5.1.7-1noble.20260412.043635 [413 kB] +#6 45.68 Get:416 http://archive.ubuntu.com/ubuntu noble/main amd64 xorg-sgml-doctools all 1:1.11-1.1 [10.9 kB] +#6 45.68 Get:417 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-qt-gui-cpp amd64 2.7.6-1noble.20260412.025941 [346 kB] +#6 45.68 Get:418 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-gui-cpp amd64 1.6.3-1noble.20260412.042715 [113 kB] +#6 45.68 Get:419 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-image-view amd64 1.3.0-2noble.20260412.053350 [208 kB] +#6 45.68 Get:420 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-publisher amd64 1.7.3-1noble.20260412.053850 [30.7 kB] +#6 45.69 Get:421 http://archive.ubuntu.com/ubuntu noble/main amd64 x11proto-dev all 2023.2-1 [602 kB] +#6 45.69 Get:422 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-py-console amd64 1.2.3-1noble.20260412.053858 [12.5 kB] +#6 45.69 Get:423 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-reconfigure amd64 1.6.4-1noble.20260412.053918 [62.5 kB] +#6 45.69 Get:424 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-service-caller amd64 1.2.2-1noble.20260412.063251 [19.5 kB] +#6 45.69 Get:425 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-shell amd64 1.2.3-1noble.20260412.053911 [16.6 kB] +#6 45.69 Get:426 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-srv amd64 1.2.3-1noble.20260412.060417 [7202 B] +#6 45.70 Get:427 http://archive.ubuntu.com/ubuntu noble/main amd64 libxau-dev amd64 1:1.0.9-1build6 [9570 B] +#6 45.70 Get:428 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-topic amd64 1.7.5-1noble.20260412.060341 [25.9 kB] +#6 45.70 Get:429 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rqt-common-plugins amd64 1.2.0-4noble.20260412.072437 [6408 B] +#6 45.70 Get:430 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-gz-cmake-vendor amd64 0.0.11-1noble.20260225.223100 [198 kB] +#6 45.70 Get:431 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-gz-utils-vendor amd64 0.0.5-1noble.20260225.231257 [105 kB] +#6 45.70 Get:432 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-gz-math-vendor amd64 0.0.8-1noble.20260225.232138 [242 kB] +#6 45.71 Get:433 http://archive.ubuntu.com/ubuntu noble/main amd64 libxdmcp-dev amd64 1:1.1.3-0ubuntu6 [26.5 kB] +#6 45.71 Get:434 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rviz-ogre-vendor amd64 14.1.20-2noble.20260225.225644 [3836 kB] +#6 45.72 Get:435 http://archive.ubuntu.com/ubuntu noble/main amd64 xtrans-dev all 1.4.0-1 [68.9 kB] +#6 45.73 Get:436 http://archive.ubuntu.com/ubuntu noble/main amd64 libpthread-stubs0-dev amd64 0.4-1build3 [4746 B] +#6 45.74 Get:437 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-interactive-markers amd64 2.5.5-1noble.20260412.054351 [205 kB] +#6 45.74 Get:438 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-laser-geometry amd64 2.7.2-1noble.20260412.051842 [26.5 kB] +#6 45.74 Get:439 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcb1-dev amd64 1.15-1ubuntu2 [85.8 kB] +#6 45.74 Get:440 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-map-msgs amd64 2.4.1-2noble.20260412.035524 [239 kB] +#6 45.74 Get:441 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-point-cloud-transport amd64 4.0.7-1noble.20260412.043749 [337 kB] +#6 45.74 Get:442 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rviz-assimp-vendor amd64 14.1.20-2noble.20260225.225641 [8472 B] +#6 45.74 Get:443 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rviz-rendering amd64 14.1.20-2noble.20260412.025918 [791 kB] +#6 45.74 Get:444 http://archive.ubuntu.com/ubuntu noble/main amd64 libx11-dev amd64 2:1.8.7-1build1 [732 kB] +#6 45.74 Get:445 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rviz-common amd64 14.1.20-2noble.20260412.044615 [632 kB] +#6 45.75 Get:446 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rviz-default-plugins amd64 14.1.20-2noble.20260412.054746 [1557 kB] +#6 45.75 Get:447 http://archive.ubuntu.com/ubuntu noble/main amd64 libglx-dev amd64 1.7.0-1build1 [14.2 kB] +#6 45.76 Get:448 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-rviz2 amd64 14.1.20-2noble.20260412.070714 [18.7 kB] +#6 45.76 Get:449 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-teleop-twist-joy amd64 2.6.5-1noble.20260412.052507 [143 kB] +#6 45.76 Get:450 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-teleop-twist-keyboard amd64 2.4.1-1noble.20260412.052948 [9444 B] +#6 45.76 Get:451 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-topic-monitor amd64 0.33.10-1noble.20260412.043450 [21.7 kB] +#6 45.76 Get:452 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-turtlesim amd64 1.8.3-1noble.20260412.043332 [677 kB] +#6 45.76 Get:453 http://archive.ubuntu.com/ubuntu noble/main amd64 libgl-dev amd64 1.7.0-1build1 [102 kB] +#6 45.77 Get:454 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-desktop amd64 0.11.0-1noble.20260412.072512 [6530 B] +#6 45.77 Get:455 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-diagnostic-updater amd64 4.2.6-1noble.20260412.045349 [112 kB] +#6 45.77 Get:456 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-domain-bridge amd64 0.5.0-5noble.20260412.044125 [205 kB] +#6 45.77 Get:457 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-filters amd64 2.2.2-1noble.20260412.042704 [80.2 kB] +#6 45.77 Get:458 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-geographic-msgs amd64 1.0.6-2noble.20260412.035916 [321 kB] +#6 45.77 Get:459 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-cmake-helpers amd64 2.2.2-2noble.20260225.043338 [6464 B] +#6 45.77 Get:460 http://archive.ubuntu.com/ubuntu noble/main amd64 libegl-dev amd64 1.7.0-1build1 [18.2 kB] +#6 45.78 Get:461 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-core amd64 2.2.2-2noble.20260225.231548 [1866 kB] +#6 45.78 Get:462 http://archive.ubuntu.com/ubuntu noble/main amd64 libopengl-dev amd64 1.7.0-1build1 [3454 B] +#6 45.79 Get:463 http://archive.ubuntu.com/ubuntu noble/main amd64 libglu1-mesa-dev amd64 9.0.2-1.1build1 [237 kB] +#6 45.79 Get:464 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-nav2-msgs amd64 1.3.11-1noble.20260412.044112 [1759 kB] +#6 45.80 Get:465 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5concurrent5t64 amd64 5.15.13+dfsg-1ubuntu1 [35.7 kB] +#6 45.80 Get:466 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-nav2-common amd64 1.3.11-1noble.20260412.043444 [10.3 kB] +#6 45.80 Get:467 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-nav2-util amd64 1.3.11-1noble.20260412.054222 [170 kB] +#6 45.80 Get:468 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-nav2-voxel-grid amd64 1.3.11-1noble.20260412.052741 [19.7 kB] +#6 45.80 Get:469 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-nav2-costmap-2d amd64 1.3.11-1noble.20260412.054629 [1073 kB] +#6 45.81 Get:470 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-costmap-2d amd64 2.2.2-2noble.20260412.060249 [12.9 kB] +#6 45.81 Get:471 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-cv amd64 2.2.2-2noble.20260412.043610 [101 kB] +#6 45.81 Get:472 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-octomap amd64 1.10.0-4noble.20260225.055711 [227 kB] +#6 45.81 Get:473 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5sql5t64 amd64 5.15.13+dfsg-1ubuntu1 [122 kB] +#6 45.81 Get:474 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-msgs amd64 2.2.2-2noble.20260412.042825 [188 kB] +#6 45.81 Get:475 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-ros amd64 2.2.2-2noble.20260412.045450 [146 kB] +#6 45.81 Get:476 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-filters amd64 2.2.2-2noble.20260412.050149 [429 kB] +#6 45.82 Get:477 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5test5t64 amd64 5.15.13+dfsg-1ubuntu1 [148 kB] +#6 45.82 Get:478 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-loader amd64 2.2.2-2noble.20260412.065552 [134 kB] +#6 45.82 Get:479 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-octomap amd64 2.2.2-2noble.20260225.232418 [42.0 kB] +#6 45.82 Get:480 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-rviz-plugin amd64 2.2.2-2noble.20260412.050603 [643 kB] +#6 45.83 Get:481 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5xml5t64 amd64 5.15.13+dfsg-1ubuntu1 [124 kB] +#6 45.83 Get:482 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-visualization amd64 2.2.2-2noble.20260412.051723 [490 kB] +#6 45.83 Get:483 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-octomap-rviz-plugins amd64 2.1.0-1noble.20260412.063215 [280 kB] +#6 45.83 Get:484 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-octomap-ros amd64 0.4.4-1noble.20260412.040015 [15.1 kB] +#6 45.83 Get:485 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-pcl-ros amd64 2.6.4-1noble.20260412.055650 [610 kB] +#6 45.83 Get:486 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-octomap-server amd64 2.3.1-1noble.20260412.061859 [677 kB] +#6 45.84 Get:487 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-demos amd64 2.2.2-2noble.20260412.072241 [1856 kB] +#6 45.84 Get:488 http://archive.ubuntu.com/ubuntu noble/main amd64 libvulkan-dev amd64 1.3.275.0-1build1 [1239 kB] +#6 45.85 Get:489 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-pcl amd64 2.2.2-2noble.20260412.052630 [189 kB] +#6 45.85 Get:490 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map-sdf amd64 2.2.2-2noble.20260225.232449 [20.5 kB] +#6 45.85 Get:491 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-grid-map amd64 2.2.2-2noble.20260412.075203 [5738 B] +#6 45.85 Get:492 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-xacro amd64 2.1.1-1noble.20260412.025231 [29.4 kB] +#6 45.85 Get:493 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-launch-param-builder amd64 0.1.1-4noble.20260412.042639 [8998 B] +#6 45.85 Get:494 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-mavlink amd64 2026.3.3-1noble.20260303.233645 [1057 kB] +#6 45.85 Get:495 http://archive.ubuntu.com/ubuntu noble/main amd64 libxext-dev amd64 2:1.3.4-1build2 [83.5 kB] +#6 45.86 Get:496 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-libmavconn amd64 2.14.0-1noble.20260303.235119 [112 kB] +#6 45.86 Get:497 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-mavros-msgs amd64 2.14.0-1noble.20260412.042020 [1892 kB] +#6 45.86 Get:498 http://archive.ubuntu.com/ubuntu noble/universe amd64 qt5-qmake-bin amd64 5.15.13+dfsg-1ubuntu1 [1140 kB] +#6 45.87 Get:499 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-mavros amd64 2.14.0-1noble.20260412.051838 [1616 kB] +#6 45.88 Get:500 http://archive.ubuntu.com/ubuntu noble/universe amd64 qtchooser amd64 66-2build2 [25.9 kB] +#6 45.88 Get:501 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-planners-chomp amd64 2.12.4-1noble.20260412.063945 [38.1 kB] +#6 45.88 Get:502 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-ros-occupancy-map-monitor amd64 2.12.4-1noble.20260412.060541 [258 kB] +#6 45.88 Get:503 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-ros-planning amd64 2.12.4-1noble.20260412.061458 [1235 kB] +#6 45.89 Get:504 http://archive.ubuntu.com/ubuntu noble/universe amd64 qt5-qmake amd64 5.15.13+dfsg-1ubuntu1 [209 kB] +#6 45.89 Get:505 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-ompl amd64 1.7.0-2noble.20260225.055751 [2388 kB] +#6 45.90 Get:506 http://archive.ubuntu.com/ubuntu noble/universe amd64 qtbase5-dev-tools amd64 5.15.13+dfsg-1ubuntu1 [823 kB] +#6 45.90 Get:507 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-planners-ompl amd64 2.12.4-1noble.20260412.065232 [343 kB] +#6 45.91 Get:508 http://archive.ubuntu.com/ubuntu noble/universe amd64 qtbase5-dev amd64 5.15.13+dfsg-1ubuntu1 [1125 kB] +#6 45.91 Get:509 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-stomp amd64 0.1.2-4noble.20260225.143151 [67.9 kB] +#6 45.91 Get:510 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-planners-stomp amd64 2.12.4-1noble.20260412.061858 [142 kB] +#6 45.91 Get:511 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-kinematics amd64 2.12.4-1noble.20260412.065216 [242 kB] +#6 45.91 Get:512 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-ros-move-group amd64 2.12.4-1noble.20260412.070722 [405 kB] +#6 45.91 Get:513 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-pilz-industrial-motion-planner amd64 2.12.4-1noble.20260412.072051 [374 kB] +#6 45.92 Get:514 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-planners amd64 2.12.4-1noble.20260412.073607 [6692 B] +#6 45.92 Get:515 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-simple-controller-manager amd64 2.12.4-1noble.20260412.061617 [120 kB] +#6 45.92 Get:516 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-plugins amd64 2.12.4-1noble.20260412.073600 [6370 B] +#6 45.92 Get:517 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-warehouse-ros amd64 2.0.5-1noble.20260412.054120 [123 kB] +#6 45.92 Get:518 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libqt5qmlworkerscript5 amd64 5.15.13+dfsg-1ubuntu0.1 [33.6 kB] +#6 45.93 Get:519 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libqt5quickparticles5 amd64 5.15.13+dfsg-1ubuntu0.1 [216 kB] +#6 45.94 Get:520 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libqt5quickshapes5 amd64 5.15.13+dfsg-1ubuntu0.1 [102 kB] +#6 45.94 Get:521 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-ros-warehouse amd64 2.12.4-1noble.20260412.065555 [502 kB] +#6 45.95 Get:522 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libqt5quicktest5 amd64 5.15.13+dfsg-1ubuntu0.1 [57.0 kB] +#6 45.96 Get:523 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libqt5quickwidgets5 amd64 5.15.13+dfsg-1ubuntu0.1 [38.4 kB] +#6 45.97 Get:524 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 qt5-qmltooling-plugins amd64 5.15.13+dfsg-1ubuntu0.1 [190 kB] +#6 45.98 Get:525 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 qtdeclarative5-dev-tools amd64 5.15.13+dfsg-1ubuntu0.1 [675 kB] +#6 45.99 Get:526 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 qtdeclarative5-dev amd64 5.15.13+dfsg-1ubuntu0.1 [488 kB] +#6 46.00 Get:527 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5webkit5-dev amd64 5.212.0~alpha4-36 [54.6 kB] +#6 46.00 Get:528 http://archive.ubuntu.com/ubuntu noble/main amd64 sgml-base all 1.31 [11.4 kB] +#6 46.01 Get:529 http://archive.ubuntu.com/ubuntu noble/universe amd64 liblttng-ctl0t64 amd64 2.13.11-2.1build4 [197 kB] +#6 46.02 Get:530 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-configs-utils amd64 2.12.4-1noble.20260412.053416 [29.5 kB] +#6 46.02 Get:531 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-ros-benchmarks amd64 2.12.4-1noble.20260412.071926 [204 kB] +#6 46.02 Get:532 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-ros-planning-interface amd64 2.12.4-1noble.20260412.072305 [274 kB] +#6 46.02 Get:533 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-ros-robot-interaction amd64 2.12.4-1noble.20260412.065541 [171 kB] +#6 46.02 Get:534 http://archive.ubuntu.com/ubuntu noble/main amd64 liblttng-ust-common1t64 amd64 2.13.7-1.1ubuntu2 [27.5 kB] +#6 46.03 Get:535 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-ros-visualization amd64 2.12.4-1noble.20260412.073037 [714 kB] +#6 46.03 Get:536 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libnuma1 amd64 2.0.18-1ubuntu0.24.04.1 [23.4 kB] +#6 46.04 Get:537 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-ros amd64 2.12.4-1noble.20260412.075256 [6774 B] +#6 46.04 Get:538 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-setup-framework amd64 2.12.4-1noble.20260412.075233 [199 kB] +#6 46.04 Get:539 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-setup-app-plugins amd64 2.12.4-1noble.20260412.082330 [73.2 kB] +#6 46.04 Get:540 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-setup-controllers amd64 2.12.4-1noble.20260412.081203 [167 kB] +#6 46.04 Get:541 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-setup-core-plugins amd64 2.12.4-1noble.20260412.081346 [64.6 kB] +#6 46.04 Get:542 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-setup-srdf-plugins amd64 2.12.4-1noble.20260412.081346 [316 kB] +#6 46.04 Get:543 http://archive.ubuntu.com/ubuntu noble/main amd64 liblttng-ust-ctl5t64 amd64 2.13.7-1.1ubuntu2 [74.9 kB] +#6 46.04 Get:544 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit-setup-assistant amd64 2.12.4-1noble.20260412.085049 [288 kB] +#6 46.04 Get:545 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-moveit amd64 2.12.4-1noble.20260412.090945 [7092 B] +#6 46.05 Get:546 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-2d amd64 1.4.1-1noble.20260412.060235 [16.0 kB] +#6 46.05 Get:547 http://archive.ubuntu.com/ubuntu noble/main amd64 libpopt0 amd64 1.19+dfsg-1build1 [28.6 kB] +#6 46.05 Get:548 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-dbgsym amd64 0.36.20-1noble.20260412.034858 [552 kB] +#6 46.05 Get:549 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-eigen-kdl-dbgsym amd64 0.36.20-1noble.20260412.040107 [88.7 kB] +#6 46.05 Get:550 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-msgs-dbgsym amd64 0.36.20-1noble.20260412.034900 [1096 kB] +#6 46.06 Get:551 http://archive.ubuntu.com/ubuntu noble/main amd64 liburcu8t64 amd64 0.14.0-3.1build1 [63.0 kB] +#6 46.06 Get:552 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-py-dbgsym amd64 0.36.20-1noble.20260412.052955 [162 kB] +#6 46.06 Get:553 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-ros-dbgsym amd64 0.36.20-1noble.20260412.044056 [7286 kB] +#6 46.07 Get:554 http://archive.ubuntu.com/ubuntu noble/universe amd64 lttng-tools amd64 2.13.11-2.1build4 [1140 kB] +#6 46.08 Get:555 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libsmartcols1 amd64 2.39.3-9ubuntu6.5 [65.8 kB] +#6 46.09 Get:556 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dbus-bin amd64 1.14.10-4ubuntu4.1 [39.3 kB] +#6 46.10 Get:557 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dbus-session-bus-common all 1.14.10-4ubuntu4.1 [80.5 kB] +#6 46.11 Get:558 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-web-republisher-interfaces amd64 1.0.0-1noble.20260412.034941 [176 kB] +#6 46.11 Get:559 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-web-republisher amd64 1.0.0-1noble.20260412.051550 [58.9 kB] +#6 46.11 Get:560 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-web-republisher-dbgsym amd64 1.0.0-1noble.20260412.051550 [1047 kB] +#6 46.11 Get:561 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dbus-daemon amd64 1.14.10-4ubuntu4.1 [118 kB] +#6 46.11 Get:562 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-tf2-web-republisher-interfaces-dbgsym amd64 1.0.0-1noble.20260412.034941 [1087 kB] +#6 46.12 Get:563 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dbus-system-bus-common all 1.14.10-4ubuntu4.1 [81.6 kB] +#6 46.12 Get:564 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-topic-tools-interfaces amd64 1.3.3-1noble.20260412.033140 [222 kB] +#6 46.12 Get:565 http://packages.ros.org/ros2/ubuntu noble/main amd64 ros-jazzy-topic-tools amd64 1.3.3-1noble.20260412.044115 [178 kB] +#6 46.13 Get:566 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dbus amd64 1.14.10-4ubuntu4.1 [24.3 kB] +#6 46.14 Get:567 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpam-systemd amd64 255.4-1ubuntu8.15 [235 kB] +#6 46.15 Get:568 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dbus-user-session amd64 1.14.10-4ubuntu4.1 [9968 B] +#6 46.15 Get:569 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gir1.2-glib-2.0 amd64 2.80.0-6ubuntu3.8 [183 kB] +#6 46.16 Get:570 http://archive.ubuntu.com/ubuntu noble/main amd64 libfribidi0 amd64 1.0.13-3build1 [26.1 kB] +#6 46.17 Get:571 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libglib2.0-data all 2.80.0-6ubuntu3.8 [49.6 kB] +#6 46.18 Get:572 http://archive.ubuntu.com/ubuntu noble/main amd64 libtirpc-common all 1.3.4+ds-1.1build1 [8094 B] +#6 46.19 Get:573 http://archive.ubuntu.com/ubuntu noble/main amd64 libtirpc3t64 amd64 1.3.4+ds-1.1build1 [82.6 kB] +#6 46.20 Get:574 http://archive.ubuntu.com/ubuntu noble/main amd64 libyaml-0-2 amd64 0.2.5-1build1 [51.5 kB] +#6 46.21 Get:575 http://archive.ubuntu.com/ubuntu noble/main amd64 lsb-release all 12.0-2 [6564 B] +#6 46.22 Get:576 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 openssl amd64 3.0.13-0ubuntu3.9 [1002 kB] +#6 46.24 Get:577 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-cffi-backend amd64 1.16.0-2build1 [77.3 kB] +#6 46.25 Get:578 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-dbus amd64 1.3.2-5build3 [100 kB] +#6 46.25 Get:579 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-pygments all 2.17.2+dfsg-1 [819 kB] +#6 46.27 Get:580 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-yaml amd64 6.0.1-2build2 [123 kB] +#6 46.28 Get:581 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 sudo amd64 1.9.15p5-3ubuntu5.24.04.2 [948 kB] +#6 46.29 Get:582 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libnl-route-3-200 amd64 3.7.0-0.3build1.1 [189 kB] +#6 46.30 Get:583 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libibverbs1 amd64 50.0-2ubuntu0.2 [68.0 kB] +#6 46.31 Get:584 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 ibverbs-providers amd64 50.0-2ubuntu0.2 [381 kB] +#6 46.32 Get:585 http://archive.ubuntu.com/ubuntu noble/main amd64 libcbor0.10 amd64 0.10.2-1.2ubuntu2 [25.8 kB] +#6 46.33 Get:586 http://archive.ubuntu.com/ubuntu noble/main amd64 libfido2-1 amd64 1.14.0-1build3 [83.5 kB] +#6 46.34 Get:587 http://archive.ubuntu.com/ubuntu noble/main amd64 libpcap0.8t64 amd64 1.10.4-4.1ubuntu3 [151 kB] +#6 46.35 Get:588 http://archive.ubuntu.com/ubuntu noble/main amd64 libusb-1.0-0 amd64 2:1.0.27-1 [54.0 kB] +#6 46.36 Get:589 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 openssh-client amd64 1:9.6p1-3ubuntu13.16 [907 kB] +#6 46.37 Get:590 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgdk-pixbuf2.0-common all 2.42.10+dfsg-3ubuntu3.3 [8302 B] +#6 46.38 Get:591 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdeflate0 amd64 1.19-1build1.1 [43.9 kB] +#6 46.39 Get:592 http://archive.ubuntu.com/ubuntu noble/main amd64 libjbig0 amd64 2.1-6.1ubuntu2 [29.7 kB] +#6 46.40 Get:593 http://archive.ubuntu.com/ubuntu noble/main amd64 liblerc4 amd64 4.0.0+ds-4ubuntu2 [179 kB] +#6 46.41 Get:594 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libtiff6 amd64 4.5.1+git230720-4ubuntu2.5 [200 kB] +#6 46.42 Get:595 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgdk-pixbuf-2.0-0 amd64 2.42.10+dfsg-3ubuntu3.3 [147 kB] +#6 46.43 Get:596 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gtk-update-icon-cache amd64 3.24.41-4ubuntu1.3 [51.9 kB] +#6 46.43 Get:597 http://archive.ubuntu.com/ubuntu noble/main amd64 hicolor-icon-theme all 0.17-2 [9976 B] +#6 46.45 Get:598 http://archive.ubuntu.com/ubuntu noble/main amd64 humanity-icon-theme all 0.6.16 [1282 kB] +#6 46.46 Get:599 http://archive.ubuntu.com/ubuntu noble/main amd64 ubuntu-mono all 24.04-0ubuntu1 [151 kB] +#6 46.47 Get:600 http://archive.ubuntu.com/ubuntu noble/main amd64 adwaita-icon-theme all 46.0-1 [723 kB] +#6 46.48 Get:601 http://archive.ubuntu.com/ubuntu noble/main amd64 at-spi2-common all 2.52.0-1build1 [8674 B] +#6 46.49 Get:602 http://archive.ubuntu.com/ubuntu noble/main amd64 m4 amd64 1.4.19-4build1 [244 kB] +#6 46.50 Get:603 http://archive.ubuntu.com/ubuntu noble/main amd64 autoconf all 2.71-3 [339 kB] +#6 46.51 Get:604 http://archive.ubuntu.com/ubuntu noble/main amd64 autotools-dev all 20220109.1 [44.9 kB] +#6 46.52 Get:605 http://archive.ubuntu.com/ubuntu noble/main amd64 automake all 1:1.16.5-1.3ubuntu1 [558 kB] +#6 46.54 Get:606 http://archive.ubuntu.com/ubuntu noble/main amd64 libtcl8.6 amd64 8.6.14+dfsg-1build1 [988 kB] +#6 46.55 Get:607 http://archive.ubuntu.com/ubuntu noble/main amd64 libxss1 amd64 1:1.2.3-1build3 [7204 B] +#6 46.56 Get:608 http://archive.ubuntu.com/ubuntu noble/main amd64 libtk8.6 amd64 8.6.14-1build1 [779 kB] +#6 46.58 Get:609 http://archive.ubuntu.com/ubuntu noble/main amd64 tk8.6-blt2.5 amd64 2.5.3+dfsg-7build1 [630 kB] +#6 46.59 Get:610 http://archive.ubuntu.com/ubuntu noble/main amd64 blt amd64 2.5.3+dfsg-7build1 [4840 B] +#6 46.60 Get:611 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-configobj all 5.0.8-3 [33.8 kB] +#6 46.61 Get:612 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-fastbencode amd64 0.2-1build2 [47.6 kB] +#6 46.62 Get:613 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-merge3 all 0.0.8-1 [10.1 kB] +#6 46.63 Get:614 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-tzlocal all 5.2-1.1 [20.5 kB] +#6 46.64 Get:615 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3-urllib3 all 2.0.7-1ubuntu0.6 [95.2 kB] +#6 46.66 Get:616 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-dulwich amd64 0.21.6-1build2 [306 kB] +#6 46.67 Get:617 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-patiencediff amd64 0.2.13-1build2 [22.0 kB] +#6 46.68 Get:618 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-breezy amd64 3.3.5-6build2 [2755 kB] +#6 46.70 Get:619 http://archive.ubuntu.com/ubuntu noble/universe amd64 brz amd64 3.3.5-6build2 [243 kB] +#6 46.71 Get:620 http://archive.ubuntu.com/ubuntu noble/universe amd64 bzr all 2.7.0+bzr6622+brz [4064 B] +#6 46.72 Get:621 http://archive.ubuntu.com/ubuntu noble/main amd64 ca-certificates-java all 20240118 [11.6 kB] +#6 46.73 Get:622 http://archive.ubuntu.com/ubuntu noble/universe amd64 catch2 amd64 3.4.0-1build1 [607 kB] +#6 46.74 Get:623 http://archive.ubuntu.com/ubuntu noble/universe amd64 libtinyxml2-10 amd64 10.0.0+dfsg-2 [32.5 kB] +#6 46.75 Get:624 http://archive.ubuntu.com/ubuntu noble/universe amd64 cppcheck amd64 2.13.0-2ubuntu3 [2136 kB] +#6 46.76 Get:625 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdconf1 amd64 0.40.0-4ubuntu0.1 [39.6 kB] +#6 46.77 Get:626 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dconf-service amd64 0.40.0-4ubuntu0.1 [27.6 kB] +#6 46.78 Get:627 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 dconf-gsettings-backend amd64 0.40.0-4ubuntu0.1 [22.1 kB] +#6 46.79 Get:628 http://archive.ubuntu.com/ubuntu noble/main amd64 java-common all 0.75+exp1 [6798 B] +#6 46.80 Get:629 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 liblcms2-2 amd64 2.14-2ubuntu0.1 [161 kB] +#6 46.81 Get:630 http://archive.ubuntu.com/ubuntu noble/main amd64 libnspr4 amd64 2:4.35-1.1build1 [117 kB] +#6 46.82 Get:631 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libnss3 amd64 2:3.98-1ubuntu0.1 [1445 kB] +#6 46.84 Get:632 http://archive.ubuntu.com/ubuntu noble/main amd64 libpcsclite1 amd64 2.0.3-1build1 [21.4 kB] +#6 46.85 Get:633 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 openjdk-21-jre-headless amd64 21.0.11+10-1~24.04.2 [46.5 MB] +#6 47.06 Get:634 http://archive.ubuntu.com/ubuntu noble/main amd64 default-jre-headless amd64 2:1.21-75+exp1 [3094 B] +#6 47.06 Get:635 http://archive.ubuntu.com/ubuntu noble/main amd64 libatk1.0-0t64 amd64 2.52.0-1build1 [55.3 kB] +#6 47.07 Get:636 http://archive.ubuntu.com/ubuntu noble/main amd64 libatspi2.0-0t64 amd64 2.52.0-1build1 [80.5 kB] +#6 47.07 Get:637 http://archive.ubuntu.com/ubuntu noble/main amd64 libatk-bridge2.0-0t64 amd64 2.52.0-1build1 [66.0 kB] +#6 47.08 Get:638 http://archive.ubuntu.com/ubuntu noble/main amd64 libpixman-1-0 amd64 0.42.2-1build1 [279 kB] +#6 47.09 Get:639 http://archive.ubuntu.com/ubuntu noble/main amd64 libcairo2 amd64 1.18.0-3build1 [566 kB] +#6 47.10 Get:640 http://archive.ubuntu.com/ubuntu noble/main amd64 libcairo-gobject2 amd64 1.18.0-3build1 [127 kB] +#6 47.11 Get:641 http://archive.ubuntu.com/ubuntu noble/main amd64 libcolord2 amd64 1.4.7-1build2 [149 kB] +#6 47.12 Get:642 http://archive.ubuntu.com/ubuntu noble/main amd64 libepoxy0 amd64 1.5.10-1build1 [220 kB] +#6 47.13 Get:643 http://archive.ubuntu.com/ubuntu noble/main amd64 libthai-data all 0.1.29-2build1 [158 kB] +#6 47.13 Get:644 http://archive.ubuntu.com/ubuntu noble/main amd64 libdatrie1 amd64 0.2.13-3build1 [19.0 kB] +#6 47.14 Get:645 http://archive.ubuntu.com/ubuntu noble/main amd64 libthai0 amd64 0.1.29-2build1 [18.9 kB] +#6 47.16 Get:646 http://archive.ubuntu.com/ubuntu noble/main amd64 libpango-1.0-0 amd64 1.52.1+ds-1build1 [231 kB] +#6 47.17 Get:647 http://archive.ubuntu.com/ubuntu noble/main amd64 libpangoft2-1.0-0 amd64 1.52.1+ds-1build1 [42.5 kB] +#6 47.18 Get:648 http://archive.ubuntu.com/ubuntu noble/main amd64 libpangocairo-1.0-0 amd64 1.52.1+ds-1build1 [28.8 kB] +#6 47.18 Get:649 http://archive.ubuntu.com/ubuntu noble/main amd64 libwayland-cursor0 amd64 1.22.0-2.1build1 [10.4 kB] +#6 47.19 Get:650 http://archive.ubuntu.com/ubuntu noble/main amd64 libwayland-egl1 amd64 1.22.0-2.1build1 [5628 B] +#6 47.20 Get:651 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcomposite1 amd64 1:0.4.5-1build3 [6320 B] +#6 47.21 Get:652 http://archive.ubuntu.com/ubuntu noble/main amd64 libxfixes3 amd64 1:6.0.0-2build1 [10.8 kB] +#6 47.22 Get:653 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcursor1 amd64 1:1.2.1-1build1 [20.7 kB] +#6 47.23 Get:654 http://archive.ubuntu.com/ubuntu noble/main amd64 libxdamage1 amd64 1:1.1.6-1build1 [6150 B] +#6 47.24 Get:655 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgtk-3-common all 3.24.41-4ubuntu1.3 [1426 kB] +#6 47.25 Get:656 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgtk-3-0t64 amd64 3.24.41-4ubuntu1.3 [2913 kB] +#6 47.27 Get:657 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libasound2-data all 1.2.11-1ubuntu0.2 [21.3 kB] +#6 47.27 Get:658 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libasound2t64 amd64 1.2.11-1ubuntu0.2 [398 kB] +#6 47.28 Get:659 http://archive.ubuntu.com/ubuntu noble/main amd64 libgif7 amd64 5.2.2-1ubuntu1 [35.2 kB] +#6 47.29 Get:660 http://archive.ubuntu.com/ubuntu noble/main amd64 libxtst6 amd64 2:1.2.3-1.1build1 [12.6 kB] +#6 47.30 Get:661 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 openjdk-21-jre amd64 21.0.11+10-1~24.04.2 [232 kB] +#6 47.31 Get:662 http://archive.ubuntu.com/ubuntu noble/main amd64 default-jre amd64 2:1.21-75+exp1 [922 B] +#6 47.32 Get:663 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 openjdk-21-jdk-headless amd64 21.0.11+10-1~24.04.2 [82.8 MB] +#6 47.68 Get:664 http://archive.ubuntu.com/ubuntu noble/main amd64 default-jdk-headless amd64 2:1.21-75+exp1 [960 B] +#6 47.68 Get:665 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 openjdk-21-jdk amd64 21.0.11+10-1~24.04.2 [1656 kB] +#6 47.69 Get:666 http://archive.ubuntu.com/ubuntu noble/main amd64 default-jdk amd64 2:1.21-75+exp1 [926 B] +#6 47.69 Get:667 http://archive.ubuntu.com/ubuntu noble/main amd64 mysql-common all 5.8+1.1.0build1 [6746 B] +#6 47.70 Get:668 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libmysqlclient21 amd64 8.0.45-0ubuntu0.24.04.1 [1255 kB] +#6 47.71 Get:669 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libssl-dev amd64 3.0.13-0ubuntu3.9 [2407 kB] +#6 47.73 Get:670 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libzstd-dev amd64 1.5.5+dfsg2-2build1.1 [364 kB] +#6 47.74 Get:671 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libmysqlclient-dev amd64 8.0.45-0ubuntu0.24.04.1 [1591 kB] +#6 47.76 Get:672 http://archive.ubuntu.com/ubuntu noble/main amd64 default-libmysqlclient-dev amd64 1.1.0build1 [3132 B] +#6 47.77 Get:673 http://archive.ubuntu.com/ubuntu noble/main amd64 xml-core all 0.19 [20.3 kB] +#6 47.78 Get:674 http://archive.ubuntu.com/ubuntu noble/main amd64 docutils-common all 0.20.1+dfsg-3 [132 kB] +#6 47.79 Get:675 http://archive.ubuntu.com/ubuntu noble/universe amd64 fonts-lyx all 2.4.0~RC3-1build4 [171 kB] +#6 47.80 Get:676 http://archive.ubuntu.com/ubuntu noble/universe amd64 gdal-data all 3.8.4+dfsg-3ubuntu3 [261 kB] +#6 47.81 Get:677 http://archive.ubuntu.com/ubuntu noble/universe amd64 gdal-plugins amd64 3.8.4+dfsg-3ubuntu3 [24.8 kB] +#6 47.82 Get:678 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgeographiclib26 amd64 2.3-1build1 [251 kB] +#6 47.83 Get:679 http://archive.ubuntu.com/ubuntu noble/universe amd64 geographiclib-tools amd64 2.3-1build1 [189 kB] +#6 47.85 Get:680 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgfortran5 amd64 14.2.0-4ubuntu2~24.04.1 [916 kB] +#6 47.86 Get:681 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgfortran-13-dev amd64 13.3.0-6ubuntu2~24.04.1 [928 kB] +#6 47.87 Get:682 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gfortran-13-x86-64-linux-gnu amd64 13.3.0-6ubuntu2~24.04.1 [11.4 MB] +#6 47.92 Get:683 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 gfortran-13 amd64 13.3.0-6ubuntu2~24.04.1 [13.9 kB] +#6 47.93 Get:684 http://archive.ubuntu.com/ubuntu noble/main amd64 libibus-1.0-5 amd64 1.5.29-2 [181 kB] +#6 47.94 Get:685 http://archive.ubuntu.com/ubuntu noble/main amd64 gir1.2-ibus-1.0 amd64 1.5.29-2 [86.3 kB] +#6 47.95 Get:686 http://archive.ubuntu.com/ubuntu noble/universe amd64 googletest all 1.14.0-1 [521 kB] +#6 47.96 Get:687 http://archive.ubuntu.com/ubuntu noble/universe amd64 google-mock amd64 1.14.0-1 [4836 B] +#6 47.97 Get:688 http://archive.ubuntu.com/ubuntu noble/universe amd64 libann0 amd64 1.1.2+doc-9build1 [25.5 kB] +#6 47.98 Get:689 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libcdt5 amd64 2.42.2-9ubuntu0.1 [21.6 kB] +#6 47.99 Get:690 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libcgraph6 amd64 2.42.2-9ubuntu0.1 [44.6 kB] +#6 48.00 Get:691 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libaom3 amd64 3.8.2-2ubuntu0.1 [1941 kB] +#6 48.02 Get:692 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libheif-plugin-aomdec amd64 1.17.6-1ubuntu4.3 [10.6 kB] +#6 48.02 Get:693 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libheif1 amd64 1.17.6-1ubuntu4.3 [276 kB] +#6 48.03 Get:694 http://archive.ubuntu.com/ubuntu noble/main amd64 libgd3 amd64 2.3.3-9ubuntu5 [128 kB] +#6 48.04 Get:695 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgts-0.7-5t64 amd64 0.7.6+darcs121130-5.2build1 [161 kB] +#6 48.05 Get:696 http://archive.ubuntu.com/ubuntu noble/main amd64 libltdl7 amd64 2.4.7-7build1 [40.3 kB] +#6 48.06 Get:697 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libpathplan4 amd64 2.42.2-9ubuntu0.1 [24.0 kB] +#6 48.07 Get:698 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libgvc6 amd64 2.42.2-9ubuntu0.1 [716 kB] +#6 48.09 Get:699 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libgvpr2 amd64 2.42.2-9ubuntu0.1 [187 kB] +#6 48.09 Get:700 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 liblab-gamut1 amd64 2.42.2-9ubuntu0.1 [1886 kB] +#6 48.11 Get:701 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 graphviz amd64 2.42.2-9ubuntu0.1 [642 kB] +#6 48.12 Get:702 http://archive.ubuntu.com/ubuntu noble/universe amd64 hdf5-helpers amd64 1.10.10+repack-3.1ubuntu4 [15.8 kB] +#6 48.13 Get:703 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 icu-devtools amd64 74.2-1ubuntu3.1 [212 kB] +#6 48.14 Get:704 http://archive.ubuntu.com/ubuntu noble/universe amd64 libaec0 amd64 1.1.2-1build1 [22.9 kB] +#6 48.15 Get:705 http://archive.ubuntu.com/ubuntu noble/main amd64 libllvm17t64 amd64 1:17.0.6-9ubuntu1 [26.2 MB] +#6 48.27 Get:706 http://archive.ubuntu.com/ubuntu noble/universe amd64 libamd-comgr2 amd64 6.0+git20231212.4510c28+dfsg-3build2 [14.4 MB] +#6 48.34 Get:707 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhsakmt1 amd64 5.7.0-1build1 [62.9 kB] +#6 48.35 Get:708 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhsa-runtime64-1 amd64 5.7.1-2build1 [491 kB] +#6 48.36 Get:709 http://archive.ubuntu.com/ubuntu noble/universe amd64 libamdhip64-5 amd64 5.7.1-3 [9621 kB] +#6 48.40 Get:710 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libaom-dev amd64 3.8.2-2ubuntu0.1 [2266 kB] +#6 48.42 Get:711 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libapr1t64 amd64 1.7.2-3.1ubuntu0.1 [108 kB] +#6 48.43 Get:712 http://archive.ubuntu.com/ubuntu noble/main amd64 libaprutil1t64 amd64 1.6.3-1.1ubuntu7 [91.9 kB] +#6 48.44 Get:713 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libblas3 amd64 3.12.0-3build1.1 [238 kB] +#6 48.45 Get:714 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 liblapack3 amd64 3.12.0-3build1.1 [2646 kB] +#6 48.48 Get:715 http://archive.ubuntu.com/ubuntu noble/universe amd64 libarpack2t64 amd64 3.9.1-1.1build2 [106 kB] +#6 48.49 Get:716 http://archive.ubuntu.com/ubuntu noble/universe amd64 libsuperlu6 amd64 6.0.1+dfsg1-1build1 [180 kB] +#6 48.50 Get:717 http://archive.ubuntu.com/ubuntu noble/universe amd64 libarmadillo12 amd64 1:12.6.7+dfsg-1build2 [106 kB] +#6 48.51 Get:718 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libblas-dev amd64 3.12.0-3build1.1 [170 kB] +#6 48.52 Get:719 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 liblapack-dev amd64 3.12.0-3build1.1 [5196 kB] +#6 48.55 Get:720 http://archive.ubuntu.com/ubuntu noble/universe amd64 libarpack2-dev amd64 3.9.1-1.1build2 [122 kB] +#6 48.56 Get:721 http://archive.ubuntu.com/ubuntu noble/universe amd64 libsz2 amd64 1.1.2-1build1 [5476 B] +#6 48.57 Get:722 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-103-1t64 amd64 1.10.10+repack-3.1ubuntu4 [1270 kB] +#6 48.58 Get:723 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-fortran-102t64 amd64 1.10.10+repack-3.1ubuntu4 [85.2 kB] +#6 48.59 Get:724 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-hl-100t64 amd64 1.10.10+repack-3.1ubuntu4 [56.0 kB] +#6 48.60 Get:725 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-hl-fortran-100t64 amd64 1.10.10+repack-3.1ubuntu4 [31.5 kB] +#6 48.61 Get:726 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-cpp-103-1t64 amd64 1.10.10+repack-3.1ubuntu4 [128 kB] +#6 48.62 Get:727 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-hl-cpp-100t64 amd64 1.10.10+repack-3.1ubuntu4 [11.2 kB] +#6 48.63 Get:728 http://archive.ubuntu.com/ubuntu noble/main amd64 libjpeg-turbo8-dev amd64 2.1.5-2ubuntu2 [295 kB] +#6 48.64 Get:729 http://archive.ubuntu.com/ubuntu noble/main amd64 libjpeg8-dev amd64 8c-2ubuntu11 [1484 B] +#6 48.65 Get:730 http://archive.ubuntu.com/ubuntu noble/main amd64 libjpeg-dev amd64 8c-2ubuntu11 [1482 B] +#6 48.66 Get:731 http://archive.ubuntu.com/ubuntu noble/universe amd64 libaec-dev amd64 1.1.2-1build1 [19.8 kB] +#6 48.67 Get:732 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libcurl4-openssl-dev amd64 8.5.0-2ubuntu10.9 [446 kB] +#6 48.68 Get:733 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-dev amd64 1.10.10+repack-3.1ubuntu4 [2777 kB] +#6 48.70 Get:734 http://archive.ubuntu.com/ubuntu noble/universe amd64 libsuperlu-dev amd64 6.0.1+dfsg1-1build1 [20.7 kB] +#6 48.71 Get:735 http://archive.ubuntu.com/ubuntu noble/universe amd64 libarmadillo-dev amd64 1:12.6.7+dfsg-1build2 [409 kB] +#6 48.72 Get:736 http://archive.ubuntu.com/ubuntu noble/universe amd64 libasio-dev all 1:1.28.1-0.2 [443 kB] +#6 48.73 Get:737 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libasound2-dev amd64 1.2.11-1ubuntu0.2 [115 kB] +#6 48.73 Get:738 http://archive.ubuntu.com/ubuntu noble/universe amd64 libdraco8 amd64 1.5.6+dfsg-3build1 [833 kB] +#6 48.75 Get:739 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libminizip1t64 amd64 1:1.3.dfsg-3.1ubuntu2.1 [22.2 kB] +#6 48.76 Get:740 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpugixml1v5 amd64 1.14-0.1build1 [91.9 kB] +#6 48.77 Get:741 http://archive.ubuntu.com/ubuntu noble/universe amd64 libassimp5 amd64 5.3.1+ds-2build1 [2273 kB] +#6 48.78 Get:742 http://archive.ubuntu.com/ubuntu noble/main amd64 libasyncns0 amd64 0.8-6build4 [11.3 kB] +#6 48.79 Get:743 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libva2 amd64 2.20.0-2ubuntu0.1 [66.3 kB] +#6 48.80 Get:744 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libva-drm2 amd64 2.20.0-2ubuntu0.1 [7132 B] +#6 48.81 Get:745 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libva-x11-2 amd64 2.20.0-2ubuntu0.1 [12.0 kB] +#6 48.82 Get:746 http://archive.ubuntu.com/ubuntu noble/main amd64 libvdpau1 amd64 1.5-2build1 [27.8 kB] +#6 48.83 Get:747 http://archive.ubuntu.com/ubuntu noble/universe amd64 libvpl2 amd64 2023.3.0-1build1 [99.8 kB] +#6 48.84 Get:748 http://archive.ubuntu.com/ubuntu noble/universe amd64 ocl-icd-libopencl1 amd64 2.3.2-1build1 [38.5 kB] +#6 48.85 Get:749 http://archive.ubuntu.com/ubuntu noble/universe amd64 libavutil58 amd64 7:6.1.1-3ubuntu5 [401 kB] +#6 48.86 Get:750 http://archive.ubuntu.com/ubuntu noble/universe amd64 libcodec2-1.2 amd64 1.2.0-2build1 [8998 kB] +#6 48.90 Get:751 http://archive.ubuntu.com/ubuntu noble/universe amd64 libdav1d7 amd64 1.4.1-1build1 [604 kB] +#6 48.91 Get:752 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgsm1 amd64 1.0.22-1build1 [27.8 kB] +#6 48.92 Get:753 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhwy1t64 amd64 1.0.7-8.1build1 [584 kB] +#6 48.93 Get:754 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libjxl0.7 amd64 0.7.0-10.2ubuntu6.1 [1001 kB] +#6 48.94 Get:755 http://archive.ubuntu.com/ubuntu noble/main amd64 libmp3lame0 amd64 3.100-6build1 [142 kB] +#6 48.95 Get:756 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libopenjp2-7 amd64 2.5.0-2ubuntu0.5 [174 kB] +#6 48.96 Get:757 http://archive.ubuntu.com/ubuntu noble/main amd64 libopus0 amd64 1.4-1build1 [208 kB] +#6 48.97 Get:758 http://archive.ubuntu.com/ubuntu noble/universe amd64 librav1e0 amd64 0.7.1-2 [1022 kB] +#6 48.98 Get:759 http://archive.ubuntu.com/ubuntu noble/main amd64 librsvg2-2 amd64 2.58.0+dfsg-1build1 [2135 kB] +#6 49.00 Get:760 http://archive.ubuntu.com/ubuntu noble/universe amd64 libshine3 amd64 3.1.1-2build1 [23.2 kB] +#6 49.01 Get:761 http://archive.ubuntu.com/ubuntu noble/main amd64 libsnappy1v5 amd64 1.1.10-1build1 [28.6 kB] +#6 49.01 Get:762 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libspeex1 amd64 1.2.1-2ubuntu2.24.04.1 [59.6 kB] +#6 49.02 Get:763 http://archive.ubuntu.com/ubuntu noble/universe amd64 libsvtav1enc1d1 amd64 1.7.0+dfsg-2build1 [2425 kB] +#6 49.04 Get:764 http://archive.ubuntu.com/ubuntu noble/universe amd64 libsoxr0 amd64 0.1.3-4build3 [80.0 kB] +#6 49.05 Get:765 http://archive.ubuntu.com/ubuntu noble/universe amd64 libswresample4 amd64 7:6.1.1-3ubuntu5 [63.8 kB] +#6 49.06 Get:766 http://archive.ubuntu.com/ubuntu noble/main amd64 libogg0 amd64 1.3.5-3build1 [22.7 kB] +#6 49.06 Get:767 http://archive.ubuntu.com/ubuntu noble/main amd64 libtheora0 amd64 1.1.1+dfsg.1-16.1build3 [211 kB] +#6 49.07 Get:768 http://archive.ubuntu.com/ubuntu noble/main amd64 libtwolame0 amd64 0.4.0-2build3 [52.3 kB] +#6 49.08 Get:769 http://archive.ubuntu.com/ubuntu noble/main amd64 libvorbis0a amd64 1.3.7-1build3 [97.6 kB] +#6 49.09 Get:770 http://archive.ubuntu.com/ubuntu noble/main amd64 libvorbisenc2 amd64 1.3.7-1build3 [80.8 kB] +#6 49.10 Get:771 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libvpx9 amd64 1.14.0-1ubuntu2.3 [1143 kB] +#6 49.11 Get:772 http://archive.ubuntu.com/ubuntu noble/main amd64 libwebpmux3 amd64 1.3.2-0.4build3 [25.7 kB] +#6 49.12 Get:773 http://archive.ubuntu.com/ubuntu noble/universe amd64 libx264-164 amd64 2:0.164.3108+git31e19f9-1 [604 kB] +#6 49.13 Get:774 http://archive.ubuntu.com/ubuntu noble/universe amd64 libx265-199 amd64 3.5-2build1 [1226 kB] +#6 49.14 Get:775 http://archive.ubuntu.com/ubuntu noble/universe amd64 libxvidcore4 amd64 2:1.3.7-1build1 [219 kB] +#6 49.15 Get:776 http://archive.ubuntu.com/ubuntu noble/universe amd64 libzvbi-common all 0.2.42-2 [42.4 kB] +#6 49.16 Get:777 http://archive.ubuntu.com/ubuntu noble/universe amd64 libzvbi0t64 amd64 0.2.42-2 [261 kB] +#6 49.17 Get:778 http://archive.ubuntu.com/ubuntu noble/universe amd64 libavcodec60 amd64 7:6.1.1-3ubuntu5 [5851 kB] +#6 49.20 Get:779 http://archive.ubuntu.com/ubuntu noble/universe amd64 libavutil-dev amd64 7:6.1.1-3ubuntu5 [547 kB] +#6 49.21 Get:780 http://archive.ubuntu.com/ubuntu noble/universe amd64 libswresample-dev amd64 7:6.1.1-3ubuntu5 [79.7 kB] +#6 49.22 Get:781 http://archive.ubuntu.com/ubuntu noble/universe amd64 libavcodec-dev amd64 7:6.1.1-3ubuntu5 [6504 kB] +#6 49.25 Get:782 http://archive.ubuntu.com/ubuntu noble/universe amd64 libudfread0 amd64 1.1.2-1build1 [19.0 kB] +#6 49.26 Get:783 http://archive.ubuntu.com/ubuntu noble/universe amd64 libbluray2 amd64 1:1.3.4-1build1 [159 kB] +#6 49.27 Get:784 http://archive.ubuntu.com/ubuntu noble/universe amd64 libchromaprint1 amd64 1.5.1-5 [30.5 kB] +#6 49.28 Get:785 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgme0 amd64 0.6.3-7build1 [134 kB] +#6 49.29 Get:786 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libmpg123-0t64 amd64 1.32.5-1ubuntu1.1 [169 kB] +#6 49.30 Get:787 http://archive.ubuntu.com/ubuntu noble/main amd64 libvorbisfile3 amd64 1.3.7-1build3 [17.1 kB] +#6 49.31 Get:788 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopenmpt0t64 amd64 0.7.3-1.1build3 [647 kB] +#6 49.32 Get:789 http://archive.ubuntu.com/ubuntu noble/main amd64 librabbitmq4 amd64 0.11.0-1build2 [37.4 kB] +#6 49.33 Get:790 http://archive.ubuntu.com/ubuntu noble/universe amd64 libcjson1 amd64 1.7.17-1 [24.8 kB] +#6 49.34 Get:791 http://archive.ubuntu.com/ubuntu noble/universe amd64 libmbedcrypto7t64 amd64 2.28.8-1 [209 kB] +#6 49.35 Get:792 http://archive.ubuntu.com/ubuntu noble/universe amd64 librist4 amd64 0.2.10+dfsg-2 [74.9 kB] +#6 49.36 Get:793 http://archive.ubuntu.com/ubuntu noble/universe amd64 libsrt1.5-gnutls amd64 1.5.3-1build2 [316 kB] +#6 49.37 Get:794 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libssh-gcrypt-4 amd64 0.10.6-2ubuntu0.4 [225 kB] +#6 49.38 Get:795 http://archive.ubuntu.com/ubuntu noble/universe amd64 libnorm1t64 amd64 1.5.9+dfsg-3.1build1 [154 kB] +#6 49.39 Get:796 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpgm-5.3-0t64 amd64 5.3.128~dfsg-2.1build1 [167 kB] +#6 49.39 Get:797 http://archive.ubuntu.com/ubuntu noble/universe amd64 libzmq5 amd64 4.3.5-1build2 [260 kB] +#6 49.40 Get:798 http://archive.ubuntu.com/ubuntu noble/universe amd64 libavformat60 amd64 7:6.1.1-3ubuntu5 [1153 kB] +#6 49.42 Get:799 http://archive.ubuntu.com/ubuntu noble/universe amd64 libavformat-dev amd64 7:6.1.1-3ubuntu5 [1398 kB] +#6 49.43 Get:800 http://archive.ubuntu.com/ubuntu noble/universe amd64 libbenchmark1.8.3 amd64 1.8.3-3 [160 kB] +#6 49.44 Get:801 http://archive.ubuntu.com/ubuntu noble/universe amd64 libbenchmark-dev amd64 1.8.3-3 [86.8 kB] +#6 49.45 Get:802 http://archive.ubuntu.com/ubuntu noble/universe amd64 libblosc1 amd64 1.21.5+ds-1build1 [36.2 kB] +#6 49.46 Get:803 http://archive.ubuntu.com/ubuntu noble/universe amd64 libblosc-dev amd64 1.21.5+ds-1build1 [43.7 kB] +#6 49.47 Get:804 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost1.83-tools-dev amd64 1.83.0-2.1ubuntu3.2 [1402 kB] +#6 49.48 Get:805 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-tools-dev amd64 1.83.0.1ubuntu2 [4238 B] +#6 49.49 Get:806 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-atomic-dev amd64 1.83.0.1ubuntu2 [4360 B] +#6 49.50 Get:807 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-chrono-dev amd64 1.83.0.1ubuntu2 [4672 B] +#6 49.51 Get:808 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-container1.83.0 amd64 1.83.0-2.1ubuntu3.2 [261 kB] +#6 49.52 Get:809 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-container1.83-dev amd64 1.83.0-2.1ubuntu3.2 [267 kB] +#6 49.53 Get:810 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-container-dev amd64 1.83.0.1ubuntu2 [4530 B] +#6 49.54 Get:811 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-context1.83.0 amd64 1.83.0-2.1ubuntu3.2 [237 kB] +#6 49.55 Get:812 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-context1.83-dev amd64 1.83.0-2.1ubuntu3.2 [232 kB] +#6 49.56 Get:813 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-context-dev amd64 1.83.0.1ubuntu2 [4276 B] +#6 49.57 Get:814 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-coroutine1.83.0 amd64 1.83.0-2.1ubuntu3.2 [234 kB] +#6 49.57 Get:815 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-coroutine1.83-dev amd64 1.83.0-2.1ubuntu3.2 [237 kB] +#6 49.58 Get:816 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-coroutine-dev amd64 1.83.0.1ubuntu2 [4344 B] +#6 49.59 Get:817 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-date-time-dev amd64 1.83.0.1ubuntu2 [4058 B] +#6 49.60 Get:818 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-exception1.83-dev amd64 1.83.0-2.1ubuntu3.2 [229 kB] +#6 49.61 Get:819 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-exception-dev amd64 1.83.0.1ubuntu2 [4058 B] +#6 49.62 Get:820 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-filesystem1.83.0 amd64 1.83.0-2.1ubuntu3.2 [284 kB] +#6 49.63 Get:821 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-filesystem1.83-dev amd64 1.83.0-2.1ubuntu3.2 [301 kB] +#6 49.64 Get:822 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-fiber1.83.0 amd64 1.83.0-2.1ubuntu3.2 [255 kB] +#6 49.65 Get:823 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-fiber1.83-dev amd64 1.83.0-2.1ubuntu3.2 [268 kB] +#6 49.66 Get:824 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-fiber-dev amd64 1.83.0.1ubuntu2 [4486 B] +#6 49.67 Get:825 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-filesystem-dev amd64 1.83.0.1ubuntu2 [4096 B] +#6 49.68 Get:826 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-graph1.83.0 amd64 1.83.0-2.1ubuntu3.2 [361 kB] +#6 49.69 Get:827 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-regex1.83.0 amd64 1.83.0-2.1ubuntu3.2 [340 kB] +#6 49.70 Get:828 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libicu-dev amd64 74.2-1ubuntu3.1 [11.9 MB] +#6 49.75 Get:829 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-regex1.83-dev amd64 1.83.0-2.1ubuntu3.2 [355 kB] +#6 49.77 Get:830 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-test1.83.0 amd64 1.83.0-2.1ubuntu3.2 [454 kB] +#6 49.78 Get:831 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-test1.83-dev amd64 1.83.0-2.1ubuntu3.2 [566 kB] +#6 49.79 Get:832 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-graph1.83-dev amd64 1.83.0-2.1ubuntu3.2 [399 kB] +#6 49.80 Get:833 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-graph-dev amd64 1.83.0.1ubuntu2 [4160 B] +#6 49.81 Get:834 http://archive.ubuntu.com/ubuntu noble/main amd64 libevent-pthreads-2.1-7t64 amd64 2.1.12-stable-9ubuntu2 [7982 B] +#6 49.81 Get:835 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpsm-infinipath1 amd64 3.3+20.604758e7-6.3build1 [178 kB] +#6 49.83 Get:836 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpsm2-2 amd64 11.2.185-2build1 [194 kB] +#6 49.84 Get:837 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 librdmacm1t64 amd64 50.0-2ubuntu0.2 [70.7 kB] +#6 49.84 Get:838 http://archive.ubuntu.com/ubuntu noble/universe amd64 libfabric1 amd64 1.17.0-3build2 [657 kB] +#6 49.87 Get:839 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhwloc15 amd64 2.10.0-1build1 [172 kB] +#6 49.87 Get:840 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libmunge2 amd64 0.5.15-4ubuntu0.1 [14.8 kB] +#6 49.89 Get:841 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libxnvctrl0 amd64 510.47.03-0ubuntu4.24.04.1 [12.7 kB] +#6 49.90 Get:842 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhwloc-plugins amd64 2.10.0-1build1 [15.7 kB] +#6 49.91 Get:843 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpmix2t64 amd64 5.0.1-4.1build1 [697 kB] +#6 49.92 Get:844 http://archive.ubuntu.com/ubuntu noble/universe amd64 libucx0 amd64 1.16.0+ds-5ubuntu1 [1140 kB] +#6 49.93 Get:845 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopenmpi3t64 amd64 4.1.6-7ubuntu2 [2563 kB] +#6 49.95 Get:846 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-mpi1.83.0 amd64 1.83.0-2.1ubuntu3.2 [271 kB] +#6 49.96 Get:847 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-graph-parallel1.83.0 amd64 1.83.0-2.1ubuntu3.2 [278 kB] +#6 49.97 Get:848 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-graph-parallel1.83-dev amd64 1.83.0-2.1ubuntu3.2 [288 kB] +#6 49.98 Get:849 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-graph-parallel-dev amd64 1.83.0.1ubuntu2 [4192 B] +#6 49.99 Get:850 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-iostreams1.83.0 amd64 1.83.0-2.1ubuntu3.2 [260 kB] +#6 50.00 Get:851 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-iostreams1.83-dev amd64 1.83.0-2.1ubuntu3.2 [264 kB] +#6 50.01 Get:852 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-iostreams-dev amd64 1.83.0.1ubuntu2 [4046 B] +#6 50.02 Get:853 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-json1.83.0 amd64 1.83.0-2.1ubuntu3.2 [365 kB] +#6 50.04 Get:854 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-json1.83-dev amd64 1.83.0-2.1ubuntu3.2 [380 kB] +#6 50.05 Get:855 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-json-dev amd64 1.83.0.1ubuntu2 [4172 B] +#6 50.06 Get:856 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-locale1.83.0 amd64 1.83.0-2.1ubuntu3.2 [413 kB] +#6 50.07 Get:857 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-locale1.83-dev amd64 1.83.0-2.1ubuntu3.2 [582 kB] +#6 50.08 Get:858 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-locale-dev amd64 1.83.0.1ubuntu2 [4378 B] +#6 50.09 Get:859 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-log1.83.0 amd64 1.83.0-2.1ubuntu3.2 [679 kB] +#6 50.10 Get:860 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-log1.83-dev amd64 1.83.0-2.1ubuntu3.2 [937 kB] +#6 50.11 Get:861 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-log-dev amd64 1.83.0.1ubuntu2 [4260 B] +#6 50.12 Get:862 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-math1.83.0 amd64 1.83.0-2.1ubuntu3.2 [440 kB] +#6 50.13 Get:863 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-math1.83-dev amd64 1.83.0-2.1ubuntu3.2 [586 kB] +#6 50.14 Get:864 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-math-dev amd64 1.83.0.1ubuntu2 [4264 B] +#6 50.15 Get:865 http://archive.ubuntu.com/ubuntu noble/universe amd64 openmpi-common all 4.1.6-7ubuntu2 [170 kB] +#6 50.16 Get:866 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libnl-3-dev amd64 3.7.0-0.3build1.1 [99.5 kB] +#6 50.17 Get:867 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libnl-route-3-dev amd64 3.7.0-0.3build1.1 [216 kB] +#6 50.18 Get:868 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libibverbs-dev amd64 50.0-2ubuntu0.2 [686 kB] +#6 50.19 Get:869 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libnuma-dev amd64 2.0.18-1ubuntu0.24.04.1 [37.0 kB] +#6 50.20 Get:870 http://archive.ubuntu.com/ubuntu noble/main amd64 libltdl-dev amd64 2.4.7-7build1 [168 kB] +#6 50.21 Get:871 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhwloc-dev amd64 2.10.0-1build1 [268 kB] +#6 50.22 Get:872 http://archive.ubuntu.com/ubuntu noble/main amd64 libevent-2.1-7t64 amd64 2.1.12-stable-9ubuntu2 [145 kB] +#6 50.22 Get:873 http://archive.ubuntu.com/ubuntu noble/main amd64 libevent-extra-2.1-7t64 amd64 2.1.12-stable-9ubuntu2 [64.2 kB] +#6 50.23 Get:874 http://archive.ubuntu.com/ubuntu noble/main amd64 libevent-openssl-2.1-7t64 amd64 2.1.12-stable-9ubuntu2 [15.7 kB] +#6 50.24 Get:875 http://archive.ubuntu.com/ubuntu noble/main amd64 libevent-dev amd64 2.1.12-stable-9ubuntu2 [274 kB] +#6 50.25 Get:876 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpmix-dev amd64 5.0.1-4.1build1 [4018 kB] +#6 50.28 Get:877 http://archive.ubuntu.com/ubuntu noble/main amd64 libjs-jquery all 3.6.1+dfsg+~3.5.14-1 [328 kB] +#6 50.29 Get:878 http://archive.ubuntu.com/ubuntu noble/universe amd64 libjs-jquery-ui all 1.13.2+dfsg-1 [252 kB] +#6 50.30 Get:879 http://archive.ubuntu.com/ubuntu noble/universe amd64 openmpi-bin amd64 4.1.6-7ubuntu2 [114 kB] +#6 50.31 Get:880 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopenmpi-dev amd64 4.1.6-7ubuntu2 [864 kB] +#6 50.32 Get:881 http://archive.ubuntu.com/ubuntu noble/universe amd64 mpi-default-dev amd64 1.15build1 [3154 B] +#6 50.33 Get:882 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-mpi1.83-dev amd64 1.83.0-2.1ubuntu3.2 [296 kB] +#6 50.34 Get:883 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-mpi-dev amd64 1.83.0.1ubuntu2 [4144 B] +#6 50.35 Get:884 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-python1.83.0 amd64 1.83.0-2.1ubuntu3.2 [312 kB] +#6 50.36 Get:885 http://archive.ubuntu.com/ubuntu noble/universe amd64 mpi-default-bin amd64 1.15build1 [2376 B] +#6 50.37 Get:886 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-mpi-python1.83.0 amd64 1.83.0-2.1ubuntu3.2 [362 kB] +#6 50.38 Get:887 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-mpi-python1.83-dev amd64 1.83.0-2.1ubuntu3.2 [237 kB] +#6 50.38 Get:888 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-mpi-python-dev amd64 1.83.0.1ubuntu2 [4196 B] +#6 50.39 Get:889 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-numpy1.83.0 amd64 1.83.0-2.1ubuntu3.2 [242 kB] +#6 50.40 Get:890 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-numpy1.83-dev amd64 1.83.0-2.1ubuntu3.2 [247 kB] +#6 50.41 Get:891 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-numpy-dev amd64 1.83.0.1ubuntu2 [4100 B] +#6 50.42 Get:892 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libexpat1-dev amd64 2.6.1-2ubuntu0.4 [140 kB] +#6 50.43 Get:893 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpython3.12-dev amd64 3.12.3-1ubuntu0.13 [5682 kB] +#6 50.46 Get:894 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpython3-dev amd64 3.12.3-0ubuntu2.1 [10.3 kB] +#6 50.47 Get:895 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3.12-dev amd64 3.12.3-1ubuntu0.13 [498 kB] +#6 50.48 Get:896 http://archive.ubuntu.com/ubuntu noble/main amd64 libjs-underscore all 1.13.4~dfsg+~1.11.4-3 [118 kB] +#6 50.49 Get:897 http://archive.ubuntu.com/ubuntu noble/main amd64 libjs-sphinxdoc all 7.2.6-6 [149 kB] +#6 50.50 Get:898 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3-dev amd64 3.12.3-0ubuntu2.1 [26.7 kB] +#6 50.51 Get:899 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-python1.83-dev amd64 1.83.0-2.1ubuntu3.2 [337 kB] +#6 50.52 Get:900 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-python-dev amd64 1.83.0.1ubuntu2 [4344 B] +#6 50.53 Get:901 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-random1.83.0 amd64 1.83.0-2.1ubuntu3.2 [242 kB] +#6 50.54 Get:902 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-random1.83-dev amd64 1.83.0-2.1ubuntu3.2 [241 kB] +#6 50.55 Get:903 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-random-dev amd64 1.83.0.1ubuntu2 [4062 B] +#6 50.56 Get:904 http://archive.ubuntu.com/ubuntu noble/main amd64 libboost-regex-dev amd64 1.83.0.1ubuntu2 [4324 B] +#6 50.57 Get:905 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-serialization-dev amd64 1.83.0.1ubuntu2 [4280 B] +#6 50.58 Get:906 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-stacktrace1.83.0 amd64 1.83.0-2.1ubuntu3.2 [290 kB] +#6 50.59 Get:907 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-stacktrace1.83-dev amd64 1.83.0-2.1ubuntu3.2 [247 kB] +#6 50.59 Get:908 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-stacktrace-dev amd64 1.83.0.1ubuntu2 [4068 B] +#6 50.60 Get:909 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-test-dev amd64 1.83.0.1ubuntu2 [4090 B] +#6 50.61 Get:910 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-timer1.83.0 amd64 1.83.0-2.1ubuntu3.2 [241 kB] +#6 50.62 Get:911 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-timer1.83-dev amd64 1.83.0-2.1ubuntu3.2 [237 kB] +#6 50.63 Get:912 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-timer-dev amd64 1.83.0.1ubuntu2 [4190 B] +#6 50.64 Get:913 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-type-erasure1.83.0 amd64 1.83.0-2.1ubuntu3.2 [246 kB] +#6 50.65 Get:914 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-type-erasure1.83-dev amd64 1.83.0-2.1ubuntu3.2 [250 kB] +#6 50.66 Get:915 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-type-erasure-dev amd64 1.83.0.1ubuntu2 [4162 B] +#6 50.68 Get:916 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libboost-url1.83.0 amd64 1.83.0-2.1ubuntu3.2 [343 kB] +#6 50.69 Get:917 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-url1.83-dev amd64 1.83.0-2.1ubuntu3.2 [444 kB] +#6 50.70 Get:918 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-url-dev amd64 1.83.0.1ubuntu2 [4192 B] +#6 50.70 Get:919 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-wave1.83.0 amd64 1.83.0-2.1ubuntu3.2 [454 kB] +#6 50.72 Get:920 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-wave1.83-dev amd64 1.83.0-2.1ubuntu3.2 [499 kB] +#6 50.73 Get:921 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-wave-dev amd64 1.83.0.1ubuntu2 [4096 B] +#6 50.74 Get:922 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-nowide1.83.0 amd64 1.83.0-2.1ubuntu3.2 [240 kB] +#6 50.75 Get:923 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libboost-nowide1.83-dev amd64 1.83.0-2.1ubuntu3.2 [236 kB] +#6 50.76 Get:924 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-nowide-dev amd64 1.83.0.1ubuntu2 [4136 B] +#6 50.77 Get:925 http://archive.ubuntu.com/ubuntu noble/universe amd64 libboost-all-dev amd64 1.83.0.1ubuntu2 [2286 B] +#6 50.78 Get:926 http://archive.ubuntu.com/ubuntu noble/main amd64 libbrotli-dev amd64 1.1.0-2build2 [353 kB] +#6 50.79 Get:927 http://archive.ubuntu.com/ubuntu noble/universe amd64 libbullet3.24t64 amd64 3.24+dfsg-2.1build1 [1802 kB] +#6 50.81 Get:928 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libbz2-dev amd64 1.0.8-5.1build0.1 [33.6 kB] +#6 50.81 Get:929 http://archive.ubuntu.com/ubuntu noble/universe amd64 libcfitsio10t64 amd64 4.3.1-1.1build2 [528 kB] +#6 50.83 Get:930 http://archive.ubuntu.com/ubuntu noble/universe amd64 libcfitsio-dev amd64 4.3.1-1.1build2 [598 kB] +#6 50.84 Get:931 http://archive.ubuntu.com/ubuntu noble/universe amd64 libcharls2 amd64 2.4.2-2build2 [90.4 kB] +#6 50.85 Get:932 http://archive.ubuntu.com/ubuntu noble/universe amd64 libllvm15t64 amd64 1:15.0.7-14build3 [25.5 MB] +#6 50.97 Get:933 http://archive.ubuntu.com/ubuntu noble/universe amd64 libclang1-15t64 amd64 1:15.0.7-14build3 [6958 kB] +#6 51.00 Get:934 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libllvm18 amd64 1:18.1.3-1ubuntu1 [27.5 MB] +#6 51.12 Get:935 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libclang1-18 amd64 1:18.1.3-1ubuntu1 [7803 kB] +#6 51.15 Get:936 http://archive.ubuntu.com/ubuntu noble/universe amd64 libconsole-bridge1.0 amd64 1.0.1+dfsg2-3build1 [11.3 kB] +#6 51.16 Get:937 http://archive.ubuntu.com/ubuntu noble/universe amd64 libdav1d-dev amd64 1.4.1-1build1 [25.3 kB] +#6 51.17 Get:938 http://archive.ubuntu.com/ubuntu noble/main amd64 libpkgconf3 amd64 1.8.1-2build1 [30.7 kB] +#6 51.18 Get:939 http://archive.ubuntu.com/ubuntu noble/main amd64 pkgconf-bin amd64 1.8.1-2build1 [20.7 kB] +#6 51.19 Get:940 http://archive.ubuntu.com/ubuntu noble/main amd64 pkgconf amd64 1.8.1-2build1 [16.8 kB] +#6 51.20 Get:941 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdbus-1-dev amd64 1.14.10-4ubuntu4.1 [190 kB] +#6 51.21 Get:942 http://archive.ubuntu.com/ubuntu noble/main amd64 libraw1394-11 amd64 2.1.2-2build3 [26.2 kB] +#6 51.22 Get:943 http://archive.ubuntu.com/ubuntu noble/universe amd64 libdc1394-25 amd64 2.2.6-4build1 [90.1 kB] +#6 51.23 Get:944 http://archive.ubuntu.com/ubuntu noble/main amd64 libraw1394-dev amd64 2.1.2-2build3 [38.3 kB] +#6 51.24 Get:945 http://archive.ubuntu.com/ubuntu noble/universe amd64 libdc1394-dev amd64 2.2.6-4build1 [119 kB] +#6 51.25 Get:946 http://archive.ubuntu.com/ubuntu noble/main amd64 libde265-0 amd64 1.0.15-1build3 [166 kB] +#6 51.26 Get:947 http://archive.ubuntu.com/ubuntu noble/main amd64 libde265-dev amd64 1.0.15-1build3 [12.6 kB] +#6 51.27 Get:948 http://archive.ubuntu.com/ubuntu noble/main amd64 libdecor-0-0 amd64 0.2.2-1build2 [16.5 kB] +#6 51.28 Get:949 http://archive.ubuntu.com/ubuntu noble/main amd64 libwayland-bin amd64 1.22.0-2.1build1 [20.6 kB] +#6 51.29 Get:950 http://archive.ubuntu.com/ubuntu noble/main amd64 libffi-dev amd64 3.4.6-1build1 [62.8 kB] +#6 51.30 Get:951 http://archive.ubuntu.com/ubuntu noble/main amd64 libwayland-dev amd64 1.22.0-2.1build1 [71.3 kB] +#6 51.31 Get:952 http://archive.ubuntu.com/ubuntu noble/main amd64 libdecor-0-dev amd64 0.2.2-1build2 [5726 B] +#6 51.32 Get:953 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdeflate-dev amd64 1.19-1build1.1 [50.9 kB] +#6 51.33 Get:954 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdrm-radeon1 amd64 2.4.125-1ubuntu0.1~24.04.1 [20.8 kB] +#6 51.34 Get:955 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdrm-nouveau2 amd64 2.4.125-1ubuntu0.1~24.04.1 [17.7 kB] +#6 51.35 Get:956 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpciaccess-dev amd64 0.17-3ubuntu0.24.04.2 [22.0 kB] +#6 51.36 Get:957 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdrm-dev amd64 2.4.125-1ubuntu0.1~24.04.1 [314 kB] +#6 51.37 Get:958 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libelf-dev amd64 0.190-1.1ubuntu0.1 [68.5 kB] +#6 51.38 Get:959 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 liblzma-dev amd64 5.6.1+really5.4.5-1ubuntu0.2 [176 kB] +#6 51.39 Get:960 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libdw-dev amd64 0.190-1.1ubuntu0.1 [340 kB] +#6 51.39 Get:961 http://archive.ubuntu.com/ubuntu noble/main amd64 libexif12 amd64 0.6.24-1build2 [87.9 kB] +#6 51.40 Get:962 http://archive.ubuntu.com/ubuntu noble/main amd64 libexif-dev amd64 0.6.24-1build2 [110 kB] +#6 51.41 Get:963 http://archive.ubuntu.com/ubuntu noble/universe amd64 libexpected-dev all 1.1.0-2 [19.1 kB] +#6 51.42 Get:964 http://archive.ubuntu.com/ubuntu noble/universe amd64 libccd2 amd64 2.1-2 [21.8 kB] +#6 51.43 Get:965 http://archive.ubuntu.com/ubuntu noble/universe amd64 liboctomap1.9t64 amd64 1.9.7+dfsg-3.1build3 [81.6 kB] +#6 51.44 Get:966 http://archive.ubuntu.com/ubuntu noble/universe amd64 libfcl0.7 amd64 0.7.0-3build2 [846 kB] +#6 51.45 Get:967 http://archive.ubuntu.com/ubuntu noble/main amd64 libflac12t64 amd64 1.4.3+ds-2.1ubuntu2 [197 kB] +#6 51.46 Get:968 http://archive.ubuntu.com/ubuntu noble/universe amd64 libflann1.9 amd64 1.9.2+dfsg-2build1 [794 kB] +#6 51.47 Get:969 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-openmpi-103-1t64 amd64 1.10.10+repack-3.1ubuntu4 [1325 kB] +#6 51.49 Get:970 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-openmpi-fortran-102t64 amd64 1.10.10+repack-3.1ubuntu4 [85.5 kB] +#6 51.50 Get:971 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-openmpi-hl-100t64 amd64 1.10.10+repack-3.1ubuntu4 [56.4 kB] +#6 51.51 Get:972 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-openmpi-hl-fortran-100t64 amd64 1.10.10+repack-3.1ubuntu4 [31.7 kB] +#6 51.52 Get:973 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-openmpi-cpp-103-1t64 amd64 1.10.10+repack-3.1ubuntu4 [127 kB] +#6 51.52 Get:974 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-openmpi-hl-cpp-100t64 amd64 1.10.10+repack-3.1ubuntu4 [11.2 kB] +#6 51.54 Get:975 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-openmpi-dev amd64 1.10.10+repack-3.1ubuntu4 [2850 kB] +#6 51.55 Get:976 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf5-mpi-dev amd64 1.10.10+repack-3.1ubuntu4 [4622 B] +#6 51.56 Get:977 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 liblz4-dev amd64 1.9.4-1build1.1 [87.6 kB] +#6 51.57 Get:978 http://archive.ubuntu.com/ubuntu noble/universe amd64 libflann-dev amd64 1.9.2+dfsg-2build1 [816 kB] +#6 51.59 Get:979 http://archive.ubuntu.com/ubuntu noble/universe amd64 libfmt9 amd64 9.1.0+ds1-2 [63.0 kB] +#6 51.60 Get:980 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpng-dev amd64 1.6.43-5ubuntu0.6 [265 kB] +#6 51.61 Get:981 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libfreetype-dev amd64 2.13.2+dfsg-1ubuntu0.1 [575 kB] +#6 51.62 Get:982 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 uuid-dev amd64 2.39.3-9ubuntu6.5 [33.5 kB] +#6 51.63 Get:983 http://archive.ubuntu.com/ubuntu noble/main amd64 libfontconfig-dev amd64 2.15.0-1.1ubuntu2 [161 kB] +#6 51.64 Get:984 http://archive.ubuntu.com/ubuntu noble/main amd64 libfontconfig1-dev amd64 2.15.0-1.1ubuntu2 [1840 B] +#6 51.64 Get:985 http://archive.ubuntu.com/ubuntu noble/universe amd64 libfyba0t64 amd64 4.1.1-11build1 [119 kB] +#6 51.65 Get:986 http://archive.ubuntu.com/ubuntu noble/universe amd64 libfyba-dev amd64 4.1.1-11build1 [178 kB] +#6 51.66 Get:987 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgbm-dev amd64 25.2.8-0ubuntu0.24.04.1 [12.7 kB] +#6 51.67 Get:988 http://archive.ubuntu.com/ubuntu noble/universe amd64 libfreexl1 amd64 2.0.0-1build2 [41.7 kB] +#6 51.68 Get:989 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgeos3.12.1t64 amd64 3.12.1-3build1 [849 kB] +#6 51.70 Get:990 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgeos-c1t64 amd64 3.12.1-3build1 [94.5 kB] +#6 51.71 Get:991 http://archive.ubuntu.com/ubuntu noble/universe amd64 proj-data all 9.4.0-1build2 [7885 kB] +#6 51.75 Get:992 http://archive.ubuntu.com/ubuntu noble/universe amd64 libproj25 amd64 9.4.0-1build2 [1396 kB] +#6 51.76 Get:993 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgeotiff5 amd64 1.7.1-5build1 [62.9 kB] +#6 51.77 Get:994 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf4-0-alt amd64 4.2.16-4build1 [282 kB] +#6 51.78 Get:995 http://archive.ubuntu.com/ubuntu noble/universe amd64 liburiparser1 amd64 0.9.7+dfsg-2build1 [35.8 kB] +#6 51.79 Get:996 http://archive.ubuntu.com/ubuntu noble/universe amd64 libkmlbase1t64 amd64 1.3.0-12build1 [49.9 kB] +#6 51.80 Get:997 http://archive.ubuntu.com/ubuntu noble/universe amd64 libkmldom1t64 amd64 1.3.0-12build1 [156 kB] +#6 51.81 Get:998 http://archive.ubuntu.com/ubuntu noble/universe amd64 libkmlengine1t64 amd64 1.3.0-12build1 [71.4 kB] +#6 51.83 Get:999 http://archive.ubuntu.com/ubuntu noble/universe amd64 libnetcdf19t64 amd64 1:4.9.2-5ubuntu4 [473 kB] +#6 51.85 Get:1000 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libodbc2 amd64 2.3.12-1ubuntu0.24.04.1 [158 kB] +#6 51.85 Get:1001 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 unixodbc-common all 2.3.12-1ubuntu0.24.04.1 [8806 B] +#6 51.87 Get:1002 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libodbcinst2 amd64 2.3.12-1ubuntu0.24.04.1 [30.7 kB] +#6 51.88 Get:1003 http://archive.ubuntu.com/ubuntu noble/universe amd64 libogdi4.1 amd64 4.1.1+ds-3build1 [226 kB] +#6 51.89 Get:1004 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpoppler134 amd64 24.02.0-1ubuntu9.8 [1118 kB] +#6 51.90 Get:1005 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpq5 amd64 16.14-0ubuntu0.24.04.1 [147 kB] +#6 51.91 Get:1006 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqhull-r8.0 amd64 2020.2-6build1 [193 kB] +#6 51.92 Get:1007 http://archive.ubuntu.com/ubuntu noble/universe amd64 librttopo1 amd64 1.1.0-3build2 [191 kB] +#6 51.93 Get:1008 http://archive.ubuntu.com/ubuntu noble/universe amd64 libspatialite8t64 amd64 5.1.0-3build1 [1919 kB] +#6 51.96 Get:1009 http://archive.ubuntu.com/ubuntu noble/universe amd64 libxerces-c3.2t64 amd64 3.2.4+debian-1.2ubuntu2 [919 kB] +#6 51.96 Get:1010 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgdal34t64 amd64 3.8.4+dfsg-3ubuntu3 [8346 kB] +#6 52.00 Get:1011 http://archive.ubuntu.com/ubuntu noble/universe amd64 libsocket++1 amd64 1.12.13+git20131030.5d039ba-1build1 [83.1 kB] +#6 52.01 Get:1012 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgdcm3.0t64 amd64 3.0.22-2.1ubuntu1 [2160 kB] +#6 52.03 Get:1013 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgdcm-dev amd64 3.0.22-2.1ubuntu1 [268 kB] +#6 52.03 Get:1014 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgeographiclib-dev amd64 2.3-1build1 [416 kB] +#6 52.04 Get:1015 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgeos-dev amd64 3.12.1-3build1 [54.4 kB] +#6 52.05 Get:1016 http://archive.ubuntu.com/ubuntu noble/main amd64 libgif-dev amd64 5.2.2-1ubuntu1 [22.7 kB] +#6 52.06 Get:1017 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgirepository-2.0-0 amd64 2.80.0-6ubuntu3.8 [73.6 kB] +#6 52.07 Get:1018 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgl2ps1.4 amd64 1.4.2+dfsg1-2build1 [41.9 kB] +#6 52.08 Get:1019 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgl2ps-dev amd64 1.4.2+dfsg1-2build1 [247 kB] +#6 52.09 Get:1020 http://archive.ubuntu.com/ubuntu noble/main amd64 libgles1 amd64 1.7.0-1build1 [11.6 kB] +#6 52.10 Get:1021 http://archive.ubuntu.com/ubuntu noble/main amd64 libgles2 amd64 1.7.0-1build1 [17.1 kB] +#6 52.11 Get:1022 http://archive.ubuntu.com/ubuntu noble/main amd64 libgles-dev amd64 1.7.0-1build1 [50.5 kB] +#6 52.12 Get:1023 http://archive.ubuntu.com/ubuntu noble/main amd64 libglvnd-core-dev amd64 1.7.0-1build1 [13.6 kB] +#6 52.13 Get:1024 http://archive.ubuntu.com/ubuntu noble/main amd64 libglvnd-dev amd64 1.7.0-1build1 [3198 B] +#6 52.14 Get:1025 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgl1-mesa-dev amd64 25.2.8-0ubuntu0.24.04.1 [22.5 kB] +#6 52.15 Get:1026 http://archive.ubuntu.com/ubuntu noble/universe amd64 libglew2.2 amd64 2.2.0-4build1 [187 kB] +#6 52.16 Get:1027 http://archive.ubuntu.com/ubuntu noble/universe amd64 libglew-dev amd64 2.2.0-4build1 [280 kB] +#6 52.17 Get:1028 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libglib2.0-bin amd64 2.80.0-6ubuntu3.8 [97.9 kB] +#6 52.18 Get:1029 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-packaging all 24.0-1 [41.1 kB] +#6 52.18 Get:1030 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libglib2.0-dev-bin amd64 2.80.0-6ubuntu3.8 [138 kB] +#6 52.20 Get:1031 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libblkid-dev amd64 2.39.3-9ubuntu6.5 [204 kB] +#6 52.20 Get:1032 http://archive.ubuntu.com/ubuntu noble/main amd64 libsepol-dev amd64 3.5-2build1 [384 kB] +#6 52.21 Get:1033 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpcre2-32-0 amd64 10.42-4ubuntu2.1 [197 kB] +#6 52.22 Get:1034 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpcre2-posix3 amd64 10.42-4ubuntu2.1 [6748 B] +#6 52.23 Get:1035 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpcre2-dev amd64 10.42-4ubuntu2.1 [736 kB] +#6 52.25 Get:1036 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libselinux1-dev amd64 3.5-2ubuntu2.1 [164 kB] +#6 52.26 Get:1037 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libmount-dev amd64 2.39.3-9ubuntu6.5 [14.9 kB] +#6 52.27 Get:1038 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libglib2.0-dev amd64 2.80.0-6ubuntu3.8 [1860 kB] +#6 52.28 Get:1039 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgphoto2-port12t64 amd64 2.5.31-2.1ubuntu1 [58.8 kB] +#6 52.29 Get:1040 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgphoto2-6t64 amd64 2.5.31-2.1ubuntu1 [735 kB] +#6 52.30 Get:1041 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libgphoto2-dev amd64 2.5.31-2.1ubuntu1 [33.2 kB] +#6 52.31 Get:1042 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgtest-dev amd64 1.14.0-1 [268 kB] +#6 52.32 Get:1043 http://archive.ubuntu.com/ubuntu noble/main amd64 libsharpyuv-dev amd64 1.3.2-0.4build3 [16.0 kB] +#6 52.33 Get:1044 http://archive.ubuntu.com/ubuntu noble/universe amd64 libx265-dev amd64 3.5-2build1 [1351 kB] +#6 52.34 Get:1045 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libheif-dev amd64 1.17.6-1ubuntu4.3 [41.6 kB] +#6 52.35 Get:1046 http://archive.ubuntu.com/ubuntu noble/universe amd64 libibus-1.0-dev amd64 1.5.29-2 [187 kB] +#6 52.36 Get:1047 http://archive.ubuntu.com/ubuntu noble/main amd64 libice-dev amd64 2:1.0.10-1build3 [51.0 kB] +#6 52.37 Get:1048 http://archive.ubuntu.com/ubuntu noble/main amd64 libimagequant0 amd64 2.18.0-1build1 [36.3 kB] +#6 52.38 Get:1049 http://archive.ubuntu.com/ubuntu noble/universe amd64 libimath-3-1-29t64 amd64 3.1.9-3.1ubuntu2 [72.2 kB] +#6 52.39 Get:1050 http://archive.ubuntu.com/ubuntu noble/universe amd64 libimath-dev amd64 3.1.9-3.1ubuntu2 [115 kB] +#6 52.39 Get:1051 http://archive.ubuntu.com/ubuntu noble/universe amd64 libkmlconvenience1t64 amd64 1.3.0-12build1 [49.8 kB] +#6 52.41 Get:1052 http://archive.ubuntu.com/ubuntu noble/universe amd64 libkmlregionator1t64 amd64 1.3.0-12build1 [21.4 kB] +#6 52.41 Get:1053 http://archive.ubuntu.com/ubuntu noble/universe amd64 libkmlxsd1t64 amd64 1.3.0-12build1 [29.7 kB] +#6 52.42 Get:1054 http://archive.ubuntu.com/ubuntu noble/universe amd64 liblbfgsb0 amd64 3.0+dfsg.4-1build1 [29.9 kB] +#6 52.43 Get:1055 http://archive.ubuntu.com/ubuntu noble/universe amd64 liblept5 amd64 1.82.0-3build4 [1099 kB] +#6 52.45 Get:1056 http://archive.ubuntu.com/ubuntu noble/main amd64 liblerc-dev amd64 4.0.0+ds-4ubuntu2 [182 kB] +#6 52.46 Get:1057 http://archive.ubuntu.com/ubuntu noble/main amd64 liblttng-ust1t64 amd64 2.13.7-1.1ubuntu2 [185 kB] +#6 52.47 Get:1058 http://archive.ubuntu.com/ubuntu noble/main amd64 liblttng-ust-python-agent1t64 amd64 2.13.7-1.1ubuntu2 [11.4 kB] +#6 52.48 Get:1059 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libminizip-dev amd64 1:1.3.dfsg-3.1ubuntu2.1 [30.2 kB] +#6 52.49 Get:1060 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libxml2-dev amd64 2.9.14+dfsg-1.3ubuntu3.7 [782 kB] +#6 52.50 Get:1061 http://archive.ubuntu.com/ubuntu noble/universe amd64 libnetcdf-dev amd64 1:4.9.2-5ubuntu4 [58.0 kB] +#6 52.51 Get:1062 http://archive.ubuntu.com/ubuntu noble/universe amd64 liboctomap-dev amd64 1.9.7+dfsg-3.1build3 [1162 kB] +#6 52.52 Get:1063 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libodbccr2 amd64 2.3.12-1ubuntu0.24.04.1 [16.1 kB] +#6 52.54 Get:1064 http://archive.ubuntu.com/ubuntu noble/main amd64 libtirpc-dev amd64 1.3.4+ds-1.1build1 [193 kB] +#6 52.55 Get:1065 http://archive.ubuntu.com/ubuntu noble/universe amd64 libogdi-dev amd64 4.1.1+ds-3build1 [22.8 kB] +#6 52.56 Get:1066 http://archive.ubuntu.com/ubuntu noble/main amd64 libogg-dev amd64 1.3.5-3build1 [161 kB] +#6 52.57 Get:1067 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libomp5-18 amd64 1:18.1.3-1ubuntu1 [608 kB] +#6 52.58 Get:1068 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libomp-18-dev amd64 1:18.1.3-1ubuntu1 [968 kB] +#6 52.59 Get:1069 http://archive.ubuntu.com/ubuntu noble/universe amd64 libtbbmalloc2 amd64 2021.11.0-2ubuntu2 [60.5 kB] +#6 52.60 Get:1070 http://archive.ubuntu.com/ubuntu noble/universe amd64 libtbbbind-2-5 amd64 2021.11.0-2ubuntu2 [16.4 kB] +#6 52.61 Get:1071 http://archive.ubuntu.com/ubuntu noble/universe amd64 libtbb12 amd64 2021.11.0-2ubuntu2 [106 kB] +#6 52.62 Get:1072 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-core406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [1202 kB] +#6 52.63 Get:1073 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-flann406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [134 kB] +#6 52.64 Get:1074 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-imgproc406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [1460 kB] +#6 52.66 Get:1075 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-features2d406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [273 kB] +#6 52.67 Get:1076 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-calib3d406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [698 kB] +#6 52.68 Get:1077 http://archive.ubuntu.com/ubuntu noble/universe amd64 libtbb-dev amd64 2021.11.0-2ubuntu2 [253 kB] +#6 52.69 Get:1078 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-core-dev amd64 4.6.0+dfsg-13.1ubuntu1 [2017 kB] +#6 52.71 Get:1079 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-flann-dev amd64 4.6.0+dfsg-13.1ubuntu1 [207 kB] +#6 52.72 Get:1080 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopenexr-3-1-30 amd64 3.1.5-5.1build3 [1004 kB] +#6 52.73 Get:1081 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-imgcodecs406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [128 kB] +#6 52.74 Get:1082 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5opengl5t64 amd64 5.15.13+dfsg-1ubuntu1 [150 kB] +#6 52.75 Get:1083 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-highgui406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [118 kB] +#6 52.76 Get:1084 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-imgproc-dev amd64 4.6.0+dfsg-13.1ubuntu1 [1905 kB] +#6 52.78 Get:1085 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-imgcodecs-dev amd64 4.6.0+dfsg-13.1ubuntu1 [203 kB] +#6 52.78 Get:1086 http://archive.ubuntu.com/ubuntu noble/universe amd64 libswscale7 amd64 7:6.1.1-3ubuntu5 [193 kB] +#6 52.79 Get:1087 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-videoio406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [199 kB] +#6 52.80 Get:1088 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-videoio-dev amd64 4.6.0+dfsg-13.1ubuntu1 [321 kB] +#6 52.81 Get:1089 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopenexr-dev amd64 3.1.5-5.1build3 [106 kB] +#6 52.82 Get:1090 http://archive.ubuntu.com/ubuntu noble/universe amd64 libswscale-dev amd64 7:6.1.1-3ubuntu5 [224 kB] +#6 52.83 Get:1091 http://archive.ubuntu.com/ubuntu noble/main amd64 libjbig-dev amd64 2.1-6.1ubuntu2 [27.9 kB] +#6 52.84 Get:1092 http://archive.ubuntu.com/ubuntu noble/main amd64 libwebpdemux2 amd64 1.3.2-0.4build3 [12.4 kB] +#6 52.85 Get:1093 http://archive.ubuntu.com/ubuntu noble/main amd64 libwebpdecoder3 amd64 1.3.2-0.4build3 [114 kB] +#6 52.86 Get:1094 http://archive.ubuntu.com/ubuntu noble/main amd64 libwebp-dev amd64 1.3.2-0.4build3 [367 kB] +#6 52.87 Get:1095 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libtiffxx6 amd64 4.5.1+git230720-4ubuntu2.5 [5642 B] +#6 52.88 Get:1096 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libtiff-dev amd64 4.5.1+git230720-4ubuntu2.5 [338 kB] +#6 52.89 Get:1097 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-highgui-dev amd64 4.6.0+dfsg-13.1ubuntu1 [176 kB] +#6 52.90 Get:1098 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-ml406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [208 kB] +#6 52.91 Get:1099 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-ml-dev amd64 4.6.0+dfsg-13.1ubuntu1 [297 kB] +#6 52.92 Get:1100 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-features2d-dev amd64 4.6.0+dfsg-13.1ubuntu1 [372 kB] +#6 52.93 Get:1101 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-calib3d-dev amd64 4.6.0+dfsg-13.1ubuntu1 [1046 kB] +#6 52.94 Get:1102 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libprotobuf32t64 amd64 3.21.12-8.2ubuntu0.3 [923 kB] +#6 52.95 Get:1103 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-dnn406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [1142 kB] +#6 52.96 Get:1104 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-objdetect406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [220 kB] +#6 52.97 Get:1105 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-video406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [179 kB] +#6 52.98 Get:1106 http://archive.ubuntu.com/ubuntu noble/universe amd64 libtesseract5 amd64 5.3.4-1build5 [1291 kB] +#6 52.99 Get:1107 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-contrib406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [3968 kB] +#6 53.02 Get:1108 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-dnn-dev amd64 4.6.0+dfsg-13.1ubuntu1 [1825 kB] +#6 53.04 Get:1109 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-objdetect-dev amd64 4.6.0+dfsg-13.1ubuntu1 [275 kB] +#6 53.05 Get:1110 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-photo406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [200 kB] +#6 53.05 Get:1111 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-photo-dev amd64 4.6.0+dfsg-13.1ubuntu1 [230 kB] +#6 53.06 Get:1112 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-shape406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [51.6 kB] +#6 53.07 Get:1113 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-video-dev amd64 4.6.0+dfsg-13.1ubuntu1 [253 kB] +#6 53.08 Get:1114 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-shape-dev amd64 4.6.0+dfsg-13.1ubuntu1 [72.1 kB] +#6 53.09 Get:1115 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-stitching406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [195 kB] +#6 53.10 Get:1116 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-stitching-dev amd64 4.6.0+dfsg-13.1ubuntu1 [264 kB] +#6 53.11 Get:1117 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-superres406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [46.1 kB] +#6 53.12 Get:1118 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-superres-dev amd64 4.6.0+dfsg-13.1ubuntu1 [61.2 kB] +#6 53.13 Get:1119 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-videostab406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [76.8 kB] +#6 53.14 Get:1120 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-videostab-dev amd64 4.6.0+dfsg-13.1ubuntu1 [109 kB] +#6 53.15 Get:1121 http://archive.ubuntu.com/ubuntu noble/universe amd64 libvtk9.1t64 amd64 9.1.0+really9.1.0+dfsg2-7.1build3 [20.3 MB] +#6 53.24 Get:1122 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-viz406t64 amd64 4.6.0+dfsg-13.1ubuntu1 [108 kB] +#6 53.25 Get:1123 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-viz-dev amd64 4.6.0+dfsg-13.1ubuntu1 [186 kB] +#6 53.26 Get:1124 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-contrib-dev amd64 4.6.0+dfsg-13.1ubuntu1 [5552 kB] +#6 53.29 Get:1125 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopencv-dev amd64 4.6.0+dfsg-13.1ubuntu1 [84.2 kB] +#6 53.31 Get:1126 http://archive.ubuntu.com/ubuntu noble/universe amd64 libtinyxml2.6.2v5 amd64 2.6.2-6.1 [37.4 kB] +#6 53.32 Get:1127 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopenni0t64 amd64 1.5.4.0+dfsg-7.1build1 [300 kB] +#6 53.33 Get:1128 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopenni-dev amd64 1.5.4.0+dfsg-7.1build1 [139 kB] +#6 53.34 Get:1129 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopenni2-0 amd64 2.2.0.33+dfsg-18 [370 kB] +#6 53.36 Get:1130 http://archive.ubuntu.com/ubuntu noble/universe amd64 libopenni2-dev amd64 2.2.0.33+dfsg-18 [55.1 kB] +#6 53.36 Get:1131 http://archive.ubuntu.com/ubuntu noble/universe amd64 liborocos-kdl1.5 amd64 1.5.1-4build1 [248 kB] +#6 53.38 Get:1132 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libeigen3-dev all 3.4.0-4build0.1 [1057 kB] +#6 53.39 Get:1133 http://archive.ubuntu.com/ubuntu noble/universe amd64 liborocos-kdl-dev amd64 1.5.1-4build1 [84.3 kB] +#6 53.39 Get:1134 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-common1.14 amd64 1.14.0+dfsg-1 [176 kB] +#6 53.40 Get:1135 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-kdtree1.14 amd64 1.14.0+dfsg-1 [229 kB] +#6 53.42 Get:1136 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-octree1.14 amd64 1.14.0+dfsg-1 [249 kB] +#6 53.43 Get:1137 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-sample-consensus1.14 amd64 1.14.0+dfsg-1 [1355 kB] +#6 53.44 Get:1138 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-search1.14 amd64 1.14.0+dfsg-1 [246 kB] +#6 53.45 Get:1139 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-filters1.14 amd64 1.14.0+dfsg-1 [1042 kB] +#6 53.47 Get:1140 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-features1.14 amd64 1.14.0+dfsg-1 [4105 kB] +#6 53.49 Get:1141 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-ml1.14 amd64 1.14.0+dfsg-1 [71.2 kB] +#6 53.50 Get:1142 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-segmentation1.14 amd64 1.14.0+dfsg-1 [1366 kB] +#6 53.52 Get:1143 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-surface1.14 amd64 1.14.0+dfsg-1 [871 kB] +#6 53.53 Get:1144 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-apps1.14 amd64 1.14.0+dfsg-1 [218 kB] +#6 53.54 Get:1145 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-io1.14 amd64 1.14.0+dfsg-1 [564 kB] +#6 53.55 Get:1146 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-keypoints1.14 amd64 1.14.0+dfsg-1 [255 kB] +#6 53.56 Get:1147 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-outofcore1.14 amd64 1.14.0+dfsg-1 [36.1 kB] +#6 53.57 Get:1148 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-people1.14 amd64 1.14.0+dfsg-1 [21.5 kB] +#6 53.58 Get:1149 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-registration1.14 amd64 1.14.0+dfsg-1 [372 kB] +#6 53.59 Get:1150 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-recognition1.14 amd64 1.14.0+dfsg-1 [732 kB] +#6 53.60 Get:1151 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-stereo1.14 amd64 1.14.0+dfsg-1 [60.2 kB] +#6 53.61 Get:1152 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-tracking1.14 amd64 1.14.0+dfsg-1 [391 kB] +#6 53.62 Get:1153 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-visualization1.14 amd64 1.14.0+dfsg-1 [304 kB] +#6 53.63 Get:1154 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpoppler-dev amd64 24.02.0-1ubuntu9.8 [5200 B] +#6 53.64 Get:1155 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpoppler-private-dev amd64 24.02.0-1ubuntu9.8 [197 kB] +#6 53.65 Get:1156 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpq-dev amd64 16.14-0ubuntu0.24.04.1 [152 kB] +#6 53.66 Get:1157 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpugixml-dev amd64 1.14-0.1build1 [113 kB] +#6 53.67 Get:1158 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libsndfile1 amd64 1.2.2-1ubuntu5.24.04.1 [209 kB] +#6 53.67 Get:1159 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpulse0 amd64 1:16.1+dfsg1-2ubuntu10.1 [292 kB] +#6 53.68 Get:1160 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libpulse-mainloop-glib0 amd64 1:16.1+dfsg1-2ubuntu10.1 [12.2 kB] +#6 53.69 Get:1161 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libpulse-dev amd64 1:16.1+dfsg1-2ubuntu10.1 [75.6 kB] +#6 53.71 Get:1162 http://archive.ubuntu.com/ubuntu noble/universe amd64 libshiboken2-py3-5.15t64 amd64 5.15.13-1 [202 kB] +#6 53.72 Get:1163 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpyside2-py3-5.15t64 amd64 5.15.13-1 [78.4 kB] +#6 53.73 Get:1164 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpyside2-dev amd64 5.15.13-1 [172 kB] +#6 53.73 Get:1165 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqhull8.0 amd64 2020.2-6build1 [192 kB] +#6 53.75 Get:1166 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqhullcpp8.0 amd64 2020.2-6build1 [51.7 kB] +#6 53.76 Get:1167 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqhull-dev amd64 2020.2-6build1 [496 kB] +#6 53.77 Get:1168 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5designer5 amd64 5.15.13-1 [2824 kB] +#6 53.79 Get:1169 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5designercomponents5 amd64 5.15.13-1 [785 kB] +#6 53.80 Get:1170 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5help5 amd64 5.15.13-1 [161 kB] +#6 53.81 Get:1171 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5opengl5-dev amd64 5.15.13+dfsg-1ubuntu1 [42.4 kB] +#6 53.82 Get:1172 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5sql5-sqlite amd64 5.15.13+dfsg-1ubuntu1 [51.5 kB] +#6 53.84 Get:1173 http://archive.ubuntu.com/ubuntu noble/universe amd64 libqt5svg5 amd64 5.15.13-1 [146 kB] +#6 53.85 Get:1174 http://archive.ubuntu.com/ubuntu noble/main amd64 libraqm0 amd64 0.10.1-1build1 [15.0 kB] +#6 53.86 Get:1175 http://archive.ubuntu.com/ubuntu noble/universe amd64 librttopo-dev amd64 1.1.0-3build2 [238 kB] +#6 53.87 Get:1176 http://archive.ubuntu.com/ubuntu noble/main amd64 libsamplerate0 amd64 0.2.2-4build1 [1344 kB] +#6 53.88 Get:1177 http://archive.ubuntu.com/ubuntu noble/main amd64 libsamplerate0-dev amd64 0.2.2-4build1 [61.5 kB] +#6 53.89 Get:1178 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libsdl2-2.0-0 amd64 2.30.0+dfsg-1ubuntu3.1 [686 kB] +#6 53.90 Get:1179 http://archive.ubuntu.com/ubuntu noble/universe amd64 libsndio7.0 amd64 1.9.0-0.3build3 [29.6 kB] +#6 53.91 Get:1180 http://archive.ubuntu.com/ubuntu noble/universe amd64 libsndio-dev amd64 1.9.0-0.3build3 [17.7 kB] +#6 53.92 Get:1181 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libudev-dev amd64 255.4-1ubuntu8.15 [22.0 kB] +#6 53.93 Get:1182 http://archive.ubuntu.com/ubuntu noble/main amd64 libxrender-dev amd64 1:0.9.10-1.1build1 [26.3 kB] +#6 53.94 Get:1183 http://archive.ubuntu.com/ubuntu noble/main amd64 libxfixes-dev amd64 1:6.0.0-2build1 [12.1 kB] +#6 53.95 Get:1184 http://archive.ubuntu.com/ubuntu noble/main amd64 libxcursor-dev amd64 1:1.2.1-1build1 [31.8 kB] +#6 53.96 Get:1185 http://archive.ubuntu.com/ubuntu noble/main amd64 libxi-dev amd64 2:1.8.1-1build1 [194 kB] +#6 53.97 Get:1186 http://archive.ubuntu.com/ubuntu noble/main amd64 libxinerama-dev amd64 2:1.1.4-3build1 [7988 B] +#6 53.98 Get:1187 http://archive.ubuntu.com/ubuntu noble/main amd64 libxkbcommon-dev amd64 1.6.0-1build1 [56.3 kB] +#6 53.98 Get:1188 http://archive.ubuntu.com/ubuntu noble/main amd64 libxrandr-dev amd64 2:1.5.2-2build1 [26.4 kB] +#6 53.99 Get:1189 http://archive.ubuntu.com/ubuntu noble/main amd64 libxss-dev amd64 1:1.2.3-1build3 [12.1 kB] +#6 54.00 Get:1190 http://archive.ubuntu.com/ubuntu noble/main amd64 libsm-dev amd64 2:1.2.3-1build3 [17.8 kB] +#6 54.01 Get:1191 http://archive.ubuntu.com/ubuntu noble/main amd64 libxt-dev amd64 1:1.2.1-1.2build1 [394 kB] +#6 54.03 Get:1192 http://archive.ubuntu.com/ubuntu noble/main amd64 libxv1 amd64 2:1.0.11-1.1build1 [10.7 kB] +#6 54.04 Get:1193 http://archive.ubuntu.com/ubuntu noble/main amd64 libxv-dev amd64 2:1.0.11-1.1build1 [33.3 kB] +#6 54.07 Get:1194 http://archive.ubuntu.com/ubuntu noble/main amd64 libxxf86vm-dev amd64 1:1.1.4-1build4 [13.8 kB] +#6 54.08 Get:1195 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libsdl2-dev amd64 2.30.0+dfsg-1ubuntu3.1 [1141 kB] +#6 54.09 Get:1196 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 libserf-1-1 amd64 1.3.10-1ubuntu0.24.04.1 [48.2 kB] +#6 54.11 Get:1197 http://archive.ubuntu.com/ubuntu noble/universe amd64 shiboken2 amd64 5.15.13-1 [612 kB] +#6 54.12 Get:1198 http://archive.ubuntu.com/ubuntu noble/universe amd64 libshiboken2-dev amd64 5.15.13-1 [34.7 kB] +#6 54.13 Get:1199 http://archive.ubuntu.com/ubuntu noble/universe amd64 libspdlog1.12 amd64 1:1.12.0+ds-2build1 [147 kB] +#6 54.14 Get:1200 http://archive.ubuntu.com/ubuntu noble/universe amd64 libfmt-dev amd64 9.1.0+ds1-2 [122 kB] +#6 54.15 Get:1201 http://archive.ubuntu.com/ubuntu noble/universe amd64 libspdlog-dev amd64 1:1.12.0+ds-2build1 [83.5 kB] +#6 54.16 Get:1202 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libsqlite3-dev amd64 3.45.1-1ubuntu2.5 [911 kB] +#6 54.17 Get:1203 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libssh-4 amd64 0.10.6-2ubuntu0.4 [190 kB] +#6 54.18 Get:1204 http://archive.ubuntu.com/ubuntu noble/universe amd64 libutf8proc3 amd64 2.9.0-1build1 [70.6 kB] +#6 54.19 Get:1205 http://archive.ubuntu.com/ubuntu noble/universe amd64 libsvn1 amd64 1.14.3-1build4 [1345 kB] +#6 54.20 Get:1206 http://archive.ubuntu.com/ubuntu noble/main amd64 libtheora-dev amd64 1.1.1+dfsg.1-16.1build3 [189 kB] +#6 54.22 Get:1207 http://archive.ubuntu.com/ubuntu noble/universe amd64 liburiparser-dev amd64 0.9.7+dfsg-2build1 [15.0 kB] +#6 54.23 Get:1208 http://archive.ubuntu.com/ubuntu noble/main amd64 libusb-1.0-0-dev amd64 2:1.0.27-1 [77.7 kB] +#6 54.24 Get:1209 http://archive.ubuntu.com/ubuntu noble/universe amd64 libutfcpp-dev all 3.2.5+really3.2.4-1 [12.1 kB] +#6 54.25 Get:1210 http://archive.ubuntu.com/ubuntu noble/universe amd64 libdouble-conversion-dev amd64 3.3.0-1build1 [60.5 kB] +#6 54.26 Get:1211 http://archive.ubuntu.com/ubuntu noble/universe amd64 libfreexl-dev amd64 2.0.0-1build2 [43.8 kB] +#6 54.27 Get:1212 http://archive.ubuntu.com/ubuntu noble/universe amd64 libproj-dev amd64 9.4.0-1build2 [75.9 kB] +#6 54.28 Get:1213 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgeotiff-dev amd64 1.7.1-5build1 [88.7 kB] +#6 54.29 Get:1214 http://archive.ubuntu.com/ubuntu noble/universe amd64 libhdf4-alt-dev amd64 4.2.16-4build1 [387 kB] +#6 54.30 Get:1215 http://archive.ubuntu.com/ubuntu noble/main amd64 libjson-c-dev amd64 0.17-1build1 [63.6 kB] +#6 54.30 Get:1216 http://archive.ubuntu.com/ubuntu noble/universe amd64 libkml-dev amd64 1.3.0-12build1 [659 kB] +#6 54.31 Get:1217 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libopenjp2-7-dev amd64 2.5.0-2ubuntu0.5 [258 kB] +#6 54.32 Get:1218 http://archive.ubuntu.com/ubuntu noble/universe amd64 libspatialite-dev amd64 5.1.0-3build1 [2331 kB] +#6 54.34 Get:1219 http://archive.ubuntu.com/ubuntu noble/universe amd64 libxerces-c-dev amd64 3.2.4+debian-1.2ubuntu2 [1815 kB] +#6 54.36 Get:1220 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 unixodbc-dev amd64 2.3.12-1ubuntu0.24.04.1 [250 kB] +#6 54.37 Get:1221 http://archive.ubuntu.com/ubuntu noble/universe amd64 libgdal-dev amd64 3.8.4+dfsg-3ubuntu3 [211 kB] +#6 54.38 Get:1222 http://archive.ubuntu.com/ubuntu noble/main amd64 libjsoncpp-dev amd64 1.9.5-6build1 [23.0 kB] +#6 54.39 Get:1223 http://archive.ubuntu.com/ubuntu noble/universe amd64 libvtk9.1t64-qt amd64 9.1.0+really9.1.0+dfsg2-7.1build3 [172 kB] +#6 54.40 Get:1224 http://archive.ubuntu.com/ubuntu noble/universe amd64 libvtk9-java amd64 9.1.0+really9.1.0+dfsg2-7.1build3 [6369 kB] +#6 54.43 Get:1225 http://archive.ubuntu.com/ubuntu noble/main amd64 libxft-dev amd64 2.3.6-1build1 [64.3 kB] +#6 54.44 Get:1226 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-mpi4py amd64 3.1.5-5ubuntu2 [466 kB] +#6 54.45 Get:1227 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-vtk9 amd64 9.1.0+really9.1.0+dfsg2-7.1build3 [7296 kB] +#6 54.49 Get:1228 http://archive.ubuntu.com/ubuntu noble/main amd64 tcl8.6 amd64 8.6.14+dfsg-1build1 [14.7 kB] +#6 54.52 Get:1229 http://archive.ubuntu.com/ubuntu noble/main amd64 tcl8.6-dev amd64 8.6.14+dfsg-1build1 [1000 kB] +#6 54.53 Get:1230 http://archive.ubuntu.com/ubuntu noble/main amd64 tcl amd64 8.6.14build1 [4124 B] +#6 54.54 Get:1231 http://archive.ubuntu.com/ubuntu noble/main amd64 tcl-dev amd64 8.6.14build1 [5782 B] +#6 54.55 Get:1232 http://archive.ubuntu.com/ubuntu noble/main amd64 tk8.6 amd64 8.6.14-1build1 [12.5 kB] +#6 54.56 Get:1233 http://archive.ubuntu.com/ubuntu noble/main amd64 tk8.6-dev amd64 8.6.14-1build1 [788 kB] +#6 54.58 Get:1234 http://archive.ubuntu.com/ubuntu noble/main amd64 tk amd64 8.6.14build1 [3076 B] +#6 54.59 Get:1235 http://archive.ubuntu.com/ubuntu noble/main amd64 tk-dev amd64 8.6.14build1 [2914 B] +#6 54.59 Get:1236 http://archive.ubuntu.com/ubuntu noble/universe amd64 vtk9 amd64 9.1.0+really9.1.0+dfsg2-7.1build3 [16.2 kB] +#6 54.60 Get:1237 http://archive.ubuntu.com/ubuntu noble/universe amd64 libvtk9-dev amd64 9.1.0+really9.1.0+dfsg2-7.1build3 [2765 kB] +#6 54.62 Get:1238 http://archive.ubuntu.com/ubuntu noble/universe amd64 qdoc-qt5 amd64 5.15.13-1 [634 kB] +#6 54.63 Get:1239 http://archive.ubuntu.com/ubuntu noble/universe amd64 qhelpgenerator-qt5 amd64 5.15.13-1 [59.7 kB] +#6 54.64 Get:1240 http://archive.ubuntu.com/ubuntu noble/universe amd64 qt5-assistant amd64 5.15.13-1 [362 kB] +#6 54.66 Get:1241 http://archive.ubuntu.com/ubuntu noble/universe amd64 qtattributionsscanner-qt5 amd64 5.15.13-1 [34.3 kB] +#6 54.66 Get:1242 http://archive.ubuntu.com/ubuntu noble/universe amd64 qttools5-dev-tools amd64 5.15.13-1 [1115 kB] +#6 54.68 Get:1243 http://archive.ubuntu.com/ubuntu noble/universe amd64 qttools5-dev amd64 5.15.13-1 [204 kB] +#6 54.69 Get:1244 http://archive.ubuntu.com/ubuntu noble/universe amd64 qttools5-private-dev amd64 5.15.13-1 [71.7 kB] +#6 54.69 Get:1245 http://archive.ubuntu.com/ubuntu noble/universe amd64 libvtk9-qt-dev amd64 9.1.0+really9.1.0+dfsg2-7.1build3 [28.6 kB] +#6 54.70 Get:1246 http://archive.ubuntu.com/ubuntu noble/main amd64 libxmu-headers all 2:1.1.3-3build2 [53.0 kB] +#6 54.71 Get:1247 http://archive.ubuntu.com/ubuntu noble/main amd64 libxmu-dev amd64 2:1.1.3-3build2 [55.4 kB] +#6 54.72 Get:1248 http://archive.ubuntu.com/ubuntu noble/main amd64 libxpm-dev amd64 1:3.5.17-1build2 [109 kB] +#6 54.73 Get:1249 http://archive.ubuntu.com/ubuntu noble/main amd64 libxaw7-dev amd64 2:1.0.14-1build2 [253 kB] +#6 54.75 Get:1250 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 libxml2-utils amd64 2.9.14+dfsg-1.3ubuntu3.7 [39.4 kB] +#6 54.76 Get:1251 http://archive.ubuntu.com/ubuntu noble/main amd64 libyaml-cpp0.8 amd64 0.8.0+dfsg-6build1 [115 kB] +#6 54.76 Get:1252 http://archive.ubuntu.com/ubuntu noble/main amd64 libyaml-cpp-dev amd64 0.8.0+dfsg-6build1 [188 kB] +#6 54.77 Get:1253 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 mercurial-common all 6.7.2-1ubuntu2.2 [2955 kB] +#6 54.79 Get:1254 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 mercurial amd64 6.7.2-1ubuntu2.2 [328 kB] +#6 54.80 Get:1255 http://archive.ubuntu.com/ubuntu noble/universe amd64 pybind11-dev all 2.11.1-2 [159 kB] +#6 54.81 Get:1256 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-more-itertools all 10.2.0-1 [52.9 kB] +#6 54.82 Get:1257 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3-zipp all 1.0.0-6ubuntu0.1 [6774 B] +#6 54.83 Get:1258 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-importlib-metadata all 4.12.0-1 [17.8 kB] +#6 54.84 Get:1259 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-snowballstemmer all 2.2.0-4build1 [59.8 kB] +#6 54.85 Get:1260 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pydocstyle all 6.3.0-1.1 [35.2 kB] +#6 54.86 Get:1261 http://archive.ubuntu.com/ubuntu noble/universe amd64 pydocstyle all 6.3.0-1.1 [8554 B] +#6 54.87 Get:1262 http://archive.ubuntu.com/ubuntu noble/universe amd64 pyqt5-dev all 5.15.10+dfsg-1build6 [318 kB] +#6 54.88 Get:1263 http://archive.ubuntu.com/ubuntu noble/universe amd64 python-matplotlib-data all 3.6.3-1ubuntu5 [2936 kB] +#6 54.90 Get:1264 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-appdirs all 1.4.4-4 [10.9 kB] +#6 54.91 Get:1265 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 python3-argcomplete all 3.1.4-1ubuntu0.1 [33.8 kB] +#6 54.92 Get:1266 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-attr all 23.2.0-2 [48.6 kB] +#6 54.93 Get:1267 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-empy all 3.3.4-2 [65.7 kB] +#6 54.94 Get:1268 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-six all 1.16.0-4 [12.4 kB] +#6 54.95 Get:1269 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-dateutil all 2.8.2-3ubuntu1 [79.4 kB] +#6 54.96 Get:1270 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-roman all 3.3-3 [9632 B] +#6 54.97 Get:1271 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-docutils all 0.20.1+dfsg-3 [393 kB] +#6 54.98 Get:1272 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-pyparsing all 3.1.1-1 [86.2 kB] +#6 54.99 Get:1273 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-distro all 1.9.0-1 [19.0 kB] +#6 55.00 Get:1274 http://archive.ubuntu.com/ubuntu noble/universe amd64 subversion amd64 1.14.3-1build4 [908 kB] +#6 55.01 Get:1275 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-brotli amd64 1.1.0-2build2 [332 kB] +#6 55.02 Get:1276 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-cairo amd64 1.25.1-2build2 [119 kB] +#6 55.03 Get:1277 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-colorama all 0.4.6-4 [32.1 kB] +#6 55.04 Get:1278 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-click all 8.1.6-2 [79.0 kB] +#6 55.05 Get:1279 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-distlib all 0.3.8-1 [318 kB] +#6 55.06 Get:1280 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-iniconfig all 1.1.1-2 [6024 B] +#6 55.07 Get:1281 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pluggy all 1.4.0-1 [20.4 kB] +#6 55.08 Get:1282 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pytest all 7.4.4-1 [305 kB] +#6 55.09 Get:1283 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-notify2 all 0.3-5 [11.2 kB] +#6 55.10 Get:1284 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-numpy amd64 1:1.26.4+ds-6ubuntu1 [4437 kB] +#6 55.13 Get:1285 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-contourpy amd64 1.0.7-2build1 [181 kB] +#6 55.14 Get:1286 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3-cryptography amd64 41.0.7-4ubuntu0.4 [815 kB] +#6 55.15 Get:1287 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-cycler all 0.11.0-2 [8202 B] +#6 55.16 Get:1288 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-decorator all 5.1.1-5 [10.1 kB] +#6 55.17 Get:1289 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-wrapt amd64 1.15.0-2build3 [34.8 kB] +#6 55.18 Get:1290 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-deprecated all 1.2.14-1 [10.5 kB] +#6 55.19 Get:1291 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-mccabe all 0.7.0-1 [8678 B] +#6 55.20 Get:1292 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pycodestyle all 2.11.1-1 [29.9 kB] +#6 55.22 Get:1293 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pyflakes all 3.2.0-1 [52.8 kB] +#6 55.22 Get:1294 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-flake8 all 7.0.0-1 [43.7 kB] +#6 55.23 Get:1295 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-flake8-builtins all 2.1.0-1 [7680 B] +#6 55.24 Get:1296 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-flake8-comprehensions all 3.14.0-1 [8628 B] +#6 55.25 Get:1297 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-flake8-docstrings all 1.6.0-2 [6736 B] +#6 55.26 Get:1298 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-flake8-import-order all 0.18.2-2 [15.7 kB] +#6 55.27 Get:1299 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-flake8-quotes all 3.4.0-1 [9510 B] +#6 55.28 Get:1300 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-scipy amd64 1.11.4-6build1 [15.5 MB] +#6 55.35 Get:1301 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-ufolib2 all 0.16.0+dfsg1-1 [33.5 kB] +#6 55.36 Get:1302 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-mpmath all 1.2.1-3 [421 kB] +#6 55.37 Get:1303 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-sympy all 1.12-7 [3966 kB] +#6 55.40 Get:1304 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-tz all 2024.1-2 [31.4 kB] +#6 55.41 Get:1305 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-fs all 2.4.16-3 [91.1 kB] +#6 55.42 Get:1306 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-lxml amd64 5.2.1-1 [1243 kB] +#6 55.43 Get:1307 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-lz4 amd64 4.0.2+dfsg-1build4 [26.2 kB] +#6 55.44 Get:1308 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-unicodedata2 amd64 15.1.0+ds-1build1 [362 kB] +#6 55.45 Get:1309 http://archive.ubuntu.com/ubuntu noble/universe amd64 unicode-data all 15.1.0-1 [8878 kB] +#6 55.49 Get:1310 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-fonttools amd64 4.46.0-1build2 [1436 kB] +#6 55.51 Get:1311 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-markupsafe amd64 2.1.5-1build2 [12.7 kB] +#6 55.52 Get:1312 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3-jinja2 all 3.1.2-1ubuntu1.3 [108 kB] +#6 55.52 Get:1313 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-kiwisolver amd64 1.4.4-2build1 [50.6 kB] +#6 55.53 Get:1314 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-lark all 1.1.9-1 [130 kB] +#6 55.55 Get:1315 http://archive.ubuntu.com/ubuntu noble-updates/main amd64 python3-pil amd64 10.2.0-1ubuntu1 [452 kB] +#6 55.56 Get:1316 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-tk amd64 3.12.3-0ubuntu1 [102 kB] +#6 55.57 Get:1317 http://archive.ubuntu.com/ubuntu noble-updates/universe amd64 python3-pil.imagetk amd64 10.2.0-1ubuntu1 [9238 B] +#6 55.58 Get:1318 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-matplotlib amd64 3.6.3-1ubuntu5 [6079 kB] +#6 55.61 Get:1319 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-opencv amd64 4.6.0+dfsg-13.1ubuntu1 [1826 kB] +#6 55.63 Get:1320 http://archive.ubuntu.com/ubuntu noble/main amd64 python3-psutil amd64 5.9.8-2build2 [195 kB] +#6 55.64 Get:1321 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pydot all 1.4.2-2 [24.4 kB] +#6 55.65 Get:1322 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pykdl amd64 1.5.1-4build1 [304 kB] +#6 55.66 Get:1323 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pyqt5.sip amd64 12.13.0-1build3 [61.3 kB] +#6 55.68 Get:1324 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pyqt5 amd64 5.15.10+dfsg-1build6 [2753 kB] +#6 55.70 Get:1325 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pyqt5.qtsvg amd64 5.15.10+dfsg-1build6 [30.1 kB] +#6 55.71 Get:1326 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pyside2.qtcore amd64 5.15.13-1 [1174 kB] +#6 55.72 Get:1327 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pyside2.qtgui amd64 5.15.13-1 [1231 kB] +#6 55.73 Get:1328 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pyside2.qtwidgets amd64 5.15.13-1 [2018 kB] +#6 55.75 Get:1329 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-pyside2.qtsvg amd64 5.15.13-1 [56.6 kB] +#6 55.76 Get:1330 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-sip amd64 4.19.25+dfsg-5build3 [94.2 kB] +#6 55.77 Get:1331 http://archive.ubuntu.com/ubuntu noble/universe amd64 sip-dev amd64 4.19.25+dfsg-5build3 [186 kB] +#6 55.78 Get:1332 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-sip-dev amd64 4.19.25+dfsg-5build3 [21.8 kB] +#6 55.79 Get:1333 http://archive.ubuntu.com/ubuntu noble/universe amd64 python3-typeguard all 4.1.5-1 [32.7 kB] +#6 55.80 Get:1334 http://archive.ubuntu.com/ubuntu noble/universe amd64 uncrustify amd64 0.78.1+dfsg1-1 [654 kB] +#6 55.82 Get:1335 http://archive.ubuntu.com/ubuntu noble/main amd64 libyaml-dev amd64 0.2.5-1build1 [62.2 kB] +#6 55.83 Get:1336 http://archive.ubuntu.com/ubuntu noble/universe amd64 libtinyxml2-dev amd64 10.0.0+dfsg-2 [21.5 kB] +#6 55.84 Get:1337 http://archive.ubuntu.com/ubuntu noble/main amd64 liburcu-dev amd64 0.14.0-3.1build1 [134 kB] +#6 55.85 Get:1338 http://archive.ubuntu.com/ubuntu noble/main amd64 liblttng-ust-dev amd64 2.13.7-1.1ubuntu2 [97.4 kB] +#6 55.86 Get:1339 http://archive.ubuntu.com/ubuntu noble/universe amd64 libconsole-bridge-dev amd64 1.0.1+dfsg2-3build1 [6952 B] +#6 55.87 Get:1340 http://archive.ubuntu.com/ubuntu noble/universe amd64 libassimp-dev amd64 5.3.1+ds-2build1 [147 kB] +#6 55.88 Get:1341 http://archive.ubuntu.com/ubuntu noble/universe amd64 libbullet-dev amd64 3.24+dfsg-2.1build1 [397 kB] +#6 55.89 Get:1342 http://archive.ubuntu.com/ubuntu noble/universe amd64 libccd-dev amd64 2.1-2 [10.5 kB] +#6 55.90 Get:1343 http://archive.ubuntu.com/ubuntu noble/universe amd64 libfcl-dev amd64 0.7.0-3build2 [235 kB] +#6 55.91 Get:1344 http://archive.ubuntu.com/ubuntu noble/universe amd64 libpcl-dev amd64 1.14.0+dfsg-1 [1142 kB] +#6 55.92 Get:1345 http://archive.ubuntu.com/ubuntu noble/universe amd64 tango-icon-theme all 0.8.90-11 [1180 kB] +#6 55.94 Get:1346 http://archive.ubuntu.com/ubuntu noble/universe amd64 libomp-dev amd64 1:18.0-59~exp2 [5366 B] +#6 56.17 debconf: delaying package configuration, since apt-utils is not installed +#6 56.22 Fetched 796 MB in 11s (70.1 MB/s) +#6 56.24 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 43123 files and directories currently installed.) +#6 56.26 Preparing to unpack .../bsdutils_1%3a2.39.3-9ubuntu6.5_amd64.deb ... +#6 56.28 Unpacking bsdutils (1:2.39.3-9ubuntu6.5) over (1:2.39.3-9ubuntu6.2) ... +#6 56.37 Setting up bsdutils (1:2.39.3-9ubuntu6.5) ... +#6 56.42 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 43123 files and directories currently installed.) +#6 56.44 Preparing to unpack .../util-linux_2.39.3-9ubuntu6.5_amd64.deb ... +#6 56.46 Unpacking util-linux (2.39.3-9ubuntu6.5) over (2.39.3-9ubuntu6.2) ... +#6 56.89 Setting up util-linux (2.39.3-9ubuntu6.5) ... +#6 57.05 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 43123 files and directories currently installed.) +#6 57.07 Preparing to unpack .../mount_2.39.3-9ubuntu6.5_amd64.deb ... +#6 57.08 Unpacking mount (2.39.3-9ubuntu6.5) over (2.39.3-9ubuntu6.2) ... +#6 57.17 Selecting previously unselected package libapparmor1:amd64. +#6 57.17 Preparing to unpack .../libapparmor1_4.0.1really4.0.1-0ubuntu0.24.04.6_amd64.deb ... +#6 57.18 Unpacking libapparmor1:amd64 (4.0.1really4.0.1-0ubuntu0.24.04.6) ... +#6 57.21 Selecting previously unselected package libargon2-1:amd64. +#6 57.22 Preparing to unpack .../libargon2-1_0~20190702+dfsg-4build1_amd64.deb ... +#6 57.22 Unpacking libargon2-1:amd64 (0~20190702+dfsg-4build1) ... +#6 57.27 Preparing to unpack .../libblkid1_2.39.3-9ubuntu6.5_amd64.deb ... +#6 57.28 Unpacking libblkid1:amd64 (2.39.3-9ubuntu6.5) over (2.39.3-9ubuntu6.2) ... +#6 57.35 Setting up libblkid1:amd64 (2.39.3-9ubuntu6.5) ... +#6 57.39 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 43132 files and directories currently installed.) +#6 57.41 Preparing to unpack .../libudev1_255.4-1ubuntu8.15_amd64.deb ... +#6 57.43 Unpacking libudev1:amd64 (255.4-1ubuntu8.15) over (255.4-1ubuntu8.8) ... +#6 57.49 Setting up libudev1:amd64 (255.4-1ubuntu8.15) ... +#6 57.67 Selecting previously unselected package libdevmapper1.02.1:amd64. +#6 57.67 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 43132 files and directories currently installed.) +#6 57.69 Preparing to unpack .../libdevmapper1.02.1_2%3a1.02.185-3ubuntu3.2_amd64.deb ... +#6 57.71 Unpacking libdevmapper1.02.1:amd64 (2:1.02.185-3ubuntu3.2) ... +#6 57.81 Selecting previously unselected package libjson-c5:amd64. +#6 57.81 Preparing to unpack .../libjson-c5_0.17-1build1_amd64.deb ... +#6 57.82 Unpacking libjson-c5:amd64 (0.17-1build1) ... +#6 57.87 Preparing to unpack .../libssl3t64_3.0.13-0ubuntu3.9_amd64.deb ... +#6 57.88 Unpacking libssl3t64:amd64 (3.0.13-0ubuntu3.9) over (3.0.13-0ubuntu3.6) ... +#6 58.00 Setting up libssl3t64:amd64 (3.0.13-0ubuntu3.9) ... +#6 58.05 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 43143 files and directories currently installed.) +#6 58.07 Preparing to unpack .../libuuid1_2.39.3-9ubuntu6.5_amd64.deb ... +#6 58.09 Unpacking libuuid1:amd64 (2.39.3-9ubuntu6.5) over (2.39.3-9ubuntu6.2) ... +#6 58.14 Setting up libuuid1:amd64 (2.39.3-9ubuntu6.5) ... +#6 58.20 Selecting previously unselected package libcryptsetup12:amd64. +#6 58.20 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 43143 files and directories currently installed.) +#6 58.21 Preparing to unpack .../libcryptsetup12_2%3a2.7.0-1ubuntu4.2_amd64.deb ... +#6 58.22 Unpacking libcryptsetup12:amd64 (2:2.7.0-1ubuntu4.2) ... +#6 58.26 Selecting previously unselected package libfdisk1:amd64. +#6 58.26 Preparing to unpack .../libfdisk1_2.39.3-9ubuntu6.5_amd64.deb ... +#6 58.26 Unpacking libfdisk1:amd64 (2.39.3-9ubuntu6.5) ... +#6 58.31 Selecting previously unselected package libkmod2:amd64. +#6 58.31 Preparing to unpack .../libkmod2_31+20240202-2ubuntu7.2_amd64.deb ... +#6 58.32 Unpacking libkmod2:amd64 (31+20240202-2ubuntu7.2) ... +#6 58.36 Preparing to unpack .../libmount1_2.39.3-9ubuntu6.5_amd64.deb ... +#6 58.37 Unpacking libmount1:amd64 (2.39.3-9ubuntu6.5) over (2.39.3-9ubuntu6.2) ... +#6 58.44 Setting up libmount1:amd64 (2.39.3-9ubuntu6.5) ... +#6 58.49 Selecting previously unselected package libsystemd-shared:amd64. +#6 58.49 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 43163 files and directories currently installed.) +#6 58.51 Preparing to unpack .../libsystemd-shared_255.4-1ubuntu8.15_amd64.deb ... +#6 58.51 Unpacking libsystemd-shared:amd64 (255.4-1ubuntu8.15) ... +#6 58.57 Preparing to unpack .../libsystemd0_255.4-1ubuntu8.15_amd64.deb ... +#6 58.58 Unpacking libsystemd0:amd64 (255.4-1ubuntu8.15) over (255.4-1ubuntu8.8) ... +#6 58.65 Setting up libsystemd0:amd64 (255.4-1ubuntu8.15) ... +#6 58.70 Selecting previously unselected package systemd-dev. +#6 58.70 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 43171 files and directories currently installed.) +#6 58.72 Preparing to unpack .../systemd-dev_255.4-1ubuntu8.15_all.deb ... +#6 58.73 Unpacking systemd-dev (255.4-1ubuntu8.15) ... +#6 58.78 Selecting previously unselected package systemd. +#6 58.78 Preparing to unpack .../systemd_255.4-1ubuntu8.15_amd64.deb ... +#6 58.80 Unpacking systemd (255.4-1ubuntu8.15) ... +#6 58.99 Setting up libapparmor1:amd64 (4.0.1really4.0.1-0ubuntu0.24.04.6) ... +#6 59.01 Setting up libargon2-1:amd64 (0~20190702+dfsg-4build1) ... +#6 59.02 Setting up libdevmapper1.02.1:amd64 (2:1.02.185-3ubuntu3.2) ... +#6 59.03 Setting up libjson-c5:amd64 (0.17-1build1) ... +#6 59.04 Setting up libcryptsetup12:amd64 (2:2.7.0-1ubuntu4.2) ... +#6 59.05 Setting up libfdisk1:amd64 (2.39.3-9ubuntu6.5) ... +#6 59.07 Setting up libkmod2:amd64 (31+20240202-2ubuntu7.2) ... +#6 59.08 Setting up libsystemd-shared:amd64 (255.4-1ubuntu8.15) ... +#6 59.09 Setting up systemd-dev (255.4-1ubuntu8.15) ... +#6 59.11 Setting up mount (2.39.3-9ubuntu6.5) ... +#6 59.12 Setting up systemd (255.4-1ubuntu8.15) ... +#6 59.17 Created symlink /etc/systemd/system/getty.target.wants/getty@tty1.service → /usr/lib/systemd/system/getty@.service. +#6 59.18 Created symlink /etc/systemd/system/multi-user.target.wants/remote-fs.target → /usr/lib/systemd/system/remote-fs.target. +#6 59.18 Created symlink /etc/systemd/system/sysinit.target.wants/systemd-pstore.service → /usr/lib/systemd/system/systemd-pstore.service. +#6 59.19 Initializing machine ID from random generator. +#6 59.21 /usr/lib/tmpfiles.d/systemd-network.conf:10: Failed to resolve user 'systemd-network': No such process +#6 59.21 /usr/lib/tmpfiles.d/systemd-network.conf:11: Failed to resolve user 'systemd-network': No such process +#6 59.21 /usr/lib/tmpfiles.d/systemd-network.conf:12: Failed to resolve user 'systemd-network': No such process +#6 59.21 /usr/lib/tmpfiles.d/systemd-network.conf:13: Failed to resolve user 'systemd-network': No such process +#6 59.21 /usr/lib/tmpfiles.d/systemd.conf:22: Failed to resolve group 'systemd-journal': No such process +#6 59.21 /usr/lib/tmpfiles.d/systemd.conf:23: Failed to resolve group 'systemd-journal': No such process +#6 59.21 /usr/lib/tmpfiles.d/systemd.conf:28: Failed to resolve group 'systemd-journal': No such process +#6 59.21 /usr/lib/tmpfiles.d/systemd.conf:29: Failed to resolve group 'systemd-journal': No such process +#6 59.21 /usr/lib/tmpfiles.d/systemd.conf:30: Failed to resolve group 'systemd-journal': No such process +#6 59.23 Creating group 'systemd-journal' with GID 999. +#6 59.23 Creating group 'systemd-network' with GID 998. +#6 59.23 Creating user 'systemd-network' (systemd Network Management) with UID 998 and GID 998. +#6 59.32 Selecting previously unselected package systemd-sysv. +#6 59.32 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 44148 files and directories currently installed.) +#6 59.34 Preparing to unpack .../000-systemd-sysv_255.4-1ubuntu8.15_amd64.deb ... +#6 59.35 Unpacking systemd-sysv (255.4-1ubuntu8.15) ... +#6 59.40 Preparing to unpack .../001-libglib2.0-0t64_2.80.0-6ubuntu3.8_amd64.deb ... +#6 59.42 Unpacking libglib2.0-0t64:amd64 (2.80.0-6ubuntu3.8) over (2.80.0-6ubuntu3.4) ... +#6 59.52 Preparing to unpack .../002-libdrm-common_2.4.125-1ubuntu0.1~24.04.1_all.deb ... +#6 59.53 Unpacking libdrm-common (2.4.125-1ubuntu0.1~24.04.1) over (2.4.122-1~ubuntu0.24.04.1) ... +#6 59.60 Preparing to unpack .../003-libdrm2_2.4.125-1ubuntu0.1~24.04.1_amd64.deb ... +#6 59.61 Unpacking libdrm2:amd64 (2.4.125-1ubuntu0.1~24.04.1) over (2.4.122-1~ubuntu0.24.04.1) ... +#6 59.66 Selecting previously unselected package libunwind8:amd64. +#6 59.66 Preparing to unpack .../004-libunwind8_1.6.2-3build1.1_amd64.deb ... +#6 59.67 Unpacking libunwind8:amd64 (1.6.2-3build1.1) ... +#6 59.71 Selecting previously unselected package libgstreamer1.0-0:amd64. +#6 59.72 Preparing to unpack .../005-libgstreamer1.0-0_1.24.2-1ubuntu0.1_amd64.deb ... +#6 59.72 Unpacking libgstreamer1.0-0:amd64 (1.24.2-1ubuntu0.1) ... +#6 59.78 Selecting previously unselected package liborc-0.4-0t64:amd64. +#6 59.79 Preparing to unpack .../006-liborc-0.4-0t64_1%3a0.4.38-1ubuntu0.1_amd64.deb ... +#6 59.79 Unpacking liborc-0.4-0t64:amd64 (1:0.4.38-1ubuntu0.1) ... +#6 59.83 Selecting previously unselected 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libxcb-util1:amd64 (0.4.0-1build3) ... +#6 62.35 Selecting previously unselected package libxcb-image0:amd64. +#6 62.35 Preparing to unpack .../041-libxcb-image0_0.4.0-2build1_amd64.deb ... +#6 62.35 Unpacking libxcb-image0:amd64 (0.4.0-2build1) ... +#6 62.39 Selecting previously unselected package libxcb-keysyms1:amd64. +#6 62.40 Preparing to unpack .../042-libxcb-keysyms1_0.4.0-1build4_amd64.deb ... +#6 62.40 Unpacking libxcb-keysyms1:amd64 (0.4.0-1build4) ... +#6 62.45 Selecting previously unselected package libxcb-render0:amd64. +#6 62.46 Preparing to unpack .../043-libxcb-render0_1.15-1ubuntu2_amd64.deb ... +#6 62.46 Unpacking libxcb-render0:amd64 (1.15-1ubuntu2) ... +#6 62.51 Selecting previously unselected package libxcb-render-util0:amd64. +#6 62.51 Preparing to unpack .../044-libxcb-render-util0_0.3.9-1build4_amd64.deb ... +#6 62.51 Unpacking libxcb-render-util0:amd64 (0.3.9-1build4) ... +#6 62.55 Selecting previously unselected package libxcb-shape0:amd64. +#6 62.56 Preparing 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libxkbcommon0:amd64. +#6 62.89 Preparing to unpack .../050-libxkbcommon0_1.6.0-1build1_amd64.deb ... +#6 62.89 Unpacking libxkbcommon0:amd64 (1.6.0-1build1) ... +#6 62.94 Selecting previously unselected package libxkbcommon-x11-0:amd64. +#6 62.95 Preparing to unpack .../051-libxkbcommon-x11-0_1.6.0-1build1_amd64.deb ... +#6 62.95 Unpacking libxkbcommon-x11-0:amd64 (1.6.0-1build1) ... +#6 63.00 Selecting previously unselected package libqt5gui5t64:amd64. +#6 63.00 Preparing to unpack .../052-libqt5gui5t64_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 63.01 Unpacking libqt5gui5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 63.10 Selecting previously unselected package libqt5positioning5:amd64. +#6 63.11 Preparing to unpack .../053-libqt5positioning5_5.15.13+dfsg-1_amd64.deb ... +#6 63.14 Unpacking libqt5positioning5:amd64 (5.15.13+dfsg-1) ... +#6 63.23 Selecting previously unselected package libavahi-common-data:amd64. +#6 63.24 Preparing to unpack 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libqt5widgets5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 63.57 Selecting previously unselected package libqt5printsupport5t64:amd64. +#6 63.58 Preparing to unpack .../059-libqt5printsupport5t64_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 63.58 Unpacking libqt5printsupport5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 63.63 Selecting previously unselected package libqt5qml5:amd64. +#6 63.63 Preparing to unpack .../060-libqt5qml5_5.15.13+dfsg-1ubuntu0.1_amd64.deb ... +#6 63.63 Unpacking libqt5qml5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 63.70 Selecting previously unselected package libqt5qmlmodels5:amd64. +#6 63.70 Preparing to unpack .../061-libqt5qmlmodels5_5.15.13+dfsg-1ubuntu0.1_amd64.deb ... +#6 63.71 Unpacking libqt5qmlmodels5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 63.76 Selecting previously unselected package libqt5quick5:amd64. +#6 63.77 Preparing to unpack .../062-libqt5quick5_5.15.13+dfsg-1ubuntu0.1_amd64.deb ... +#6 63.78 Unpacking libqt5quick5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 63.85 Selecting previously unselected package libqt5sensors5:amd64. +#6 63.86 Preparing to unpack .../063-libqt5sensors5_5.15.13-1_amd64.deb ... +#6 63.86 Unpacking libqt5sensors5:amd64 (5.15.13-1) ... +#6 63.91 Selecting previously unselected package libqt5webchannel5:amd64. +#6 63.92 Preparing to unpack .../064-libqt5webchannel5_5.15.13-1_amd64.deb ... +#6 63.92 Unpacking libqt5webchannel5:amd64 (5.15.13-1) ... +#6 63.97 Selecting previously unselected package libsharpyuv0:amd64. +#6 63.97 Preparing to unpack .../065-libsharpyuv0_1.3.2-0.4build3_amd64.deb ... +#6 63.98 Unpacking libsharpyuv0:amd64 (1.3.2-0.4build3) ... +#6 64.02 Selecting previously unselected package libwebp7:amd64. +#6 64.03 Preparing to unpack .../066-libwebp7_1.3.2-0.4build3_amd64.deb ... +#6 64.03 Unpacking libwebp7:amd64 (1.3.2-0.4build3) ... +#6 64.07 Selecting previously unselected package libwoff1:amd64. +#6 64.08 Preparing to unpack .../067-libwoff1_1.0.2-2build1_amd64.deb ... +#6 64.08 Unpacking libwoff1:amd64 (1.0.2-2build1) ... +#6 64.13 Selecting previously unselected package libxslt1.1:amd64. +#6 64.14 Preparing to unpack .../068-libxslt1.1_1.1.39-0exp1ubuntu0.24.04.3_amd64.deb ... +#6 64.14 Unpacking libxslt1.1:amd64 (1.1.39-0exp1ubuntu0.24.04.3) ... +#6 64.20 Selecting previously unselected package libqt5webkit5:amd64. +#6 64.20 Preparing to unpack .../069-libqt5webkit5_5.212.0~alpha4-36_amd64.deb ... +#6 64.20 Unpacking libqt5webkit5:amd64 (5.212.0~alpha4-36) ... +#6 64.40 Selecting previously unselected package xorg-sgml-doctools. +#6 64.40 Preparing to unpack .../070-xorg-sgml-doctools_1%3a1.11-1.1_all.deb ... +#6 64.41 Unpacking xorg-sgml-doctools (1:1.11-1.1) ... +#6 64.45 Selecting previously unselected package x11proto-dev. +#6 64.45 Preparing to unpack .../071-x11proto-dev_2023.2-1_all.deb ... +#6 64.46 Unpacking x11proto-dev (2023.2-1) ... +#6 64.54 Selecting previously unselected package libxau-dev:amd64. +#6 64.54 Preparing to unpack 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libx11-dev:amd64. +#6 64.79 Preparing to unpack .../077-libx11-dev_2%3a1.8.7-1build1_amd64.deb ... +#6 64.80 Unpacking libx11-dev:amd64 (2:1.8.7-1build1) ... +#6 64.85 Selecting previously unselected package libglx-dev:amd64. +#6 64.85 Preparing to unpack .../078-libglx-dev_1.7.0-1build1_amd64.deb ... +#6 64.86 Unpacking libglx-dev:amd64 (1.7.0-1build1) ... +#6 64.91 Selecting previously unselected package libgl-dev:amd64. +#6 64.91 Preparing to unpack .../079-libgl-dev_1.7.0-1build1_amd64.deb ... +#6 64.92 Unpacking libgl-dev:amd64 (1.7.0-1build1) ... +#6 64.97 Selecting previously unselected package libegl-dev:amd64. +#6 64.97 Preparing to unpack .../080-libegl-dev_1.7.0-1build1_amd64.deb ... +#6 64.98 Unpacking libegl-dev:amd64 (1.7.0-1build1) ... +#6 65.02 Selecting previously unselected package libopengl-dev:amd64. +#6 65.03 Preparing to unpack .../081-libopengl-dev_1.7.0-1build1_amd64.deb ... +#6 65.03 Unpacking libopengl-dev:amd64 (1.7.0-1build1) ... +#6 65.08 Selecting previously unselected package libglu1-mesa-dev:amd64. +#6 65.08 Preparing to unpack .../082-libglu1-mesa-dev_9.0.2-1.1build1_amd64.deb ... +#6 65.09 Unpacking libglu1-mesa-dev:amd64 (9.0.2-1.1build1) ... +#6 65.14 Selecting previously unselected package libqt5concurrent5t64:amd64. +#6 65.14 Preparing to unpack .../083-libqt5concurrent5t64_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 65.15 Unpacking libqt5concurrent5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 65.18 Selecting previously unselected package libqt5sql5t64:amd64. +#6 65.19 Preparing to unpack .../084-libqt5sql5t64_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 65.19 Unpacking libqt5sql5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 65.25 Selecting previously unselected package libqt5test5t64:amd64. +#6 65.25 Preparing to unpack .../085-libqt5test5t64_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 65.26 Unpacking libqt5test5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 65.30 Selecting previously unselected package libqt5xml5t64:amd64. +#6 65.30 Preparing to unpack .../086-libqt5xml5t64_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 65.30 Unpacking libqt5xml5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 65.35 Selecting previously unselected package libvulkan-dev:amd64. +#6 65.36 Preparing to unpack .../087-libvulkan-dev_1.3.275.0-1build1_amd64.deb ... +#6 65.36 Unpacking libvulkan-dev:amd64 (1.3.275.0-1build1) ... +#6 65.46 Selecting previously unselected package libxext-dev:amd64. +#6 65.46 Preparing to unpack .../088-libxext-dev_2%3a1.3.4-1build2_amd64.deb ... +#6 65.47 Unpacking libxext-dev:amd64 (2:1.3.4-1build2) ... +#6 65.51 Selecting previously unselected package qt5-qmake-bin. +#6 65.52 Preparing to unpack .../089-qt5-qmake-bin_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 65.52 Unpacking qt5-qmake-bin (5.15.13+dfsg-1ubuntu1) ... +#6 65.58 Selecting previously unselected package qtchooser. +#6 65.58 Preparing to unpack .../090-qtchooser_66-2build2_amd64.deb ... +#6 65.58 Unpacking qtchooser (66-2build2) ... +#6 65.63 Selecting previously unselected package qt5-qmake:amd64. +#6 65.64 Preparing to unpack .../091-qt5-qmake_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 65.64 Unpacking qt5-qmake:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 65.78 Selecting previously unselected package qtbase5-dev-tools. +#6 65.78 Preparing to unpack .../092-qtbase5-dev-tools_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 65.79 Unpacking qtbase5-dev-tools (5.15.13+dfsg-1ubuntu1) ... +#6 65.84 Selecting previously unselected package qtbase5-dev:amd64. +#6 65.85 Preparing to unpack .../093-qtbase5-dev_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 65.85 Unpacking qtbase5-dev:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 66.17 Selecting previously unselected package libqt5qmlworkerscript5:amd64. +#6 66.17 Preparing to unpack .../094-libqt5qmlworkerscript5_5.15.13+dfsg-1ubuntu0.1_amd64.deb ... +#6 66.17 Unpacking libqt5qmlworkerscript5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 66.22 Selecting previously unselected package libqt5quickparticles5:amd64. +#6 66.23 Preparing to unpack .../095-libqt5quickparticles5_5.15.13+dfsg-1ubuntu0.1_amd64.deb ... +#6 66.23 Unpacking libqt5quickparticles5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 66.27 Selecting previously unselected package libqt5quickshapes5:amd64. +#6 66.28 Preparing to unpack .../096-libqt5quickshapes5_5.15.13+dfsg-1ubuntu0.1_amd64.deb ... +#6 66.28 Unpacking libqt5quickshapes5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 66.33 Selecting previously unselected package libqt5quicktest5:amd64. +#6 66.33 Preparing to unpack .../097-libqt5quicktest5_5.15.13+dfsg-1ubuntu0.1_amd64.deb ... +#6 66.34 Unpacking libqt5quicktest5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 66.39 Selecting previously unselected package libqt5quickwidgets5:amd64. +#6 66.39 Preparing to unpack .../098-libqt5quickwidgets5_5.15.13+dfsg-1ubuntu0.1_amd64.deb ... +#6 66.40 Unpacking libqt5quickwidgets5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 66.44 Selecting previously unselected package qt5-qmltooling-plugins:amd64. +#6 66.44 Preparing to unpack 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... +#6 66.75 Unpacking sgml-base (1.31) ... +#6 66.81 Selecting previously unselected package liblttng-ctl0t64:amd64. +#6 66.82 Preparing to unpack .../104-liblttng-ctl0t64_2.13.11-2.1build4_amd64.deb ... +#6 66.82 Unpacking liblttng-ctl0t64:amd64 (2.13.11-2.1build4) ... +#6 66.87 Selecting previously unselected package liblttng-ust-common1t64:amd64. +#6 66.87 Preparing to unpack .../105-liblttng-ust-common1t64_2.13.7-1.1ubuntu2_amd64.deb ... +#6 66.88 Unpacking liblttng-ust-common1t64:amd64 (2.13.7-1.1ubuntu2) ... +#6 66.93 Selecting previously unselected package libnuma1:amd64. +#6 66.93 Preparing to unpack .../106-libnuma1_2.0.18-1ubuntu0.24.04.1_amd64.deb ... +#6 66.94 Unpacking libnuma1:amd64 (2.0.18-1ubuntu0.24.04.1) ... +#6 66.99 Selecting previously unselected package liblttng-ust-ctl5t64:amd64. +#6 67.00 Preparing to unpack .../107-liblttng-ust-ctl5t64_2.13.7-1.1ubuntu2_amd64.deb ... +#6 67.00 Unpacking liblttng-ust-ctl5t64:amd64 (2.13.7-1.1ubuntu2) ... +#6 67.06 Selecting previously unselected package libpopt0:amd64. +#6 67.06 Preparing to unpack .../108-libpopt0_1.19+dfsg-1build1_amd64.deb ... +#6 67.07 Unpacking libpopt0:amd64 (1.19+dfsg-1build1) ... +#6 67.12 Selecting previously unselected package liburcu8t64:amd64. +#6 67.12 Preparing to unpack .../109-liburcu8t64_0.14.0-3.1build1_amd64.deb ... +#6 67.13 Unpacking liburcu8t64:amd64 (0.14.0-3.1build1) ... +#6 67.19 Selecting previously unselected package lttng-tools. +#6 67.20 Preparing to unpack .../110-lttng-tools_2.13.11-2.1build4_amd64.deb ... +#6 67.21 Unpacking lttng-tools (2.13.11-2.1build4) ... +#6 67.28 Preparing to unpack .../111-libsmartcols1_2.39.3-9ubuntu6.5_amd64.deb ... +#6 67.29 Unpacking libsmartcols1:amd64 (2.39.3-9ubuntu6.5) over (2.39.3-9ubuntu6.2) ... +#6 67.38 Setting up libsmartcols1:amd64 (2.39.3-9ubuntu6.5) ... +#6 67.53 Selecting previously unselected package dbus-bin. +#6 67.53 (Reading database ... (Reading database ... 5% (Reading database ... 10% (Reading database ... 15% (Reading database ... 20% (Reading database ... 25% (Reading database ... 30% (Reading database ... 35% (Reading database ... 40% (Reading database ... 45% (Reading database ... 50% (Reading database ... 55% (Reading database ... 60% (Reading database ... 65% (Reading database ... 70% (Reading database ... 75% (Reading database ... 80% (Reading database ... 85% (Reading database ... 90% (Reading database ... 95% (Reading database ... 100% (Reading database ... 50761 files and directories currently installed.) +#6 67.55 Preparing to unpack .../0000-dbus-bin_1.14.10-4ubuntu4.1_amd64.deb ... +#6 67.55 Unpacking dbus-bin (1.14.10-4ubuntu4.1) ... +#6 67.60 Selecting previously unselected package dbus-session-bus-common. +#6 67.60 Preparing to unpack .../0001-dbus-session-bus-common_1.14.10-4ubuntu4.1_all.deb ... +#6 67.61 Unpacking dbus-session-bus-common (1.14.10-4ubuntu4.1) ... +#6 67.64 Selecting previously unselected package dbus-daemon. +#6 67.65 Preparing to unpack .../0002-dbus-daemon_1.14.10-4ubuntu4.1_amd64.deb ... +#6 67.66 Unpacking dbus-daemon (1.14.10-4ubuntu4.1) ... +#6 67.70 Selecting previously unselected package dbus-system-bus-common. +#6 67.71 Preparing to unpack .../0003-dbus-system-bus-common_1.14.10-4ubuntu4.1_all.deb ... +#6 67.71 Unpacking dbus-system-bus-common (1.14.10-4ubuntu4.1) ... +#6 67.76 Selecting previously unselected package dbus. +#6 67.77 Preparing to unpack .../0004-dbus_1.14.10-4ubuntu4.1_amd64.deb ... +#6 67.77 Unpacking dbus (1.14.10-4ubuntu4.1) ... +#6 67.83 Selecting previously unselected package libpam-systemd:amd64. +#6 67.84 Preparing to unpack .../0005-libpam-systemd_255.4-1ubuntu8.15_amd64.deb ... +#6 67.85 Unpacking libpam-systemd:amd64 (255.4-1ubuntu8.15) ... +#6 67.89 Selecting previously unselected package dbus-user-session. +#6 67.90 Preparing to unpack .../0006-dbus-user-session_1.14.10-4ubuntu4.1_amd64.deb ... +#6 67.90 Unpacking dbus-user-session (1.14.10-4ubuntu4.1) ... +#6 67.94 Selecting previously unselected package gir1.2-glib-2.0:amd64. +#6 67.95 Preparing to unpack .../0007-gir1.2-glib-2.0_2.80.0-6ubuntu3.8_amd64.deb ... +#6 67.95 Unpacking gir1.2-glib-2.0:amd64 (2.80.0-6ubuntu3.8) ... +#6 68.00 Selecting previously unselected package libfribidi0:amd64. +#6 68.00 Preparing to unpack .../0008-libfribidi0_1.0.13-3build1_amd64.deb ... +#6 68.01 Unpacking libfribidi0:amd64 (1.0.13-3build1) ... +#6 68.05 Selecting previously unselected package libglib2.0-data. +#6 68.06 Preparing to unpack .../0009-libglib2.0-data_2.80.0-6ubuntu3.8_all.deb ... +#6 68.06 Unpacking libglib2.0-data (2.80.0-6ubuntu3.8) ... +#6 68.10 Selecting previously unselected package libtirpc-common. +#6 68.10 Preparing to unpack .../0010-libtirpc-common_1.3.4+ds-1.1build1_all.deb ... +#6 68.11 Unpacking libtirpc-common (1.3.4+ds-1.1build1) ... +#6 68.17 Selecting previously unselected package libtirpc3t64:amd64. +#6 68.17 Preparing to unpack .../0011-libtirpc3t64_1.3.4+ds-1.1build1_amd64.deb ... +#6 68.18 Adding 'diversion of /lib/x86_64-linux-gnu/libtirpc.so.3 to /lib/x86_64-linux-gnu/libtirpc.so.3.usr-is-merged by libtirpc3t64' +#6 68.19 Adding 'diversion of /lib/x86_64-linux-gnu/libtirpc.so.3.0.0 to /lib/x86_64-linux-gnu/libtirpc.so.3.0.0.usr-is-merged by libtirpc3t64' +#6 68.19 Unpacking libtirpc3t64:amd64 (1.3.4+ds-1.1build1) ... +#6 68.24 Selecting previously unselected package libyaml-0-2:amd64. +#6 68.25 Preparing to unpack .../0012-libyaml-0-2_0.2.5-1build1_amd64.deb ... +#6 68.25 Unpacking libyaml-0-2:amd64 (0.2.5-1build1) ... +#6 68.30 Selecting previously unselected package lsb-release. +#6 68.30 Preparing to unpack .../0013-lsb-release_12.0-2_all.deb ... +#6 68.31 Unpacking lsb-release (12.0-2) ... +#6 68.36 Preparing to unpack .../0014-openssl_3.0.13-0ubuntu3.9_amd64.deb ... +#6 68.37 Unpacking openssl (3.0.13-0ubuntu3.9) over (3.0.13-0ubuntu3.6) ... +#6 68.47 Selecting previously unselected package python3-cffi-backend:amd64. +#6 68.47 Preparing to unpack .../0015-python3-cffi-backend_1.16.0-2build1_amd64.deb ... +#6 68.48 Unpacking python3-cffi-backend:amd64 (1.16.0-2build1) ... +#6 68.53 Selecting previously unselected package python3-dbus. +#6 68.53 Preparing to unpack .../0016-python3-dbus_1.3.2-5build3_amd64.deb ... +#6 68.54 Unpacking python3-dbus (1.3.2-5build3) ... +#6 68.58 Selecting previously unselected package python3-pygments. +#6 68.59 Preparing to unpack .../0017-python3-pygments_2.17.2+dfsg-1_all.deb ... +#6 68.60 Unpacking python3-pygments (2.17.2+dfsg-1) ... +#6 68.69 Selecting previously unselected package python3-yaml. +#6 68.70 Preparing to unpack .../0018-python3-yaml_6.0.1-2build2_amd64.deb ... +#6 68.70 Unpacking python3-yaml (6.0.1-2build2) ... +#6 68.85 Selecting previously unselected package sudo. +#6 68.85 Preparing to unpack .../0019-sudo_1.9.15p5-3ubuntu5.24.04.2_amd64.deb ... +#6 68.86 Unpacking sudo (1.9.15p5-3ubuntu5.24.04.2) ... +#6 68.92 Selecting previously unselected package libnl-route-3-200:amd64. +#6 68.93 Preparing to unpack .../0020-libnl-route-3-200_3.7.0-0.3build1.1_amd64.deb ... +#6 68.93 Unpacking libnl-route-3-200:amd64 (3.7.0-0.3build1.1) ... +#6 68.98 Selecting previously unselected package libibverbs1:amd64. +#6 68.99 Preparing to unpack .../0021-libibverbs1_50.0-2ubuntu0.2_amd64.deb ... +#6 68.99 Unpacking libibverbs1:amd64 (50.0-2ubuntu0.2) ... +#6 69.05 Selecting previously unselected package ibverbs-providers:amd64. +#6 69.05 Preparing to unpack .../0022-ibverbs-providers_50.0-2ubuntu0.2_amd64.deb ... +#6 69.07 Unpacking ibverbs-providers:amd64 (50.0-2ubuntu0.2) ... +#6 69.12 Selecting previously unselected package libcbor0.10:amd64. +#6 69.12 Preparing to unpack .../0023-libcbor0.10_0.10.2-1.2ubuntu2_amd64.deb ... +#6 69.12 Unpacking libcbor0.10:amd64 (0.10.2-1.2ubuntu2) ... +#6 69.17 Selecting previously unselected package libfido2-1:amd64. +#6 69.18 Preparing to unpack .../0024-libfido2-1_1.14.0-1build3_amd64.deb ... +#6 69.18 Unpacking libfido2-1:amd64 (1.14.0-1build3) ... +#6 69.22 Selecting previously unselected package libpcap0.8t64:amd64. +#6 69.22 Preparing to unpack .../0025-libpcap0.8t64_1.10.4-4.1ubuntu3_amd64.deb ... +#6 69.22 Unpacking libpcap0.8t64:amd64 (1.10.4-4.1ubuntu3) ... +#6 69.27 Selecting previously unselected package libusb-1.0-0:amd64. +#6 69.28 Preparing to unpack .../0026-libusb-1.0-0_2%3a1.0.27-1_amd64.deb ... +#6 69.28 Unpacking libusb-1.0-0:amd64 (2:1.0.27-1) ... +#6 69.33 Selecting previously unselected package openssh-client. +#6 69.33 Preparing to unpack .../0027-openssh-client_1%3a9.6p1-3ubuntu13.16_amd64.deb ... +#6 69.34 Unpacking openssh-client (1:9.6p1-3ubuntu13.16) ... +#6 69.39 Selecting previously unselected package libgdk-pixbuf2.0-common. +#6 69.40 Preparing to unpack .../0028-libgdk-pixbuf2.0-common_2.42.10+dfsg-3ubuntu3.3_all.deb ... +#6 69.40 Unpacking libgdk-pixbuf2.0-common (2.42.10+dfsg-3ubuntu3.3) ... +#6 69.45 Selecting previously unselected package libdeflate0:amd64. +#6 69.45 Preparing to unpack .../0029-libdeflate0_1.19-1build1.1_amd64.deb ... +#6 69.46 Unpacking libdeflate0:amd64 (1.19-1build1.1) ... +#6 69.49 Selecting previously unselected package libjbig0:amd64. +#6 69.50 Preparing to unpack .../0030-libjbig0_2.1-6.1ubuntu2_amd64.deb ... +#6 69.50 Unpacking libjbig0:amd64 (2.1-6.1ubuntu2) ... +#6 69.54 Selecting previously unselected package liblerc4:amd64. +#6 69.55 Preparing to unpack .../0031-liblerc4_4.0.0+ds-4ubuntu2_amd64.deb ... +#6 69.55 Unpacking liblerc4:amd64 (4.0.0+ds-4ubuntu2) ... +#6 69.59 Selecting previously unselected package libtiff6:amd64. +#6 69.60 Preparing to unpack .../0032-libtiff6_4.5.1+git230720-4ubuntu2.5_amd64.deb ... +#6 69.60 Unpacking libtiff6:amd64 (4.5.1+git230720-4ubuntu2.5) ... +#6 69.65 Selecting previously unselected package libgdk-pixbuf-2.0-0:amd64. +#6 69.65 Preparing to unpack .../0033-libgdk-pixbuf-2.0-0_2.42.10+dfsg-3ubuntu3.3_amd64.deb ... +#6 69.66 Unpacking libgdk-pixbuf-2.0-0:amd64 (2.42.10+dfsg-3ubuntu3.3) ... +#6 69.70 Selecting previously unselected package gtk-update-icon-cache. +#6 69.70 Preparing to unpack .../0034-gtk-update-icon-cache_3.24.41-4ubuntu1.3_amd64.deb ... +#6 69.71 Unpacking gtk-update-icon-cache (3.24.41-4ubuntu1.3) ... +#6 69.75 Selecting previously unselected package hicolor-icon-theme. +#6 69.76 Preparing to unpack .../0035-hicolor-icon-theme_0.17-2_all.deb ... +#6 69.76 Unpacking hicolor-icon-theme (0.17-2) ... +#6 69.85 Selecting previously unselected package humanity-icon-theme. +#6 69.85 Preparing to unpack .../0036-humanity-icon-theme_0.6.16_all.deb ... +#6 69.86 Unpacking humanity-icon-theme (0.6.16) ... +#6 70.78 Selecting previously unselected package ubuntu-mono. +#6 70.79 Preparing to unpack .../0037-ubuntu-mono_24.04-0ubuntu1_all.deb ... +#6 70.79 Unpacking ubuntu-mono (24.04-0ubuntu1) ... +#6 71.22 Selecting previously unselected package adwaita-icon-theme. +#6 71.23 Preparing to unpack .../0038-adwaita-icon-theme_46.0-1_all.deb ... +#6 71.23 Unpacking adwaita-icon-theme (46.0-1) ... +#6 71.39 Selecting previously unselected package at-spi2-common. +#6 71.40 Preparing to unpack .../0039-at-spi2-common_2.52.0-1build1_all.deb ... +#6 71.40 Unpacking at-spi2-common (2.52.0-1build1) ... +#6 71.43 Selecting previously unselected package m4. +#6 71.44 Preparing to unpack .../0040-m4_1.4.19-4build1_amd64.deb ... +#6 71.44 Unpacking m4 (1.4.19-4build1) ... +#6 71.49 Selecting previously unselected package autoconf. +#6 71.49 Preparing to unpack .../0041-autoconf_2.71-3_all.deb ... +#6 71.49 Unpacking autoconf (2.71-3) ... +#6 71.55 Selecting previously unselected package autotools-dev. +#6 71.55 Preparing to unpack .../0042-autotools-dev_20220109.1_all.deb ... +#6 71.56 Unpacking autotools-dev (20220109.1) ... +#6 71.60 Selecting previously unselected package automake. +#6 71.61 Preparing to unpack .../0043-automake_1%3a1.16.5-1.3ubuntu1_all.deb ... +#6 71.61 Unpacking automake (1:1.16.5-1.3ubuntu1) ... +#6 71.68 Selecting previously unselected package libtcl8.6:amd64. +#6 71.68 Preparing to unpack .../0044-libtcl8.6_8.6.14+dfsg-1build1_amd64.deb ... +#6 71.68 Unpacking libtcl8.6:amd64 (8.6.14+dfsg-1build1) ... +#6 71.76 Selecting previously unselected package libxss1:amd64. +#6 71.77 Preparing to unpack .../0045-libxss1_1%3a1.2.3-1build3_amd64.deb ... +#6 71.77 Unpacking libxss1:amd64 (1:1.2.3-1build3) ... +#6 71.82 Selecting previously unselected package libtk8.6:amd64. +#6 71.82 Preparing to unpack .../0046-libtk8.6_8.6.14-1build1_amd64.deb ... +#6 71.83 Unpacking libtk8.6:amd64 (8.6.14-1build1) ... +#6 71.88 Selecting previously unselected package tk8.6-blt2.5. +#6 71.88 Preparing to unpack .../0047-tk8.6-blt2.5_2.5.3+dfsg-7build1_amd64.deb ... +#6 71.89 Unpacking tk8.6-blt2.5 (2.5.3+dfsg-7build1) ... +#6 71.94 Selecting previously unselected package blt. +#6 71.94 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unselected package libnspr4:amd64. +#6 73.21 Preparing to unpack .../0068-libnspr4_2%3a4.35-1.1build1_amd64.deb ... +#6 73.21 Unpacking libnspr4:amd64 (2:4.35-1.1build1) ... +#6 73.25 Selecting previously unselected package libnss3:amd64. +#6 73.25 Preparing to unpack .../0069-libnss3_2%3a3.98-1ubuntu0.1_amd64.deb ... +#6 73.26 Unpacking libnss3:amd64 (2:3.98-1ubuntu0.1) ... +#6 73.33 Selecting previously unselected package libpcsclite1:amd64. +#6 73.33 Preparing to unpack .../0070-libpcsclite1_2.0.3-1build1_amd64.deb ... +#6 73.33 Unpacking libpcsclite1:amd64 (2.0.3-1build1) ... +#6 73.37 Selecting previously unselected package openjdk-21-jre-headless:amd64. +#6 73.38 Preparing to unpack .../0071-openjdk-21-jre-headless_21.0.11+10-1~24.04.2_amd64.deb ... +#6 73.38 Unpacking openjdk-21-jre-headless:amd64 (21.0.11+10-1~24.04.2) ... +#6 73.99 Selecting previously unselected package default-jre-headless. +#6 73.99 Preparing to unpack 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74.48 Unpacking libthai-data (0.1.29-2build1) ... +#6 74.52 Selecting previously unselected package libdatrie1:amd64. +#6 74.53 Preparing to unpack .../0082-libdatrie1_0.2.13-3build1_amd64.deb ... +#6 74.53 Unpacking libdatrie1:amd64 (0.2.13-3build1) ... +#6 74.59 Selecting previously unselected package libthai0:amd64. +#6 74.60 Preparing to unpack .../0083-libthai0_0.1.29-2build1_amd64.deb ... +#6 74.60 Unpacking libthai0:amd64 (0.1.29-2build1) ... +#6 74.64 Selecting previously unselected package libpango-1.0-0:amd64. +#6 74.65 Preparing to unpack .../0084-libpango-1.0-0_1.52.1+ds-1build1_amd64.deb ... +#6 74.65 Unpacking libpango-1.0-0:amd64 (1.52.1+ds-1build1) ... +#6 74.70 Selecting previously unselected package libpangoft2-1.0-0:amd64. +#6 74.70 Preparing to unpack .../0085-libpangoft2-1.0-0_1.52.1+ds-1build1_amd64.deb ... +#6 74.71 Unpacking libpangoft2-1.0-0:amd64 (1.52.1+ds-1build1) ... +#6 74.75 Selecting previously unselected package libpangocairo-1.0-0:amd64. +#6 74.75 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previously unselected package libmysqlclient-dev. +#6 76.40 Preparing to unpack .../0109-libmysqlclient-dev_8.0.45-0ubuntu0.24.04.1_amd64.deb ... +#6 76.41 Unpacking libmysqlclient-dev (8.0.45-0ubuntu0.24.04.1) ... +#6 76.47 Selecting previously unselected package default-libmysqlclient-dev:amd64. +#6 76.48 Preparing to unpack .../0110-default-libmysqlclient-dev_1.1.0build1_amd64.deb ... +#6 76.48 Unpacking default-libmysqlclient-dev:amd64 (1.1.0build1) ... +#6 76.54 Selecting previously unselected package xml-core. +#6 76.54 Preparing to unpack .../0111-xml-core_0.19_all.deb ... +#6 76.55 Unpacking xml-core (0.19) ... +#6 76.61 Selecting previously unselected package docutils-common. +#6 76.61 Preparing to unpack .../0112-docutils-common_0.20.1+dfsg-3_all.deb ... +#6 76.62 Unpacking docutils-common (0.20.1+dfsg-3) ... +#6 76.68 Selecting previously unselected package fonts-lyx. +#6 76.68 Preparing to unpack .../0113-fonts-lyx_2.4.0~RC3-1build4_all.deb ... +#6 76.68 Unpacking fonts-lyx 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libgvpr2:amd64. +#6 78.21 Preparing to unpack .../0137-libgvpr2_2.42.2-9ubuntu0.1_amd64.deb ... +#6 78.21 Unpacking libgvpr2:amd64 (2.42.2-9ubuntu0.1) ... +#6 78.26 Selecting previously unselected package liblab-gamut1:amd64. +#6 78.27 Preparing to unpack .../0138-liblab-gamut1_2.42.2-9ubuntu0.1_amd64.deb ... +#6 78.27 Unpacking liblab-gamut1:amd64 (2.42.2-9ubuntu0.1) ... +#6 78.32 Selecting previously unselected package graphviz. +#6 78.32 Preparing to unpack .../0139-graphviz_2.42.2-9ubuntu0.1_amd64.deb ... +#6 78.33 Unpacking graphviz (2.42.2-9ubuntu0.1) ... +#6 78.39 Selecting previously unselected package hdf5-helpers. +#6 78.40 Preparing to unpack .../0140-hdf5-helpers_1.10.10+repack-3.1ubuntu4_amd64.deb ... +#6 78.40 Unpacking hdf5-helpers (1.10.10+repack-3.1ubuntu4) ... +#6 78.44 Selecting previously unselected package icu-devtools. +#6 78.45 Preparing to unpack .../0141-icu-devtools_74.2-1ubuntu3.1_amd64.deb ... +#6 78.45 Unpacking icu-devtools (74.2-1ubuntu3.1) ... +#6 78.50 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libblas3:amd64. +#6 79.61 Preparing to unpack .../0151-libblas3_3.12.0-3build1.1_amd64.deb ... +#6 79.62 Unpacking libblas3:amd64 (3.12.0-3build1.1) ... +#6 79.67 Selecting previously unselected package liblapack3:amd64. +#6 79.67 Preparing to unpack .../0152-liblapack3_3.12.0-3build1.1_amd64.deb ... +#6 79.68 Unpacking liblapack3:amd64 (3.12.0-3build1.1) ... +#6 79.76 Selecting previously unselected package libarpack2t64:amd64. +#6 79.77 Preparing to unpack .../0153-libarpack2t64_3.9.1-1.1build2_amd64.deb ... +#6 79.77 Unpacking libarpack2t64:amd64 (3.9.1-1.1build2) ... +#6 79.81 Selecting previously unselected package libsuperlu6:amd64. +#6 79.82 Preparing to unpack .../0154-libsuperlu6_6.0.1+dfsg1-1build1_amd64.deb ... +#6 79.82 Unpacking libsuperlu6:amd64 (6.0.1+dfsg1-1build1) ... +#6 79.87 Selecting previously unselected package libarmadillo12. +#6 79.87 Preparing to unpack .../0155-libarmadillo12_1%3a12.6.7+dfsg-1build2_amd64.deb ... +#6 79.88 Unpacking libarmadillo12 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libhdf5-cpp-103-1t64:amd64. +#6 80.47 Preparing to unpack .../0164-libhdf5-cpp-103-1t64_1.10.10+repack-3.1ubuntu4_amd64.deb ... +#6 80.48 Unpacking libhdf5-cpp-103-1t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 80.52 Selecting previously unselected package libhdf5-hl-cpp-100t64:amd64. +#6 80.53 Preparing to unpack .../0165-libhdf5-hl-cpp-100t64_1.10.10+repack-3.1ubuntu4_amd64.deb ... +#6 80.53 Unpacking libhdf5-hl-cpp-100t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 80.57 Selecting previously unselected package libjpeg-turbo8-dev:amd64. +#6 80.57 Preparing to unpack .../0166-libjpeg-turbo8-dev_2.1.5-2ubuntu2_amd64.deb ... +#6 80.60 Unpacking libjpeg-turbo8-dev:amd64 (2.1.5-2ubuntu2) ... +#6 80.65 Selecting previously unselected package libjpeg8-dev:amd64. +#6 80.65 Preparing to unpack .../0167-libjpeg8-dev_8c-2ubuntu11_amd64.deb ... +#6 80.66 Unpacking libjpeg8-dev:amd64 (8c-2ubuntu11) ... +#6 80.70 Selecting previously unselected package libjpeg-dev:amd64. +#6 80.70 Preparing to 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+#6 81.03 Selecting previously unselected package libarmadillo-dev. +#6 81.03 Preparing to unpack .../0173-libarmadillo-dev_1%3a12.6.7+dfsg-1build2_amd64.deb ... +#6 81.04 Unpacking libarmadillo-dev (1:12.6.7+dfsg-1build2) ... +#6 81.17 Selecting previously unselected package libasio-dev. +#6 81.17 Preparing to unpack .../0174-libasio-dev_1%3a1.28.1-0.2_all.deb ... +#6 81.17 Unpacking libasio-dev (1:1.28.1-0.2) ... +#6 81.32 Selecting previously unselected package libasound2-dev:amd64. +#6 81.33 Preparing to unpack .../0175-libasound2-dev_1.2.11-1ubuntu0.2_amd64.deb ... +#6 81.33 Unpacking libasound2-dev:amd64 (1.2.11-1ubuntu0.2) ... +#6 81.38 Selecting previously unselected package libdraco8:amd64. +#6 81.39 Preparing to unpack .../0176-libdraco8_1.5.6+dfsg-3build1_amd64.deb ... +#6 81.39 Unpacking libdraco8:amd64 (1.5.6+dfsg-3build1) ... +#6 81.45 Selecting previously unselected package libminizip1t64:amd64. +#6 81.45 Preparing to unpack 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package libva-drm2:amd64. +#6 81.76 Preparing to unpack .../0182-libva-drm2_2.20.0-2ubuntu0.1_amd64.deb ... +#6 81.77 Unpacking libva-drm2:amd64 (2.20.0-2ubuntu0.1) ... +#6 81.81 Selecting previously unselected package libva-x11-2:amd64. +#6 81.81 Preparing to unpack .../0183-libva-x11-2_2.20.0-2ubuntu0.1_amd64.deb ... +#6 81.82 Unpacking libva-x11-2:amd64 (2.20.0-2ubuntu0.1) ... +#6 81.87 Selecting previously unselected package libvdpau1:amd64. +#6 81.87 Preparing to unpack .../0184-libvdpau1_1.5-2build1_amd64.deb ... +#6 81.88 Unpacking libvdpau1:amd64 (1.5-2build1) ... +#6 81.92 Selecting previously unselected package libvpl2. +#6 81.93 Preparing to unpack .../0185-libvpl2_2023.3.0-1build1_amd64.deb ... +#6 81.93 Unpacking libvpl2 (2023.3.0-1build1) ... +#6 81.99 Selecting previously unselected package ocl-icd-libopencl1:amd64. +#6 81.99 Preparing to unpack .../0186-ocl-icd-libopencl1_2.3.2-1build1_amd64.deb ... +#6 81.99 Unpacking ocl-icd-libopencl1:amd64 (2.3.2-1build1) ... +#6 82.05 Selecting previously unselected package libavutil58:amd64. +#6 82.05 Preparing to unpack .../0187-libavutil58_7%3a6.1.1-3ubuntu5_amd64.deb ... +#6 82.06 Unpacking libavutil58:amd64 (7:6.1.1-3ubuntu5) ... +#6 82.11 Selecting previously unselected package libcodec2-1.2:amd64. +#6 82.11 Preparing to unpack .../0188-libcodec2-1.2_1.2.0-2build1_amd64.deb ... +#6 82.12 Unpacking libcodec2-1.2:amd64 (1.2.0-2build1) ... +#6 82.20 Selecting previously unselected package libdav1d7:amd64. +#6 82.21 Preparing to unpack .../0189-libdav1d7_1.4.1-1build1_amd64.deb ... +#6 82.21 Unpacking libdav1d7:amd64 (1.4.1-1build1) ... +#6 82.27 Selecting previously unselected package libgsm1:amd64. +#6 82.28 Preparing to unpack .../0190-libgsm1_1.0.22-1build1_amd64.deb ... +#6 82.28 Unpacking libgsm1:amd64 (1.0.22-1build1) ... +#6 82.33 Selecting previously unselected package libhwy1t64:amd64. +#6 82.33 Preparing to unpack .../0191-libhwy1t64_1.0.7-8.1build1_amd64.deb ... +#6 82.34 Unpacking libhwy1t64:amd64 (1.0.7-8.1build1) ... +#6 82.40 Selecting previously unselected package libjxl0.7:amd64. +#6 82.41 Preparing to unpack .../0192-libjxl0.7_0.7.0-10.2ubuntu6.1_amd64.deb ... +#6 82.41 Unpacking libjxl0.7:amd64 (0.7.0-10.2ubuntu6.1) ... +#6 82.47 Selecting previously unselected package libmp3lame0:amd64. +#6 82.47 Preparing to unpack .../0193-libmp3lame0_3.100-6build1_amd64.deb ... +#6 82.48 Unpacking libmp3lame0:amd64 (3.100-6build1) ... +#6 82.52 Selecting previously unselected package libopenjp2-7:amd64. +#6 82.53 Preparing to unpack .../0194-libopenjp2-7_2.5.0-2ubuntu0.5_amd64.deb ... +#6 82.53 Unpacking libopenjp2-7:amd64 (2.5.0-2ubuntu0.5) ... +#6 82.59 Selecting previously unselected package libopus0:amd64. +#6 82.59 Preparing to unpack .../0195-libopus0_1.4-1build1_amd64.deb ... +#6 82.60 Unpacking libopus0:amd64 (1.4-1build1) ... +#6 82.65 Selecting previously unselected package librav1e0:amd64. +#6 82.65 Preparing to unpack .../0196-librav1e0_0.7.1-2_amd64.deb 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libudfread0:amd64. +#6 84.31 Preparing to unpack .../0220-libudfread0_1.1.2-1build1_amd64.deb ... +#6 84.31 Unpacking libudfread0:amd64 (1.1.2-1build1) ... +#6 84.36 Selecting previously unselected package libbluray2:amd64. +#6 84.37 Preparing to unpack .../0221-libbluray2_1%3a1.3.4-1build1_amd64.deb ... +#6 84.37 Unpacking libbluray2:amd64 (1:1.3.4-1build1) ... +#6 84.42 Selecting previously unselected package libchromaprint1:amd64. +#6 84.43 Preparing to unpack .../0222-libchromaprint1_1.5.1-5_amd64.deb ... +#6 84.44 Unpacking libchromaprint1:amd64 (1.5.1-5) ... +#6 84.49 Selecting previously unselected package libgme0:amd64. +#6 84.50 Preparing to unpack .../0223-libgme0_0.6.3-7build1_amd64.deb ... +#6 84.50 Unpacking libgme0:amd64 (0.6.3-7build1) ... +#6 84.55 Selecting previously unselected package libmpg123-0t64:amd64. +#6 84.55 Preparing to unpack .../0224-libmpg123-0t64_1.32.5-1ubuntu1.1_amd64.deb ... +#6 84.56 Unpacking libmpg123-0t64:amd64 (1.32.5-1ubuntu1.1) ... +#6 84.61 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85.48 Selecting previously unselected package libbenchmark-dev:amd64. +#6 85.49 Preparing to unpack .../0239-libbenchmark-dev_1.8.3-3_amd64.deb ... +#6 85.49 Unpacking libbenchmark-dev:amd64 (1.8.3-3) ... +#6 85.54 Selecting previously unselected package libblosc1:amd64. +#6 85.55 Preparing to unpack .../0240-libblosc1_1.21.5+ds-1build1_amd64.deb ... +#6 85.55 Unpacking libblosc1:amd64 (1.21.5+ds-1build1) ... +#6 85.59 Selecting previously unselected package libblosc-dev:amd64. +#6 85.60 Preparing to unpack .../0241-libblosc-dev_1.21.5+ds-1build1_amd64.deb ... +#6 85.60 Unpacking libblosc-dev:amd64 (1.21.5+ds-1build1) ... +#6 85.64 Selecting previously unselected package libboost1.83-tools-dev. +#6 85.65 Preparing to unpack .../0242-libboost1.83-tools-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 85.65 Unpacking libboost1.83-tools-dev (1.83.0-2.1ubuntu3.2) ... +#6 85.76 Selecting previously unselected package libboost-tools-dev. +#6 85.76 Preparing to unpack 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librdmacm1t64:amd64 (50.0-2ubuntu0.2) ... +#6 87.88 Selecting previously unselected package libfabric1:amd64. +#6 87.88 Preparing to unpack .../0276-libfabric1_1.17.0-3build2_amd64.deb ... +#6 87.89 Unpacking libfabric1:amd64 (1.17.0-3build2) ... +#6 87.94 Selecting previously unselected package libhwloc15:amd64. +#6 87.94 Preparing to unpack .../0277-libhwloc15_2.10.0-1build1_amd64.deb ... +#6 87.95 Unpacking libhwloc15:amd64 (2.10.0-1build1) ... +#6 88.00 Selecting previously unselected package libmunge2:amd64. +#6 88.01 Preparing to unpack .../0278-libmunge2_0.5.15-4ubuntu0.1_amd64.deb ... +#6 88.01 Unpacking libmunge2:amd64 (0.5.15-4ubuntu0.1) ... +#6 88.06 Selecting previously unselected package libxnvctrl0:amd64. +#6 88.06 Preparing to unpack .../0279-libxnvctrl0_510.47.03-0ubuntu4.24.04.1_amd64.deb ... +#6 88.07 Unpacking libxnvctrl0:amd64 (510.47.03-0ubuntu4.24.04.1) ... +#6 88.11 Selecting previously unselected package libhwloc-plugins:amd64. +#6 88.12 Preparing to unpack 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previously unselected package libboost-graph-parallel1.83.0. +#6 88.49 Preparing to unpack .../0285-libboost-graph-parallel1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 88.50 Unpacking libboost-graph-parallel1.83.0 (1.83.0-2.1ubuntu3.2) ... +#6 88.55 Selecting previously unselected package libboost-graph-parallel1.83-dev. +#6 88.55 Preparing to unpack .../0286-libboost-graph-parallel1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 88.56 Unpacking libboost-graph-parallel1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 88.61 Selecting previously unselected package libboost-graph-parallel-dev. +#6 88.62 Preparing to unpack .../0287-libboost-graph-parallel-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 88.62 Unpacking libboost-graph-parallel-dev (1.83.0.1ubuntu2) ... +#6 88.66 Selecting previously unselected package libboost-iostreams1.83.0:amd64. +#6 88.66 Preparing to unpack .../0288-libboost-iostreams1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 88.67 Unpacking libboost-iostreams1.83.0:amd64 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Selecting previously unselected package libboost-log1.83.0. +#6 89.19 Preparing to unpack .../0297-libboost-log1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 89.20 Unpacking libboost-log1.83.0 (1.83.0-2.1ubuntu3.2) ... +#6 89.26 Selecting previously unselected package libboost-log1.83-dev. +#6 89.27 Preparing to unpack .../0298-libboost-log1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 89.27 Unpacking libboost-log1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 89.34 Selecting previously unselected package libboost-log-dev. +#6 89.34 Preparing to unpack .../0299-libboost-log-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 89.34 Unpacking libboost-log-dev (1.83.0.1ubuntu2) ... +#6 89.38 Selecting previously unselected package libboost-math1.83.0:amd64. +#6 89.39 Preparing to unpack .../0300-libboost-math1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 89.40 Unpacking libboost-math1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 89.44 Selecting previously unselected package libboost-math1.83-dev:amd64. +#6 89.45 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mpi-default-dev. +#6 90.88 Preparing to unpack .../0319-mpi-default-dev_1.15build1_amd64.deb ... +#6 90.88 Unpacking mpi-default-dev (1.15build1) ... +#6 90.92 Selecting previously unselected package libboost-mpi1.83-dev. +#6 90.93 Preparing to unpack .../0320-libboost-mpi1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 90.93 Unpacking libboost-mpi1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 90.98 Selecting previously unselected package libboost-mpi-dev. +#6 90.99 Preparing to unpack .../0321-libboost-mpi-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 90.99 Unpacking libboost-mpi-dev (1.83.0.1ubuntu2) ... +#6 91.05 Selecting previously unselected package libboost-python1.83.0. +#6 91.06 Preparing to unpack .../0322-libboost-python1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 91.06 Unpacking libboost-python1.83.0 (1.83.0-2.1ubuntu3.2) ... +#6 91.11 Selecting previously unselected package mpi-default-bin. +#6 91.12 Preparing to unpack .../0323-mpi-default-bin_1.15build1_amd64.deb ... +#6 91.12 Unpacking mpi-default-bin (1.15build1) ... +#6 91.17 Selecting previously unselected package libboost-mpi-python1.83.0. +#6 91.18 Preparing to unpack .../0324-libboost-mpi-python1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 91.18 Unpacking libboost-mpi-python1.83.0 (1.83.0-2.1ubuntu3.2) ... +#6 91.23 Selecting previously unselected package libboost-mpi-python1.83-dev. +#6 91.23 Preparing to unpack .../0325-libboost-mpi-python1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 91.24 Unpacking libboost-mpi-python1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 91.28 Selecting previously unselected package libboost-mpi-python-dev. +#6 91.29 Preparing to unpack .../0326-libboost-mpi-python-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 91.29 Unpacking libboost-mpi-python-dev (1.83.0.1ubuntu2) ... +#6 91.34 Selecting previously unselected package libboost-numpy1.83.0. +#6 91.34 Preparing to unpack .../0327-libboost-numpy1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 91.35 Unpacking libboost-numpy1.83.0 (1.83.0-2.1ubuntu3.2) 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previously unselected package libboost-python1.83-dev. +#6 92.10 Preparing to unpack .../0337-libboost-python1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 92.11 Unpacking libboost-python1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 92.15 Selecting previously unselected package libboost-python-dev. +#6 92.16 Preparing to unpack .../0338-libboost-python-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 92.16 Unpacking libboost-python-dev (1.83.0.1ubuntu2) ... +#6 92.21 Selecting previously unselected package libboost-random1.83.0:amd64. +#6 92.22 Preparing to unpack .../0339-libboost-random1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 92.22 Unpacking libboost-random1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 92.28 Selecting previously unselected package libboost-random1.83-dev:amd64. +#6 92.28 Preparing to unpack .../0340-libboost-random1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 92.29 Unpacking libboost-random1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 92.35 Selecting previously unselected package libboost-random-dev:amd64. +#6 92.35 Preparing to unpack .../0341-libboost-random-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 92.36 Unpacking libboost-random-dev:amd64 (1.83.0.1ubuntu2) ... +#6 92.39 Selecting previously unselected package libboost-regex-dev:amd64. +#6 92.40 Preparing to unpack .../0342-libboost-regex-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 92.40 Unpacking libboost-regex-dev:amd64 (1.83.0.1ubuntu2) ... +#6 92.45 Selecting previously unselected package libboost-serialization-dev:amd64. +#6 92.45 Preparing to unpack .../0343-libboost-serialization-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 92.46 Unpacking libboost-serialization-dev:amd64 (1.83.0.1ubuntu2) ... +#6 92.50 Selecting previously unselected package libboost-stacktrace1.83.0:amd64. +#6 92.51 Preparing to unpack .../0344-libboost-stacktrace1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 92.52 Unpacking libboost-stacktrace1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 92.58 Selecting previously unselected package libboost-stacktrace1.83-dev:amd64. +#6 92.58 Preparing to unpack .../0345-libboost-stacktrace1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 92.58 Unpacking libboost-stacktrace1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 92.63 Selecting previously unselected package libboost-stacktrace-dev:amd64. +#6 92.64 Preparing to unpack .../0346-libboost-stacktrace-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 92.64 Unpacking libboost-stacktrace-dev:amd64 (1.83.0.1ubuntu2) ... +#6 92.69 Selecting previously unselected package libboost-test-dev:amd64. +#6 92.69 Preparing to unpack .../0347-libboost-test-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 92.70 Unpacking libboost-test-dev:amd64 (1.83.0.1ubuntu2) ... +#6 92.74 Selecting previously unselected package libboost-timer1.83.0:amd64. +#6 92.75 Preparing to unpack .../0348-libboost-timer1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 92.76 Unpacking libboost-timer1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 92.81 Selecting previously unselected package 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libboost-wave1.83.0:amd64. +#6 93.29 Preparing to unpack .../0357-libboost-wave1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 93.30 Unpacking libboost-wave1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 93.36 Selecting previously unselected package libboost-wave1.83-dev:amd64. +#6 93.36 Preparing to unpack .../0358-libboost-wave1.83-dev_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 93.37 Unpacking libboost-wave1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 93.43 Selecting previously unselected package libboost-wave-dev:amd64. +#6 93.43 Preparing to unpack .../0359-libboost-wave-dev_1.83.0.1ubuntu2_amd64.deb ... +#6 93.44 Unpacking libboost-wave-dev:amd64 (1.83.0.1ubuntu2) ... +#6 93.48 Selecting previously unselected package libboost-nowide1.83.0. +#6 93.48 Preparing to unpack .../0360-libboost-nowide1.83.0_1.83.0-2.1ubuntu3.2_amd64.deb ... +#6 93.49 Unpacking libboost-nowide1.83.0 (1.83.0-2.1ubuntu3.2) ... +#6 93.54 Selecting previously unselected package libboost-nowide1.83-dev. +#6 93.55 Preparing 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95.24 Selecting previously unselected package libdav1d-dev:amd64. +#6 95.25 Preparing to unpack .../0375-libdav1d-dev_1.4.1-1build1_amd64.deb ... +#6 95.25 Unpacking libdav1d-dev:amd64 (1.4.1-1build1) ... +#6 95.31 Selecting previously unselected package libpkgconf3:amd64. +#6 95.31 Preparing to unpack .../0376-libpkgconf3_1.8.1-2build1_amd64.deb ... +#6 95.32 Unpacking libpkgconf3:amd64 (1.8.1-2build1) ... +#6 95.36 Selecting previously unselected package pkgconf-bin. +#6 95.37 Preparing to unpack .../0377-pkgconf-bin_1.8.1-2build1_amd64.deb ... +#6 95.37 Unpacking pkgconf-bin (1.8.1-2build1) ... +#6 95.42 Selecting previously unselected package pkgconf:amd64. +#6 95.43 Preparing to unpack .../0378-pkgconf_1.8.1-2build1_amd64.deb ... +#6 95.44 Unpacking pkgconf:amd64 (1.8.1-2build1) ... +#6 95.49 Selecting previously unselected package libdbus-1-dev:amd64. +#6 95.49 Preparing to unpack .../0379-libdbus-1-dev_1.14.10-4ubuntu4.1_amd64.deb ... +#6 95.50 Unpacking libdbus-1-dev:amd64 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package libhdf5-openmpi-103-1t64:amd64. +#6 97.19 Preparing to unpack .../0407-libhdf5-openmpi-103-1t64_1.10.10+repack-3.1ubuntu4_amd64.deb ... +#6 97.20 Unpacking libhdf5-openmpi-103-1t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 97.26 Selecting previously unselected package libhdf5-openmpi-fortran-102t64:amd64. +#6 97.27 Preparing to unpack .../0408-libhdf5-openmpi-fortran-102t64_1.10.10+repack-3.1ubuntu4_amd64.deb ... +#6 97.27 Unpacking libhdf5-openmpi-fortran-102t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 97.33 Selecting previously unselected package libhdf5-openmpi-hl-100t64:amd64. +#6 97.33 Preparing to unpack .../0409-libhdf5-openmpi-hl-100t64_1.10.10+repack-3.1ubuntu4_amd64.deb ... +#6 97.34 Unpacking libhdf5-openmpi-hl-100t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 97.39 Selecting previously unselected package libhdf5-openmpi-hl-fortran-100t64:amd64. +#6 97.40 Preparing to unpack .../0410-libhdf5-openmpi-hl-fortran-100t64_1.10.10+repack-3.1ubuntu4_amd64.deb ... +#6 97.40 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unselected package libfreetype-dev:amd64. +#6 98.03 Preparing to unpack .../0419-libfreetype-dev_2.13.2+dfsg-1ubuntu0.1_amd64.deb ... +#6 98.03 Unpacking libfreetype-dev:amd64 (2.13.2+dfsg-1ubuntu0.1) ... +#6 98.09 Selecting previously unselected package uuid-dev:amd64. +#6 98.09 Preparing to unpack .../0420-uuid-dev_2.39.3-9ubuntu6.5_amd64.deb ... +#6 98.10 Unpacking uuid-dev:amd64 (2.39.3-9ubuntu6.5) ... +#6 98.14 Selecting previously unselected package libfontconfig-dev:amd64. +#6 98.14 Preparing to unpack .../0421-libfontconfig-dev_2.15.0-1.1ubuntu2_amd64.deb ... +#6 98.15 Unpacking libfontconfig-dev:amd64 (2.15.0-1.1ubuntu2) ... +#6 98.19 Selecting previously unselected package libfontconfig1-dev:amd64. +#6 98.20 Preparing to unpack .../0422-libfontconfig1-dev_2.15.0-1.1ubuntu2_amd64.deb ... +#6 98.20 Unpacking libfontconfig1-dev:amd64 (2.15.0-1.1ubuntu2) ... +#6 98.25 Selecting previously unselected package libfyba0t64:amd64. +#6 98.26 Preparing to unpack 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unselected package libgeos-c1t64:amd64. +#6 98.58 Preparing to unpack .../0428-libgeos-c1t64_3.12.1-3build1_amd64.deb ... +#6 98.59 Unpacking libgeos-c1t64:amd64 (3.12.1-3build1) ... +#6 98.64 Selecting previously unselected package proj-data. +#6 98.64 Preparing to unpack .../0429-proj-data_9.4.0-1build2_all.deb ... +#6 98.64 Unpacking proj-data (9.4.0-1build2) ... +#6 98.76 Selecting previously unselected package libproj25:amd64. +#6 98.77 Preparing to unpack .../0430-libproj25_9.4.0-1build2_amd64.deb ... +#6 98.78 Unpacking libproj25:amd64 (9.4.0-1build2) ... +#6 98.85 Selecting previously unselected package libgeotiff5:amd64. +#6 98.86 Preparing to unpack .../0431-libgeotiff5_1.7.1-5build1_amd64.deb ... +#6 98.86 Unpacking libgeotiff5:amd64 (1.7.1-5build1) ... +#6 98.91 Selecting previously unselected package libhdf4-0-alt:amd64. +#6 98.91 Preparing to unpack .../0432-libhdf4-0-alt_4.2.16-4build1_amd64.deb ... +#6 98.92 Unpacking libhdf4-0-alt:amd64 (4.2.16-4build1) ... +#6 98.97 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+#6 99.55 Selecting previously unselected package libpoppler134:amd64. +#6 99.56 Preparing to unpack .../0442-libpoppler134_24.02.0-1ubuntu9.8_amd64.deb ... +#6 99.60 Unpacking libpoppler134:amd64 (24.02.0-1ubuntu9.8) ... +#6 99.66 Selecting previously unselected package libpq5:amd64. +#6 99.67 Preparing to unpack .../0443-libpq5_16.14-0ubuntu0.24.04.1_amd64.deb ... +#6 99.68 Unpacking libpq5:amd64 (16.14-0ubuntu0.24.04.1) ... +#6 99.73 Selecting previously unselected package libqhull-r8.0:amd64. +#6 99.73 Preparing to unpack .../0444-libqhull-r8.0_2020.2-6build1_amd64.deb ... +#6 99.74 Unpacking libqhull-r8.0:amd64 (2020.2-6build1) ... +#6 99.79 Selecting previously unselected package librttopo1:amd64. +#6 99.79 Preparing to unpack .../0445-librttopo1_1.1.0-3build2_amd64.deb ... +#6 99.80 Unpacking librttopo1:amd64 (1.1.0-3build2) ... +#6 99.85 Selecting previously unselected package libspatialite8t64:amd64. +#6 99.86 Preparing to unpack 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100.2 Unpacking libgdcm3.0t64:amd64 (3.0.22-2.1ubuntu1) ... +#6 100.3 Selecting previously unselected package libgdcm-dev. +#6 100.3 Preparing to unpack .../0451-libgdcm-dev_3.0.22-2.1ubuntu1_amd64.deb ... +#6 100.3 Unpacking libgdcm-dev (3.0.22-2.1ubuntu1) ... +#6 100.4 Selecting previously unselected package libgeographiclib-dev. +#6 100.4 Preparing to unpack .../0452-libgeographiclib-dev_2.3-1build1_amd64.deb ... +#6 100.4 Unpacking libgeographiclib-dev (2.3-1build1) ... +#6 100.5 Selecting previously unselected package libgeos-dev. +#6 100.5 Preparing to unpack .../0453-libgeos-dev_3.12.1-3build1_amd64.deb ... +#6 100.5 Unpacking libgeos-dev (3.12.1-3build1) ... +#6 100.5 Selecting previously unselected package libgif-dev:amd64. +#6 100.5 Preparing to unpack .../0454-libgif-dev_5.2.2-1ubuntu1_amd64.deb ... +#6 100.5 Unpacking libgif-dev:amd64 (5.2.2-1ubuntu1) ... +#6 100.6 Selecting previously unselected package libgirepository-2.0-0:amd64. +#6 100.6 Preparing to unpack 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libgles-dev:amd64. +#6 100.9 Preparing to unpack .../0460-libgles-dev_1.7.0-1build1_amd64.deb ... +#6 100.9 Unpacking libgles-dev:amd64 (1.7.0-1build1) ... +#6 100.9 Selecting previously unselected package libglvnd-core-dev:amd64. +#6 100.9 Preparing to unpack .../0461-libglvnd-core-dev_1.7.0-1build1_amd64.deb ... +#6 100.9 Unpacking libglvnd-core-dev:amd64 (1.7.0-1build1) ... +#6 101.0 Selecting previously unselected package libglvnd-dev:amd64. +#6 101.0 Preparing to unpack .../0462-libglvnd-dev_1.7.0-1build1_amd64.deb ... +#6 101.0 Unpacking libglvnd-dev:amd64 (1.7.0-1build1) ... +#6 101.0 Selecting previously unselected package libgl1-mesa-dev:amd64. +#6 101.0 Preparing to unpack .../0463-libgl1-mesa-dev_25.2.8-0ubuntu0.24.04.1_amd64.deb ... +#6 101.0 Unpacking libgl1-mesa-dev:amd64 (25.2.8-0ubuntu0.24.04.1) ... +#6 101.1 Selecting previously unselected package libglew2.2:amd64. +#6 101.1 Preparing to unpack .../0464-libglew2.2_2.2.0-4build1_amd64.deb ... +#6 101.1 Unpacking libglew2.2:amd64 (2.2.0-4build1) ... +#6 101.2 Selecting previously unselected package libglew-dev:amd64. +#6 101.2 Preparing to unpack .../0465-libglew-dev_2.2.0-4build1_amd64.deb ... +#6 101.2 Unpacking libglew-dev:amd64 (2.2.0-4build1) ... +#6 101.2 Selecting previously unselected package libglib2.0-bin. +#6 101.2 Preparing to unpack .../0466-libglib2.0-bin_2.80.0-6ubuntu3.8_amd64.deb ... +#6 101.2 Unpacking libglib2.0-bin (2.80.0-6ubuntu3.8) ... +#6 101.3 Selecting previously unselected package python3-packaging. +#6 101.3 Preparing to unpack .../0467-python3-packaging_24.0-1_all.deb ... +#6 101.3 Unpacking python3-packaging (24.0-1) ... +#6 101.3 Selecting previously unselected package libglib2.0-dev-bin. +#6 101.3 Preparing to unpack .../0468-libglib2.0-dev-bin_2.80.0-6ubuntu3.8_amd64.deb ... +#6 101.3 Unpacking libglib2.0-dev-bin (2.80.0-6ubuntu3.8) ... +#6 101.4 Selecting previously unselected package libblkid-dev:amd64. +#6 101.4 Preparing to unpack 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previously unselected package libselinux1-dev:amd64. +#6 101.7 Preparing to unpack .../0474-libselinux1-dev_3.5-2ubuntu2.1_amd64.deb ... +#6 101.7 Unpacking libselinux1-dev:amd64 (3.5-2ubuntu2.1) ... +#6 101.7 Selecting previously unselected package libmount-dev:amd64. +#6 101.7 Preparing to unpack .../0475-libmount-dev_2.39.3-9ubuntu6.5_amd64.deb ... +#6 101.7 Unpacking libmount-dev:amd64 (2.39.3-9ubuntu6.5) ... +#6 101.8 Selecting previously unselected package libglib2.0-dev:amd64. +#6 101.8 Preparing to unpack .../0476-libglib2.0-dev_2.80.0-6ubuntu3.8_amd64.deb ... +#6 101.8 Unpacking libglib2.0-dev:amd64 (2.80.0-6ubuntu3.8) ... +#6 101.9 Selecting previously unselected package libgphoto2-port12t64:amd64. +#6 101.9 Preparing to unpack .../0477-libgphoto2-port12t64_2.5.31-2.1ubuntu1_amd64.deb ... +#6 101.9 Unpacking libgphoto2-port12t64:amd64 (2.5.31-2.1ubuntu1) ... +#6 102.0 Selecting previously unselected package libgphoto2-6t64:amd64. +#6 102.0 Preparing to unpack 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unselected package libheif-dev:amd64. +#6 102.3 Preparing to unpack .../0483-libheif-dev_1.17.6-1ubuntu4.3_amd64.deb ... +#6 102.3 Unpacking libheif-dev:amd64 (1.17.6-1ubuntu4.3) ... +#6 102.3 Selecting previously unselected package libibus-1.0-dev:amd64. +#6 102.3 Preparing to unpack .../0484-libibus-1.0-dev_1.5.29-2_amd64.deb ... +#6 102.3 Unpacking libibus-1.0-dev:amd64 (1.5.29-2) ... +#6 102.4 Selecting previously unselected package libice-dev:amd64. +#6 102.4 Preparing to unpack .../0485-libice-dev_2%3a1.0.10-1build3_amd64.deb ... +#6 102.4 Unpacking libice-dev:amd64 (2:1.0.10-1build3) ... +#6 102.5 Selecting previously unselected package libimagequant0:amd64. +#6 102.5 Preparing to unpack .../0486-libimagequant0_2.18.0-1build1_amd64.deb ... +#6 102.5 Unpacking libimagequant0:amd64 (2.18.0-1build1) ... +#6 102.5 Selecting previously unselected package libimath-3-1-29t64:amd64. +#6 102.5 Preparing to unpack .../0487-libimath-3-1-29t64_3.1.9-3.1ubuntu2_amd64.deb ... +#6 102.5 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unselected package liblbfgsb0:amd64. +#6 102.8 Preparing to unpack .../0492-liblbfgsb0_3.0+dfsg.4-1build1_amd64.deb ... +#6 102.8 Unpacking liblbfgsb0:amd64 (3.0+dfsg.4-1build1) ... +#6 102.9 Selecting previously unselected package liblept5:amd64. +#6 102.9 Preparing to unpack .../0493-liblept5_1.82.0-3build4_amd64.deb ... +#6 102.9 Unpacking liblept5:amd64 (1.82.0-3build4) ... +#6 102.9 Selecting previously unselected package liblerc-dev:amd64. +#6 102.9 Preparing to unpack .../0494-liblerc-dev_4.0.0+ds-4ubuntu2_amd64.deb ... +#6 103.0 Unpacking liblerc-dev:amd64 (4.0.0+ds-4ubuntu2) ... +#6 103.0 Selecting previously unselected package liblttng-ust1t64:amd64. +#6 103.0 Preparing to unpack .../0495-liblttng-ust1t64_2.13.7-1.1ubuntu2_amd64.deb ... +#6 103.0 Unpacking liblttng-ust1t64:amd64 (2.13.7-1.1ubuntu2) ... +#6 103.1 Selecting previously unselected package liblttng-ust-python-agent1t64:amd64. +#6 103.1 Preparing to unpack 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104.5 Selecting previously unselected package libopenexr-3-1-30:amd64. +#6 104.5 Preparing to unpack .../0518-libopenexr-3-1-30_3.1.5-5.1build3_amd64.deb ... +#6 104.5 Unpacking libopenexr-3-1-30:amd64 (3.1.5-5.1build3) ... +#6 104.6 Selecting previously unselected package libopencv-imgcodecs406t64:amd64. +#6 104.6 Preparing to unpack .../0519-libopencv-imgcodecs406t64_4.6.0+dfsg-13.1ubuntu1_amd64.deb ... +#6 104.7 Unpacking libopencv-imgcodecs406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 104.8 Selecting previously unselected package libqt5opengl5t64:amd64. +#6 104.8 Preparing to unpack .../0520-libqt5opengl5t64_5.15.13+dfsg-1ubuntu1_amd64.deb ... +#6 104.9 Unpacking libqt5opengl5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 104.9 Selecting previously unselected package libopencv-highgui406t64:amd64. +#6 104.9 Preparing to unpack .../0521-libopencv-highgui406t64_4.6.0+dfsg-13.1ubuntu1_amd64.deb ... +#6 104.9 Unpacking libopencv-highgui406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 104.9 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libpcl-ml1.14:amd64 (1.14.0+dfsg-1) ... +#6 109.5 Selecting previously unselected package libpcl-segmentation1.14:amd64. +#6 109.5 Preparing to unpack .../0580-libpcl-segmentation1.14_1.14.0+dfsg-1_amd64.deb ... +#6 109.5 Unpacking libpcl-segmentation1.14:amd64 (1.14.0+dfsg-1) ... +#6 109.6 Selecting previously unselected package libpcl-surface1.14:amd64. +#6 109.6 Preparing to unpack .../0581-libpcl-surface1.14_1.14.0+dfsg-1_amd64.deb ... +#6 109.6 Unpacking libpcl-surface1.14:amd64 (1.14.0+dfsg-1) ... +#6 109.6 Selecting previously unselected package libpcl-apps1.14:amd64. +#6 109.6 Preparing to unpack .../0582-libpcl-apps1.14_1.14.0+dfsg-1_amd64.deb ... +#6 109.6 Unpacking libpcl-apps1.14:amd64 (1.14.0+dfsg-1) ... +#6 109.7 Selecting previously unselected package libpcl-io1.14:amd64. +#6 109.7 Preparing to unpack .../0583-libpcl-io1.14_1.14.0+dfsg-1_amd64.deb ... +#6 109.7 Unpacking libpcl-io1.14:amd64 (1.14.0+dfsg-1) ... +#6 109.8 Selecting previously unselected package libpcl-keypoints1.14:amd64. +#6 109.8 Preparing to unpack .../0584-libpcl-keypoints1.14_1.14.0+dfsg-1_amd64.deb ... +#6 109.8 Unpacking libpcl-keypoints1.14:amd64 (1.14.0+dfsg-1) ... +#6 109.9 Selecting previously unselected package libpcl-outofcore1.14:amd64. +#6 109.9 Preparing to unpack .../0585-libpcl-outofcore1.14_1.14.0+dfsg-1_amd64.deb ... +#6 109.9 Unpacking libpcl-outofcore1.14:amd64 (1.14.0+dfsg-1) ... +#6 109.9 Selecting previously unselected package libpcl-people1.14:amd64. +#6 109.9 Preparing to unpack .../0586-libpcl-people1.14_1.14.0+dfsg-1_amd64.deb ... +#6 109.9 Unpacking libpcl-people1.14:amd64 (1.14.0+dfsg-1) ... +#6 110.0 Selecting previously unselected package libpcl-registration1.14:amd64. +#6 110.0 Preparing to unpack .../0587-libpcl-registration1.14_1.14.0+dfsg-1_amd64.deb ... +#6 110.0 Unpacking libpcl-registration1.14:amd64 (1.14.0+dfsg-1) ... +#6 110.0 Selecting previously unselected package libpcl-recognition1.14:amd64. +#6 110.1 Preparing to unpack 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+#6 113.1 Selecting previously unselected package libxt-dev:amd64. +#6 113.1 Preparing to unpack .../0629-libxt-dev_1%3a1.2.1-1.2build1_amd64.deb ... +#6 113.1 Unpacking libxt-dev:amd64 (1:1.2.1-1.2build1) ... +#6 113.1 Selecting previously unselected package libxv1:amd64. +#6 113.1 Preparing to unpack .../0630-libxv1_2%3a1.0.11-1.1build1_amd64.deb ... +#6 113.2 Unpacking libxv1:amd64 (2:1.0.11-1.1build1) ... +#6 113.2 Selecting previously unselected package libxv-dev:amd64. +#6 113.2 Preparing to unpack .../0631-libxv-dev_2%3a1.0.11-1.1build1_amd64.deb ... +#6 113.2 Unpacking libxv-dev:amd64 (2:1.0.11-1.1build1) ... +#6 113.3 Selecting previously unselected package libxxf86vm-dev:amd64. +#6 113.3 Preparing to unpack .../0632-libxxf86vm-dev_1%3a1.1.4-1build4_amd64.deb ... +#6 113.3 Unpacking libxxf86vm-dev:amd64 (1:1.1.4-1build4) ... +#6 113.3 Selecting previously unselected package libsdl2-dev:amd64. +#6 113.3 Preparing to unpack .../0633-libsdl2-dev_2.30.0+dfsg-1ubuntu3.1_amd64.deb 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114.0 Preparing to unpack .../0643-libsvn1_1.14.3-1build4_amd64.deb ... +#6 114.0 Unpacking libsvn1:amd64 (1.14.3-1build4) ... +#6 114.1 Selecting previously unselected package libtheora-dev:amd64. +#6 114.1 Preparing to unpack .../0644-libtheora-dev_1.1.1+dfsg.1-16.1build3_amd64.deb ... +#6 114.1 Unpacking libtheora-dev:amd64 (1.1.1+dfsg.1-16.1build3) ... +#6 114.2 Selecting previously unselected package liburiparser-dev. +#6 114.2 Preparing to unpack .../0645-liburiparser-dev_0.9.7+dfsg-2build1_amd64.deb ... +#6 114.2 Unpacking liburiparser-dev (0.9.7+dfsg-2build1) ... +#6 114.2 Selecting previously unselected package libusb-1.0-0-dev:amd64. +#6 114.2 Preparing to unpack .../0646-libusb-1.0-0-dev_2%3a1.0.27-1_amd64.deb ... +#6 114.2 Unpacking libusb-1.0-0-dev:amd64 (2:1.0.27-1) ... +#6 114.3 Selecting previously unselected package libutfcpp-dev. +#6 114.3 Preparing to unpack .../0647-libutfcpp-dev_3.2.5+really3.2.4-1_all.deb ... +#6 114.3 Unpacking libutfcpp-dev (3.2.5+really3.2.4-1) 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previously unselected package libxerces-c-dev:amd64. +#6 115.0 Preparing to unpack .../0657-libxerces-c-dev_3.2.4+debian-1.2ubuntu2_amd64.deb ... +#6 115.0 Unpacking libxerces-c-dev:amd64 (3.2.4+debian-1.2ubuntu2) ... +#6 115.2 Selecting previously unselected package unixodbc-dev:amd64. +#6 115.2 Preparing to unpack .../0658-unixodbc-dev_2.3.12-1ubuntu0.24.04.1_amd64.deb ... +#6 115.2 Unpacking unixodbc-dev:amd64 (2.3.12-1ubuntu0.24.04.1) ... +#6 115.2 Selecting previously unselected package libgdal-dev. +#6 115.2 Preparing to unpack .../0659-libgdal-dev_3.8.4+dfsg-3ubuntu3_amd64.deb ... +#6 115.2 Unpacking libgdal-dev (3.8.4+dfsg-3ubuntu3) ... +#6 115.3 Selecting previously unselected package libjsoncpp-dev:amd64. +#6 115.3 Preparing to unpack .../0660-libjsoncpp-dev_1.9.5-6build1_amd64.deb ... +#6 115.3 Unpacking libjsoncpp-dev:amd64 (1.9.5-6build1) ... +#6 115.4 Selecting previously unselected package libvtk9.1t64-qt:amd64. +#6 115.4 Preparing to unpack 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(9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 116.0 Selecting previously unselected package tcl8.6. +#6 116.0 Preparing to unpack .../0666-tcl8.6_8.6.14+dfsg-1build1_amd64.deb ... +#6 116.0 Unpacking tcl8.6 (8.6.14+dfsg-1build1) ... +#6 116.1 Selecting previously unselected package tcl8.6-dev:amd64. +#6 116.1 Preparing to unpack .../0667-tcl8.6-dev_8.6.14+dfsg-1build1_amd64.deb ... +#6 116.1 Unpacking tcl8.6-dev:amd64 (8.6.14+dfsg-1build1) ... +#6 116.2 Selecting previously unselected package tcl. +#6 116.2 Preparing to unpack .../0668-tcl_8.6.14build1_amd64.deb ... +#6 116.2 Unpacking tcl (8.6.14build1) ... +#6 116.3 Selecting previously unselected package tcl-dev:amd64. +#6 116.3 Preparing to unpack .../0669-tcl-dev_8.6.14build1_amd64.deb ... +#6 116.3 Unpacking tcl-dev:amd64 (8.6.14build1) ... +#6 116.3 Selecting previously unselected package tk8.6. +#6 116.3 Preparing to unpack .../0670-tk8.6_8.6.14-1build1_amd64.deb ... +#6 116.3 Unpacking tk8.6 (8.6.14-1build1) ... +#6 116.4 Selecting previously unselected package tk8.6-dev:amd64. +#6 116.4 Preparing to unpack .../0671-tk8.6-dev_8.6.14-1build1_amd64.deb ... +#6 116.4 Unpacking tk8.6-dev:amd64 (8.6.14-1build1) ... +#6 116.5 Selecting previously unselected package tk. +#6 116.5 Preparing to unpack .../0672-tk_8.6.14build1_amd64.deb ... +#6 116.5 Unpacking tk (8.6.14build1) ... +#6 116.5 Selecting previously unselected package tk-dev:amd64. +#6 116.5 Preparing to unpack .../0673-tk-dev_8.6.14build1_amd64.deb ... +#6 116.5 Unpacking tk-dev:amd64 (8.6.14build1) ... +#6 116.6 Selecting previously unselected package vtk9. +#6 116.6 Preparing to unpack .../0674-vtk9_9.1.0+really9.1.0+dfsg2-7.1build3_amd64.deb ... +#6 116.6 Unpacking vtk9 (9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 116.7 Selecting previously unselected package libvtk9-dev. +#6 116.7 Preparing to unpack .../0675-libvtk9-dev_9.1.0+really9.1.0+dfsg2-7.1build3_amd64.deb ... +#6 116.7 Unpacking libvtk9-dev (9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 117.1 Selecting previously unselected package qdoc-qt5. +#6 117.2 Preparing to unpack .../0676-qdoc-qt5_5.15.13-1_amd64.deb ... +#6 117.2 Unpacking qdoc-qt5 (5.15.13-1) ... +#6 117.2 Selecting previously unselected package qhelpgenerator-qt5. +#6 117.2 Preparing to unpack .../0677-qhelpgenerator-qt5_5.15.13-1_amd64.deb ... +#6 117.2 Unpacking qhelpgenerator-qt5 (5.15.13-1) ... +#6 117.3 Selecting previously unselected package qt5-assistant. +#6 117.3 Preparing to unpack .../0678-qt5-assistant_5.15.13-1_amd64.deb ... +#6 117.3 Unpacking qt5-assistant (5.15.13-1) ... +#6 117.3 Selecting previously unselected package qtattributionsscanner-qt5. +#6 117.3 Preparing to unpack .../0679-qtattributionsscanner-qt5_5.15.13-1_amd64.deb ... +#6 117.3 Unpacking qtattributionsscanner-qt5 (5.15.13-1) ... +#6 117.4 Selecting previously unselected package qttools5-dev-tools. +#6 117.4 Preparing to unpack .../0680-qttools5-dev-tools_5.15.13-1_amd64.deb ... +#6 117.4 Unpacking qttools5-dev-tools (5.15.13-1) ... +#6 117.5 Selecting previously unselected package qttools5-dev:amd64. +#6 117.5 Preparing to unpack .../0681-qttools5-dev_5.15.13-1_amd64.deb ... +#6 117.5 Unpacking qttools5-dev:amd64 (5.15.13-1) ... +#6 117.6 Selecting previously unselected package qttools5-private-dev:amd64. +#6 117.6 Preparing to unpack .../0682-qttools5-private-dev_5.15.13-1_amd64.deb ... +#6 117.6 Unpacking qttools5-private-dev:amd64 (5.15.13-1) ... +#6 117.6 Selecting previously unselected package libvtk9-qt-dev:amd64. +#6 117.6 Preparing to unpack .../0683-libvtk9-qt-dev_9.1.0+really9.1.0+dfsg2-7.1build3_amd64.deb ... +#6 117.6 Unpacking libvtk9-qt-dev:amd64 (9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 117.7 Selecting previously unselected package libxmu-headers. +#6 117.7 Preparing to unpack .../0684-libxmu-headers_2%3a1.1.3-3build2_all.deb ... +#6 117.7 Unpacking libxmu-headers (2:1.1.3-3build2) ... +#6 117.8 Selecting previously unselected package libxmu-dev:amd64. +#6 117.8 Preparing to unpack .../0685-libxmu-dev_2%3a1.1.3-3build2_amd64.deb ... +#6 117.8 Unpacking libxmu-dev:amd64 (2:1.1.3-3build2) ... +#6 117.8 Selecting previously unselected package libxpm-dev:amd64. +#6 117.8 Preparing to unpack .../0686-libxpm-dev_1%3a3.5.17-1build2_amd64.deb ... +#6 117.8 Unpacking libxpm-dev:amd64 (1:3.5.17-1build2) ... +#6 117.9 Selecting previously unselected package libxaw7-dev:amd64. +#6 117.9 Preparing to unpack .../0687-libxaw7-dev_2%3a1.0.14-1build2_amd64.deb ... +#6 117.9 Unpacking libxaw7-dev:amd64 (2:1.0.14-1build2) ... +#6 117.9 Selecting previously unselected package libxml2-utils. +#6 117.9 Preparing to unpack .../0688-libxml2-utils_2.9.14+dfsg-1.3ubuntu3.7_amd64.deb ... +#6 118.0 Unpacking libxml2-utils (2.9.14+dfsg-1.3ubuntu3.7) ... +#6 118.0 Selecting previously unselected package libyaml-cpp0.8:amd64. +#6 118.0 Preparing to unpack .../0689-libyaml-cpp0.8_0.8.0+dfsg-6build1_amd64.deb ... +#6 118.0 Unpacking libyaml-cpp0.8:amd64 (0.8.0+dfsg-6build1) ... +#6 118.1 Selecting previously unselected package libyaml-cpp-dev:amd64. +#6 118.1 Preparing to unpack .../0690-libyaml-cpp-dev_0.8.0+dfsg-6build1_amd64.deb ... +#6 118.1 Unpacking libyaml-cpp-dev:amd64 (0.8.0+dfsg-6build1) ... +#6 118.1 Selecting previously unselected package mercurial-common. +#6 118.2 Preparing to unpack .../0691-mercurial-common_6.7.2-1ubuntu2.2_all.deb ... +#6 118.2 Unpacking mercurial-common (6.7.2-1ubuntu2.2) ... +#6 118.3 Selecting previously unselected package mercurial. +#6 118.4 Preparing to unpack .../0692-mercurial_6.7.2-1ubuntu2.2_amd64.deb ... +#6 118.4 Unpacking mercurial (6.7.2-1ubuntu2.2) ... +#6 118.4 Selecting previously unselected package pybind11-dev. +#6 118.4 Preparing to unpack .../0693-pybind11-dev_2.11.1-2_all.deb ... +#6 118.4 Unpacking pybind11-dev (2.11.1-2) ... +#6 118.5 Selecting previously unselected package python3-more-itertools. +#6 118.5 Preparing to unpack .../0694-python3-more-itertools_10.2.0-1_all.deb ... +#6 118.5 Unpacking python3-more-itertools (10.2.0-1) ... +#6 118.6 Selecting previously unselected package python3-zipp. +#6 118.6 Preparing to unpack .../0695-python3-zipp_1.0.0-6ubuntu0.1_all.deb ... +#6 118.6 Unpacking python3-zipp (1.0.0-6ubuntu0.1) ... +#6 118.6 Selecting previously unselected package python3-importlib-metadata. +#6 118.6 Preparing to unpack .../0696-python3-importlib-metadata_4.12.0-1_all.deb ... +#6 118.6 Unpacking python3-importlib-metadata (4.12.0-1) ... +#6 118.7 Selecting previously unselected package python3-snowballstemmer. +#6 118.7 Preparing to unpack .../0697-python3-snowballstemmer_2.2.0-4build1_all.deb ... +#6 118.7 Unpacking python3-snowballstemmer (2.2.0-4build1) ... +#6 118.7 Selecting previously unselected package python3-pydocstyle. +#6 118.8 Preparing to unpack .../0698-python3-pydocstyle_6.3.0-1.1_all.deb ... +#6 118.8 Unpacking python3-pydocstyle (6.3.0-1.1) ... +#6 118.8 Selecting previously unselected package pydocstyle. +#6 118.8 Preparing to unpack .../0699-pydocstyle_6.3.0-1.1_all.deb ... +#6 118.8 Unpacking pydocstyle (6.3.0-1.1) ... +#6 118.9 Selecting previously unselected package pyqt5-dev. +#6 118.9 Preparing to unpack .../0700-pyqt5-dev_5.15.10+dfsg-1build6_all.deb ... +#6 118.9 Unpacking pyqt5-dev (5.15.10+dfsg-1build6) ... +#6 119.0 Selecting previously unselected package python-matplotlib-data. +#6 119.0 Preparing to unpack .../0701-python-matplotlib-data_3.6.3-1ubuntu5_all.deb ... +#6 119.1 Unpacking python-matplotlib-data (3.6.3-1ubuntu5) ... +#6 119.2 Selecting previously unselected package python3-appdirs. +#6 119.2 Preparing to unpack .../0702-python3-appdirs_1.4.4-4_all.deb ... +#6 119.2 Unpacking python3-appdirs (1.4.4-4) ... +#6 119.2 Selecting previously unselected package python3-argcomplete. +#6 119.2 Preparing to unpack .../0703-python3-argcomplete_3.1.4-1ubuntu0.1_all.deb ... +#6 119.2 Unpacking python3-argcomplete (3.1.4-1ubuntu0.1) ... +#6 119.3 Selecting previously unselected package python3-attr. +#6 119.3 Preparing to unpack .../0704-python3-attr_23.2.0-2_all.deb ... +#6 119.3 Unpacking python3-attr (23.2.0-2) ... +#6 119.4 Selecting previously unselected package python3-empy. +#6 119.4 Preparing to unpack .../0705-python3-empy_3.3.4-2_all.deb ... +#6 119.4 Unpacking python3-empy (3.3.4-2) ... +#6 119.4 Selecting previously unselected package python3-six. +#6 119.4 Preparing to unpack .../0706-python3-six_1.16.0-4_all.deb ... +#6 119.4 Unpacking python3-six (1.16.0-4) ... +#6 119.5 Selecting previously unselected package python3-dateutil. +#6 119.5 Preparing to unpack .../0707-python3-dateutil_2.8.2-3ubuntu1_all.deb ... +#6 119.5 Unpacking python3-dateutil (2.8.2-3ubuntu1) ... +#6 119.6 Selecting previously unselected package python3-roman. +#6 119.6 Preparing to unpack .../0708-python3-roman_3.3-3_all.deb ... +#6 119.6 Unpacking python3-roman (3.3-3) ... +#6 119.6 Selecting previously unselected package python3-docutils. +#6 119.6 Preparing to unpack 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python3-rosdistro-modules. +#6 120.0 Preparing to unpack .../0714-python3-rosdistro-modules_1.0.1-1_all.deb ... +#6 120.0 Unpacking python3-rosdistro-modules (1.0.1-1) ... +#6 120.0 Selecting previously unselected package python3-rosdep-modules. +#6 120.0 Preparing to unpack .../0715-python3-rosdep-modules_0.26.0-1_all.deb ... +#6 120.1 Unpacking python3-rosdep-modules (0.26.0-1) ... +#6 120.1 Selecting previously unselected package python3-rosdep. +#6 120.1 Preparing to unpack .../0716-python3-rosdep_0.26.0-1_all.deb ... +#6 120.1 Unpacking python3-rosdep (0.26.0-1) ... +#6 120.2 Selecting previously unselected package python3-rosdistro. +#6 120.2 Preparing to unpack .../0717-python3-rosdistro_1.0.1-100_all.deb ... +#6 120.2 Unpacking python3-rosdistro (1.0.1-100) ... +#6 120.2 Selecting previously unselected package subversion. +#6 120.2 Preparing to unpack .../0718-subversion_1.14.3-1build4_amd64.deb ... +#6 120.3 Unpacking subversion (1.14.3-1build4) ... +#6 120.3 Selecting previously unselected package python3-vcstools. +#6 120.3 Preparing to unpack .../0719-python3-vcstools_0.1.42-1_all.deb ... +#6 120.3 Unpacking python3-vcstools (0.1.42-1) ... +#6 120.4 Selecting previously unselected package python3-catkin-pkg. +#6 120.4 Preparing to unpack .../0720-python3-catkin-pkg_1.1.0-101_all.deb ... +#6 120.4 Unpacking python3-catkin-pkg (1.1.0-101) ... +#6 120.4 Selecting previously unselected package python3-bloom. +#6 120.4 Preparing to unpack .../0721-python3-bloom_0.14.3+upstream-1_all.deb ... +#6 120.5 Unpacking python3-bloom (0.14.3+upstream-1) ... +#6 120.5 Selecting previously unselected package python3-brotli. +#6 120.5 Preparing to unpack .../0722-python3-brotli_1.1.0-2build2_amd64.deb ... +#6 120.5 Unpacking python3-brotli (1.1.0-2build2) ... +#6 120.6 Selecting previously unselected package python3-cairo. +#6 120.6 Preparing to unpack .../0723-python3-cairo_1.25.1-2build2_amd64.deb ... +#6 120.6 Unpacking python3-cairo (1.25.1-2build2) ... +#6 120.6 Selecting previously unselected package python3-colorama. +#6 120.6 Preparing to unpack .../0724-python3-colorama_0.4.6-4_all.deb ... +#6 120.7 Unpacking python3-colorama (0.4.6-4) ... +#6 120.7 Selecting previously unselected package python3-click. +#6 120.7 Preparing to unpack .../0725-python3-click_8.1.6-2_all.deb ... +#6 120.7 Unpacking python3-click (8.1.6-2) ... +#6 120.8 Selecting previously unselected package python3-distlib. +#6 120.8 Preparing to unpack .../0726-python3-distlib_0.3.8-1_all.deb ... +#6 120.8 Unpacking python3-distlib (0.3.8-1) ... +#6 120.8 Selecting previously unselected package python3-iniconfig. +#6 120.8 Preparing to unpack .../0727-python3-iniconfig_1.1.1-2_all.deb ... +#6 120.8 Unpacking python3-iniconfig (1.1.1-2) ... +#6 120.9 Selecting previously unselected package python3-pluggy. +#6 120.9 Preparing to unpack .../0728-python3-pluggy_1.4.0-1_all.deb ... +#6 120.9 Unpacking python3-pluggy (1.4.0-1) ... +#6 121.0 Selecting previously unselected package python3-pytest. +#6 121.0 Preparing to unpack .../0729-python3-pytest_7.4.4-1_all.deb ... +#6 121.0 Unpacking python3-pytest (7.4.4-1) ... +#6 121.0 Selecting previously unselected package python3-colcon-core. +#6 121.0 Preparing to unpack .../0730-python3-colcon-core_0.20.1+upstream-1_all.deb ... +#6 121.1 Unpacking python3-colcon-core (0.20.1+upstream-1) ... +#6 121.1 Selecting previously unselected package python3-colcon-argcomplete. +#6 121.1 Preparing to unpack .../0731-python3-colcon-argcomplete_0.3.3+upstream-1_all.deb ... +#6 121.1 Unpacking python3-colcon-argcomplete (0.3.3+upstream-1) ... +#6 121.2 Selecting previously unselected package python3-colcon-bash. +#6 121.2 Preparing to unpack .../0732-python3-colcon-bash_0.5.0-100_all.deb ... +#6 121.2 Unpacking python3-colcon-bash (0.5.0-100) ... +#6 121.3 Selecting previously unselected package python3-colcon-package-information. +#6 121.3 Preparing to unpack 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python3-colcon-cmake (0.2.29-100) ... +#6 121.7 Selecting previously unselected package python3-colcon-defaults. +#6 121.7 Preparing to unpack .../0738-python3-colcon-defaults_0.2.9+upstream-1_all.deb ... +#6 121.7 Unpacking python3-colcon-defaults (0.2.9+upstream-1) ... +#6 121.8 Selecting previously unselected package python3-colcon-devtools. +#6 121.8 Preparing to unpack .../0739-python3-colcon-devtools_0.3.0-100_all.deb ... +#6 121.8 Unpacking python3-colcon-devtools (0.3.0-100) ... +#6 121.9 Selecting previously unselected package python3-colcon-metadata. +#6 121.9 Preparing to unpack .../0740-python3-colcon-metadata_0.2.5-100_all.deb ... +#6 121.9 Unpacking python3-colcon-metadata (0.2.5-100) ... +#6 122.0 Selecting previously unselected package python3-notify2. +#6 122.0 Preparing to unpack .../0741-python3-notify2_0.3-5_all.deb ... +#6 122.0 Unpacking python3-notify2 (0.3-5) ... +#6 122.0 Selecting previously unselected package python3-colcon-notification. +#6 122.0 Preparing to unpack .../0742-python3-colcon-notification_0.3.1+upstream-1_all.deb ... +#6 122.0 Unpacking python3-colcon-notification (0.3.1+upstream-1) ... +#6 122.1 Selecting previously unselected package python3-colcon-output. +#6 122.1 Preparing to unpack .../0743-python3-colcon-output_0.2.14+upstream-1_all.deb ... +#6 122.1 Unpacking python3-colcon-output (0.2.14+upstream-1) ... +#6 122.2 Selecting previously unselected package python3-colcon-package-selection. +#6 122.2 Preparing to unpack .../0744-python3-colcon-package-selection_0.2.10-100_all.deb ... +#6 122.2 Unpacking python3-colcon-package-selection (0.2.10-100) ... +#6 122.2 Selecting previously unselected package python3-colcon-parallel-executor. +#6 122.2 Preparing to unpack .../0745-python3-colcon-parallel-executor_0.3.0-100_all.deb ... +#6 122.2 Unpacking python3-colcon-parallel-executor (0.3.0-100) ... +#6 122.3 Selecting previously unselected package python3-colcon-powershell. +#6 122.3 Preparing to unpack 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+#6 122.6 Unpacking python3-colcon-ros (0.5.0+upstream-1) ... +#6 122.7 Selecting previously unselected package python3-colcon-zsh. +#6 122.7 Preparing to unpack .../0751-python3-colcon-zsh_0.5.0-100_all.deb ... +#6 122.7 Unpacking python3-colcon-zsh (0.5.0-100) ... +#6 122.8 Selecting previously unselected package python3-colcon-common-extensions. +#6 122.8 Preparing to unpack .../0752-python3-colcon-common-extensions_0.3.0-100_all.deb ... +#6 122.8 Unpacking python3-colcon-common-extensions (0.3.0-100) ... +#6 122.8 Selecting previously unselected package python3-colcon-mixin. +#6 122.8 Preparing to unpack .../0753-python3-colcon-mixin_0.2.3-100_all.deb ... +#6 122.8 Unpacking python3-colcon-mixin (0.2.3-100) ... +#6 122.9 Selecting previously unselected package python3-numpy. +#6 122.9 Preparing to unpack .../0754-python3-numpy_1%3a1.26.4+ds-6ubuntu1_amd64.deb ... +#6 122.9 Unpacking python3-numpy (1:1.26.4+ds-6ubuntu1) ... +#6 123.1 Selecting previously unselected package python3-contourpy. +#6 123.1 Preparing to unpack .../0755-python3-contourpy_1.0.7-2build1_amd64.deb ... +#6 123.1 Unpacking python3-contourpy (1.0.7-2build1) ... +#6 123.2 Selecting previously unselected package python3-cryptography. +#6 123.2 Preparing to unpack .../0756-python3-cryptography_41.0.7-4ubuntu0.4_amd64.deb ... +#6 123.2 Unpacking python3-cryptography (41.0.7-4ubuntu0.4) ... +#6 123.3 Selecting previously unselected package python3-cycler. +#6 123.3 Preparing to unpack .../0757-python3-cycler_0.11.0-2_all.deb ... +#6 123.3 Unpacking python3-cycler (0.11.0-2) ... +#6 123.4 Selecting previously unselected package python3-decorator. +#6 123.4 Preparing to unpack .../0758-python3-decorator_5.1.1-5_all.deb ... +#6 123.4 Unpacking python3-decorator (5.1.1-5) ... +#6 123.4 Selecting previously unselected package python3-wrapt. +#6 123.4 Preparing to unpack .../0759-python3-wrapt_1.15.0-2build3_amd64.deb ... +#6 123.4 Unpacking python3-wrapt (1.15.0-2build3) ... +#6 123.5 Selecting previously unselected package python3-deprecated. +#6 123.5 Preparing to unpack .../0760-python3-deprecated_1.2.14-1_all.deb ... +#6 123.5 Unpacking python3-deprecated (1.2.14-1) ... +#6 123.6 Selecting previously unselected package python3-mccabe. +#6 123.6 Preparing to unpack .../0761-python3-mccabe_0.7.0-1_all.deb ... +#6 123.6 Unpacking python3-mccabe (0.7.0-1) ... +#6 123.6 Selecting previously unselected package python3-pycodestyle. +#6 123.6 Preparing to unpack .../0762-python3-pycodestyle_2.11.1-1_all.deb ... +#6 123.6 Unpacking python3-pycodestyle (2.11.1-1) ... +#6 123.7 Selecting previously unselected package python3-pyflakes. +#6 123.7 Preparing to unpack .../0763-python3-pyflakes_3.2.0-1_all.deb ... +#6 123.7 Unpacking python3-pyflakes (3.2.0-1) ... +#6 123.8 Selecting previously unselected package python3-flake8. +#6 123.8 Preparing to unpack .../0764-python3-flake8_7.0.0-1_all.deb ... +#6 123.8 Unpacking python3-flake8 (7.0.0-1) ... +#6 123.9 Selecting previously unselected package python3-flake8-builtins. +#6 123.9 Preparing to unpack .../0765-python3-flake8-builtins_2.1.0-1_all.deb ... +#6 123.9 Unpacking python3-flake8-builtins (2.1.0-1) ... +#6 123.9 Selecting previously unselected package python3-flake8-comprehensions. +#6 123.9 Preparing to unpack .../0766-python3-flake8-comprehensions_3.14.0-1_all.deb ... +#6 123.9 Unpacking python3-flake8-comprehensions (3.14.0-1) ... +#6 124.0 Selecting previously unselected package python3-flake8-docstrings. +#6 124.0 Preparing to unpack .../0767-python3-flake8-docstrings_1.6.0-2_all.deb ... +#6 124.0 Unpacking python3-flake8-docstrings (1.6.0-2) ... +#6 124.1 Selecting previously unselected package python3-flake8-import-order. +#6 124.1 Preparing to unpack .../0768-python3-flake8-import-order_0.18.2-2_all.deb ... +#6 124.1 Unpacking python3-flake8-import-order (0.18.2-2) ... +#6 124.1 Selecting previously unselected package python3-flake8-quotes. +#6 124.1 Preparing to unpack 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python3-lark. +#6 126.0 Preparing to unpack .../0784-python3-lark_1.1.9-1_all.deb ... +#6 126.0 Unpacking python3-lark (1.1.9-1) ... +#6 126.1 Selecting previously unselected package python3-pil:amd64. +#6 126.1 Preparing to unpack .../0785-python3-pil_10.2.0-1ubuntu1_amd64.deb ... +#6 126.1 Unpacking python3-pil:amd64 (10.2.0-1ubuntu1) ... +#6 126.2 Selecting previously unselected package python3-tk:amd64. +#6 126.2 Preparing to unpack .../0786-python3-tk_3.12.3-0ubuntu1_amd64.deb ... +#6 126.2 Unpacking python3-tk:amd64 (3.12.3-0ubuntu1) ... +#6 126.2 Selecting previously unselected package python3-pil.imagetk:amd64. +#6 126.2 Preparing to unpack .../0787-python3-pil.imagetk_10.2.0-1ubuntu1_amd64.deb ... +#6 126.2 Unpacking python3-pil.imagetk:amd64 (10.2.0-1ubuntu1) ... +#6 126.3 Selecting previously unselected package python3-matplotlib. +#6 126.3 Preparing to unpack .../0788-python3-matplotlib_3.6.3-1ubuntu5_amd64.deb ... +#6 126.3 Unpacking python3-matplotlib (3.6.3-1ubuntu5) ... +#6 126.5 Selecting previously unselected package python3-opencv:amd64. +#6 126.5 Preparing to unpack .../0789-python3-opencv_4.6.0+dfsg-13.1ubuntu1_amd64.deb ... +#6 126.5 Unpacking python3-opencv:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 126.5 Selecting previously unselected package python3-psutil. +#6 126.5 Preparing to unpack .../0790-python3-psutil_5.9.8-2build2_amd64.deb ... +#6 126.6 Unpacking python3-psutil (5.9.8-2build2) ... +#6 126.6 Selecting previously unselected package python3-pydot. +#6 126.6 Preparing to unpack .../0791-python3-pydot_1.4.2-2_all.deb ... +#6 126.6 Unpacking python3-pydot (1.4.2-2) ... +#6 126.7 Selecting previously unselected package python3-pykdl:amd64. +#6 126.7 Preparing to unpack .../0792-python3-pykdl_1.5.1-4build1_amd64.deb ... +#6 126.7 Unpacking python3-pykdl:amd64 (1.5.1-4build1) ... +#6 126.7 Selecting previously unselected package python3-pyqt5.sip. +#6 126.7 Preparing to unpack .../0793-python3-pyqt5.sip_12.13.0-1build3_amd64.deb ... +#6 126.7 Unpacking python3-pyqt5.sip (12.13.0-1build3) ... +#6 126.8 Selecting previously unselected package python3-pyqt5. +#6 126.8 Preparing to unpack .../0794-python3-pyqt5_5.15.10+dfsg-1build6_amd64.deb ... +#6 126.8 Unpacking python3-pyqt5 (5.15.10+dfsg-1build6) ... +#6 126.9 Selecting previously unselected package python3-pyqt5.qtsvg. +#6 126.9 Preparing to unpack .../0795-python3-pyqt5.qtsvg_5.15.10+dfsg-1build6_amd64.deb ... +#6 126.9 Unpacking python3-pyqt5.qtsvg (5.15.10+dfsg-1build6) ... +#6 127.0 Selecting previously unselected package python3-pyside2.qtcore. +#6 127.0 Preparing to unpack .../0796-python3-pyside2.qtcore_5.15.13-1_amd64.deb ... +#6 127.0 Unpacking python3-pyside2.qtcore (5.15.13-1) ... +#6 127.0 Selecting previously unselected package python3-pyside2.qtgui. +#6 127.1 Preparing to unpack .../0797-python3-pyside2.qtgui_5.15.13-1_amd64.deb ... +#6 127.1 Unpacking python3-pyside2.qtgui (5.15.13-1) ... +#6 127.2 Selecting previously unselected package python3-pyside2.qtwidgets. +#6 127.2 Preparing to unpack .../0798-python3-pyside2.qtwidgets_5.15.13-1_amd64.deb ... +#6 127.3 Unpacking python3-pyside2.qtwidgets (5.15.13-1) ... +#6 127.4 Selecting previously unselected package python3-pyside2.qtsvg. +#6 127.4 Preparing to unpack .../0799-python3-pyside2.qtsvg_5.15.13-1_amd64.deb ... +#6 127.4 Unpacking python3-pyside2.qtsvg (5.15.13-1) ... +#6 127.5 Selecting previously unselected package python3-sip. +#6 127.5 Preparing to unpack .../0800-python3-sip_4.19.25+dfsg-5build3_amd64.deb ... +#6 127.5 Unpacking python3-sip (4.19.25+dfsg-5build3) ... +#6 127.5 Selecting previously unselected package sip-dev. +#6 127.5 Preparing to unpack .../0801-sip-dev_4.19.25+dfsg-5build3_amd64.deb ... +#6 127.5 Unpacking sip-dev (4.19.25+dfsg-5build3) ... +#6 127.6 Selecting previously unselected package python3-sip-dev. +#6 127.6 Preparing to unpack .../0802-python3-sip-dev_4.19.25+dfsg-5build3_amd64.deb ... +#6 127.6 Unpacking python3-sip-dev (4.19.25+dfsg-5build3) ... +#6 127.7 Selecting previously unselected package python3-typeguard. +#6 127.7 Preparing to unpack .../0803-python3-typeguard_4.1.5-1_all.deb ... +#6 127.7 Unpacking python3-typeguard (4.1.5-1) ... +#6 127.7 Selecting previously unselected package python3-vcstool. +#6 127.7 Preparing to unpack .../0804-python3-vcstool_0.3.0-1_all.deb ... +#6 127.7 Unpacking python3-vcstool (0.3.0-1) ... +#6 127.8 Selecting previously unselected package ros-build-essential. +#6 127.8 Preparing to unpack .../0805-ros-build-essential_1.0.1_all.deb ... +#6 127.8 Unpacking ros-build-essential (1.0.1) ... +#6 127.9 Selecting previously unselected package ros-dev-tools. +#6 127.9 Preparing to unpack .../0806-ros-dev-tools_1.0.1_all.deb ... +#6 127.9 Unpacking ros-dev-tools (1.0.1) ... +#6 127.9 Selecting previously unselected package ros-jazzy-ros-workspace. +#6 127.9 Preparing to unpack .../0807-ros-jazzy-ros-workspace_1.0.3-7noble.20260224.191628_amd64.deb ... +#6 127.9 Unpacking ros-jazzy-ros-workspace (1.0.3-7noble.20260224.191628) ... +#6 128.0 Selecting previously unselected package ros-jazzy-fastcdr. +#6 128.0 Preparing to unpack .../0808-ros-jazzy-fastcdr_2.2.7-1noble.20260225.051855_amd64.deb ... +#6 128.0 Unpacking ros-jazzy-fastcdr (2.2.7-1noble.20260225.051855) ... +#6 128.0 Selecting previously unselected package ros-jazzy-ament-package. +#6 128.1 Preparing to unpack .../0809-ros-jazzy-ament-package_0.16.5-1noble.20260121.174946_amd64.deb ... +#6 128.1 Unpacking ros-jazzy-ament-package (0.16.5-1noble.20260121.174946) ... +#6 128.1 Selecting previously unselected package ros-jazzy-ament-cmake-core. +#6 128.1 Preparing to unpack .../0810-ros-jazzy-ament-cmake-core_2.5.6-2noble.20260224.191131_amd64.deb ... +#6 128.1 Unpacking ros-jazzy-ament-cmake-core (2.5.6-2noble.20260224.191131) ... +#6 128.2 Selecting previously unselected package ros-jazzy-ament-cmake-export-definitions. +#6 128.2 Preparing to unpack .../0811-ros-jazzy-ament-cmake-export-definitions_2.5.6-2noble.20260224.232207_amd64.deb ... +#6 128.2 Unpacking ros-jazzy-ament-cmake-export-definitions (2.5.6-2noble.20260224.232207) ... +#6 128.2 Selecting previously unselected package ros-jazzy-ament-cmake-libraries. +#6 128.2 Preparing to unpack .../0812-ros-jazzy-ament-cmake-libraries_2.5.6-2noble.20260225.042312_amd64.deb ... +#6 128.3 Unpacking ros-jazzy-ament-cmake-libraries (2.5.6-2noble.20260225.042312) ... +#6 128.3 Selecting previously unselected package ros-jazzy-ament-cmake-export-dependencies. +#6 128.3 Preparing to unpack .../0813-ros-jazzy-ament-cmake-export-dependencies_2.5.6-2noble.20260225.043730_amd64.deb ... +#6 128.3 Unpacking ros-jazzy-ament-cmake-export-dependencies (2.5.6-2noble.20260225.043730) ... +#6 128.4 Selecting previously unselected package ros-jazzy-ament-cmake-export-include-directories. +#6 128.4 Preparing to unpack .../0814-ros-jazzy-ament-cmake-export-include-directories_2.5.6-2noble.20260224.232223_amd64.deb ... +#6 128.4 Unpacking ros-jazzy-ament-cmake-export-include-directories (2.5.6-2noble.20260224.232223) ... +#6 128.4 Selecting previously unselected package ros-jazzy-ament-cmake-export-libraries. +#6 128.4 Preparing to unpack .../0815-ros-jazzy-ament-cmake-export-libraries_2.5.6-2noble.20260224.232254_amd64.deb ... +#6 128.4 Unpacking ros-jazzy-ament-cmake-export-libraries (2.5.6-2noble.20260224.232254) ... +#6 128.5 Selecting previously unselected package ros-jazzy-ament-cmake-export-interfaces. +#6 128.5 Preparing to unpack .../0816-ros-jazzy-ament-cmake-export-interfaces_2.5.6-2noble.20260225.042039_amd64.deb ... +#6 128.5 Unpacking ros-jazzy-ament-cmake-export-interfaces (2.5.6-2noble.20260225.042039) ... +#6 128.5 Selecting previously unselected package ros-jazzy-ament-cmake-export-link-flags. +#6 128.6 Preparing to unpack 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ros-jazzy-ament-cmake-python (2.5.6-2noble.20260225.042312) ... +#6 128.8 Selecting previously unselected package ros-jazzy-ament-cmake-include-directories. +#6 128.8 Preparing to unpack .../0821-ros-jazzy-ament-cmake-include-directories_2.5.6-2noble.20260225.042241_amd64.deb ... +#6 128.8 Unpacking ros-jazzy-ament-cmake-include-directories (2.5.6-2noble.20260225.042241) ... +#6 128.9 Selecting previously unselected package ros-jazzy-ament-cmake-target-dependencies. +#6 128.9 Preparing to unpack .../0822-ros-jazzy-ament-cmake-target-dependencies_2.5.6-2noble.20260225.043936_amd64.deb ... +#6 128.9 Unpacking ros-jazzy-ament-cmake-target-dependencies (2.5.6-2noble.20260225.043936) ... +#6 128.9 Selecting previously unselected package ros-jazzy-ament-cmake-test. +#6 128.9 Preparing to unpack .../0823-ros-jazzy-ament-cmake-test_2.5.6-2noble.20260225.143205_amd64.deb ... +#6 129.0 Unpacking ros-jazzy-ament-cmake-test (2.5.6-2noble.20260225.143205) ... +#6 129.0 Selecting previously unselected package ros-jazzy-ament-cmake-version. +#6 129.0 Preparing to unpack .../0824-ros-jazzy-ament-cmake-version_2.5.6-2noble.20260225.042330_amd64.deb ... +#6 129.0 Unpacking ros-jazzy-ament-cmake-version (2.5.6-2noble.20260225.042330) ... +#6 129.1 Selecting previously unselected package ros-jazzy-ament-cmake. +#6 129.1 Preparing to unpack .../0825-ros-jazzy-ament-cmake_2.5.6-2noble.20260225.222913_amd64.deb ... +#6 129.1 Unpacking ros-jazzy-ament-cmake (2.5.6-2noble.20260225.222913) ... +#6 129.1 Selecting previously unselected package ros-jazzy-ament-cppcheck. +#6 129.1 Preparing to unpack .../0826-ros-jazzy-ament-cppcheck_0.17.5-1noble.20260410.080408_amd64.deb ... +#6 129.1 Unpacking ros-jazzy-ament-cppcheck (0.17.5-1noble.20260410.080408) ... +#6 129.2 Selecting previously unselected package ros-jazzy-ament-cmake-cppcheck. +#6 129.2 Preparing to unpack .../0827-ros-jazzy-ament-cmake-cppcheck_0.17.5-1noble.20260410.113607_amd64.deb ... +#6 129.2 Unpacking ros-jazzy-ament-cmake-cppcheck (0.17.5-1noble.20260410.113607) ... +#6 129.3 Selecting previously unselected package ros-jazzy-ament-cpplint. +#6 129.3 Preparing to unpack .../0828-ros-jazzy-ament-cpplint_0.17.5-1noble.20260410.080348_amd64.deb ... +#6 129.3 Unpacking ros-jazzy-ament-cpplint (0.17.5-1noble.20260410.080348) ... +#6 129.3 Selecting previously unselected package ros-jazzy-ament-cmake-cpplint. +#6 129.3 Preparing to unpack .../0829-ros-jazzy-ament-cmake-cpplint_0.17.5-1noble.20260410.105800_amd64.deb ... +#6 129.3 Unpacking ros-jazzy-ament-cmake-cpplint (0.17.5-1noble.20260410.105800) ... +#6 129.4 Selecting previously unselected package ros-jazzy-ament-lint. +#6 129.4 Preparing to unpack .../0830-ros-jazzy-ament-lint_0.17.5-1noble.20260410.080358_amd64.deb ... +#6 129.4 Unpacking ros-jazzy-ament-lint (0.17.5-1noble.20260410.080358) ... +#6 129.4 Selecting previously unselected package ros-jazzy-ament-flake8. +#6 129.5 Preparing to unpack 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unselected package uncrustify. +#6 129.7 Preparing to unpack .../0835-uncrustify_0.78.1+dfsg1-1_amd64.deb ... +#6 129.7 Unpacking uncrustify (0.78.1+dfsg1-1) ... +#6 129.8 Selecting previously unselected package ros-jazzy-uncrustify-vendor. +#6 129.8 Preparing to unpack .../0836-ros-jazzy-uncrustify-vendor_3.0.1-1noble.20260225.230730_amd64.deb ... +#6 129.8 Unpacking ros-jazzy-uncrustify-vendor (3.0.1-1noble.20260225.230730) ... +#6 129.9 Selecting previously unselected package ros-jazzy-ament-uncrustify. +#6 129.9 Preparing to unpack .../0837-ros-jazzy-ament-uncrustify_0.17.5-1noble.20260410.080359_amd64.deb ... +#6 129.9 Unpacking ros-jazzy-ament-uncrustify (0.17.5-1noble.20260410.080359) ... +#6 129.9 Selecting previously unselected package ros-jazzy-ament-cmake-uncrustify. +#6 129.9 Preparing to unpack .../0838-ros-jazzy-ament-cmake-uncrustify_0.17.5-1noble.20260410.113615_amd64.deb ... +#6 129.9 Unpacking ros-jazzy-ament-cmake-uncrustify (0.17.5-1noble.20260410.113615) ... +#6 130.0 Selecting previously unselected package ros-jazzy-ament-index-python. +#6 130.0 Preparing to unpack .../0839-ros-jazzy-ament-index-python_1.8.2-1noble.20260412.024953_amd64.deb ... +#6 130.0 Unpacking ros-jazzy-ament-index-python (1.8.2-1noble.20260412.024953) ... +#6 130.1 Selecting previously unselected package ros-jazzy-python-cmake-module. +#6 130.1 Preparing to unpack .../0840-ros-jazzy-python-cmake-module_0.11.1-2noble.20260226.000327_amd64.deb ... +#6 130.1 Unpacking ros-jazzy-python-cmake-module (0.11.1-2noble.20260226.000327) ... +#6 130.1 Selecting previously unselected package ros-jazzy-rcutils. +#6 130.1 Preparing to unpack .../0841-ros-jazzy-rcutils_6.7.5-1noble.20260226.001538_amd64.deb ... +#6 130.1 Unpacking ros-jazzy-rcutils (6.7.5-1noble.20260226.001538) ... +#6 130.2 Selecting previously unselected package ros-jazzy-rosidl-typesupport-interface. +#6 130.2 Preparing to unpack .../0842-ros-jazzy-rosidl-typesupport-interface_4.6.7-1noble.20260225.225451_amd64.deb 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ros-jazzy-rosidl-cmake. +#6 130.7 Preparing to unpack .../0850-ros-jazzy-rosidl-cmake_4.6.7-1noble.20260226.001208_amd64.deb ... +#6 130.7 Unpacking ros-jazzy-rosidl-cmake (4.6.7-1noble.20260226.001208) ... +#6 130.8 Selecting previously unselected package ros-jazzy-rosidl-generator-type-description. +#6 130.8 Preparing to unpack .../0851-ros-jazzy-rosidl-generator-type-description_4.6.7-1noble.20260412.025231_amd64.deb ... +#6 130.8 Unpacking ros-jazzy-rosidl-generator-type-description (4.6.7-1noble.20260412.025231) ... +#6 130.9 Selecting previously unselected package ros-jazzy-rosidl-generator-c. +#6 130.9 Preparing to unpack .../0852-ros-jazzy-rosidl-generator-c_4.6.7-1noble.20260412.025459_amd64.deb ... +#6 130.9 Unpacking ros-jazzy-rosidl-generator-c (4.6.7-1noble.20260412.025459) ... +#6 130.9 Selecting previously unselected package ros-jazzy-rcpputils. +#6 130.9 Preparing to unpack .../0853-ros-jazzy-rcpputils_2.11.3-1noble.20260226.002359_amd64.deb ... +#6 130.9 Unpacking ros-jazzy-rcpputils (2.11.3-1noble.20260226.002359) ... +#6 131.0 Selecting previously unselected package ros-jazzy-rosidl-typesupport-c. +#6 131.0 Preparing to unpack .../0854-ros-jazzy-rosidl-typesupport-c_3.2.2-1noble.20260412.030231_amd64.deb ... +#6 131.0 Unpacking ros-jazzy-rosidl-typesupport-c (3.2.2-1noble.20260412.030231) ... +#6 131.1 Selecting previously unselected package ros-jazzy-rpyutils. +#6 131.1 Preparing to unpack .../0855-ros-jazzy-rpyutils_0.4.2-1noble.20260225.142204_amd64.deb ... +#6 131.1 Unpacking ros-jazzy-rpyutils (0.4.2-1noble.20260225.142204) ... +#6 131.1 Selecting previously unselected package ros-jazzy-rosidl-generator-py. +#6 131.1 Preparing to unpack .../0856-ros-jazzy-rosidl-generator-py_0.22.2-1noble.20260412.030620_amd64.deb ... +#6 131.1 Unpacking ros-jazzy-rosidl-generator-py (0.22.2-1noble.20260412.030620) ... +#6 131.2 Selecting previously unselected package ros-jazzy-rosidl-runtime-cpp. +#6 131.2 Preparing to unpack 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Selecting previously unselected package ros-jazzy-gmock-vendor. +#6 131.5 Preparing to unpack .../0861-ros-jazzy-gmock-vendor_1.14.9000-2noble.20260225.143751_amd64.deb ... +#6 131.5 Unpacking ros-jazzy-gmock-vendor (1.14.9000-2noble.20260225.143751) ... +#6 131.5 Selecting previously unselected package ros-jazzy-ament-cmake-gmock. +#6 131.5 Preparing to unpack .../0862-ros-jazzy-ament-cmake-gmock_2.5.6-2noble.20260225.215706_amd64.deb ... +#6 131.5 Unpacking ros-jazzy-ament-cmake-gmock (2.5.6-2noble.20260225.215706) ... +#6 131.6 Selecting previously unselected package ros-jazzy-ament-cmake-pytest. +#6 131.6 Preparing to unpack .../0863-ros-jazzy-ament-cmake-pytest_2.5.6-2noble.20260225.145739_amd64.deb ... +#6 131.6 Unpacking ros-jazzy-ament-cmake-pytest (2.5.6-2noble.20260225.145739) ... +#6 131.7 Selecting previously unselected package ros-jazzy-domain-coordinator. +#6 131.7 Preparing to unpack .../0864-ros-jazzy-domain-coordinator_0.12.0-3noble.20260225.051359_amd64.deb ... +#6 131.7 Unpacking ros-jazzy-domain-coordinator (0.12.0-3noble.20260225.051359) ... +#6 131.7 Selecting previously unselected package ros-jazzy-ament-cmake-ros. +#6 131.7 Preparing to unpack .../0865-ros-jazzy-ament-cmake-ros_0.12.0-3noble.20260225.232209_amd64.deb ... +#6 131.7 Unpacking ros-jazzy-ament-cmake-ros (0.12.0-3noble.20260225.232209) ... +#6 131.8 Selecting previously unselected package ros-jazzy-fastrtps-cmake-module. +#6 131.8 Preparing to unpack .../0866-ros-jazzy-fastrtps-cmake-module_3.6.3-1noble.20260225.234436_amd64.deb ... +#6 131.8 Unpacking ros-jazzy-fastrtps-cmake-module (3.6.3-1noble.20260225.234436) ... +#6 131.9 Selecting previously unselected package ros-jazzy-rosidl-generator-cpp. +#6 131.9 Preparing to unpack .../0867-ros-jazzy-rosidl-generator-cpp_4.6.7-1noble.20260412.025832_amd64.deb ... +#6 131.9 Unpacking ros-jazzy-rosidl-generator-cpp (4.6.7-1noble.20260412.025832) ... +#6 131.9 Selecting previously unselected package ros-jazzy-rosidl-typesupport-fastrtps-cpp. +#6 131.9 Preparing to unpack .../0868-ros-jazzy-rosidl-typesupport-fastrtps-cpp_3.6.3-1noble.20260412.030048_amd64.deb ... +#6 131.9 Unpacking ros-jazzy-rosidl-typesupport-fastrtps-cpp (3.6.3-1noble.20260412.030048) ... +#6 132.0 Selecting previously unselected package ros-jazzy-rosidl-typesupport-fastrtps-c. +#6 132.0 Preparing to unpack .../0869-ros-jazzy-rosidl-typesupport-fastrtps-c_3.6.3-1noble.20260412.030624_amd64.deb ... +#6 132.0 Unpacking ros-jazzy-rosidl-typesupport-fastrtps-c (3.6.3-1noble.20260412.030624) ... +#6 132.1 Selecting previously unselected package ros-jazzy-rosidl-typesupport-introspection-c. +#6 132.1 Preparing to unpack .../0870-ros-jazzy-rosidl-typesupport-introspection-c_4.6.7-1noble.20260412.025838_amd64.deb ... +#6 132.1 Unpacking ros-jazzy-rosidl-typesupport-introspection-c (4.6.7-1noble.20260412.025838) ... +#6 132.1 Selecting previously unselected package ros-jazzy-rosidl-typesupport-introspection-cpp. +#6 132.1 Preparing to unpack .../0871-ros-jazzy-rosidl-typesupport-introspection-cpp_4.6.7-1noble.20260412.030123_amd64.deb ... +#6 132.2 Unpacking ros-jazzy-rosidl-typesupport-introspection-cpp (4.6.7-1noble.20260412.030123) ... +#6 132.2 Selecting previously unselected package ros-jazzy-rosidl-core-runtime. +#6 132.2 Preparing to unpack .../0872-ros-jazzy-rosidl-core-runtime_0.2.1-1noble.20260412.030912_amd64.deb ... +#6 132.2 Unpacking ros-jazzy-rosidl-core-runtime (0.2.1-1noble.20260412.030912) ... +#6 132.3 Selecting previously unselected package ros-jazzy-builtin-interfaces. +#6 132.3 Preparing to unpack .../0873-ros-jazzy-builtin-interfaces_2.0.3-1noble.20260412.031450_amd64.deb ... +#6 132.3 Unpacking ros-jazzy-builtin-interfaces (2.0.3-1noble.20260412.031450) ... +#6 132.4 Selecting previously unselected package ros-jazzy-service-msgs. +#6 132.4 Preparing to unpack .../0874-ros-jazzy-service-msgs_2.0.3-1noble.20260412.031935_amd64.deb ... +#6 132.4 Unpacking ros-jazzy-service-msgs (2.0.3-1noble.20260412.031935) ... +#6 132.4 Selecting previously unselected package ros-jazzy-unique-identifier-msgs. +#6 132.4 Preparing to unpack .../0875-ros-jazzy-unique-identifier-msgs_2.5.0-3noble.20260412.031407_amd64.deb ... +#6 132.4 Unpacking ros-jazzy-unique-identifier-msgs (2.5.0-3noble.20260412.031407) ... +#6 132.5 Selecting previously unselected package ros-jazzy-action-msgs. +#6 132.5 Preparing to unpack .../0876-ros-jazzy-action-msgs_2.0.3-1noble.20260412.032342_amd64.deb ... +#6 132.5 Unpacking ros-jazzy-action-msgs (2.0.3-1noble.20260412.032342) ... +#6 132.6 Selecting previously unselected package ros-jazzy-rosidl-default-runtime. +#6 132.6 Preparing to unpack .../0877-ros-jazzy-rosidl-default-runtime_1.6.0-3noble.20260412.032511_amd64.deb ... +#6 132.6 Unpacking ros-jazzy-rosidl-default-runtime (1.6.0-3noble.20260412.032511) ... +#6 132.7 Selecting previously unselected package ros-jazzy-std-msgs. +#6 132.7 Preparing to unpack .../0878-ros-jazzy-std-msgs_5.3.7-1noble.20260412.033140_amd64.deb ... +#6 132.7 Unpacking ros-jazzy-std-msgs (5.3.7-1noble.20260412.033140) ... +#6 132.9 Selecting previously unselected package ros-jazzy-ackermann-msgs. +#6 132.9 Preparing to unpack .../0879-ros-jazzy-ackermann-msgs_2.0.2-6noble.20260412.033758_amd64.deb ... +#6 132.9 Unpacking ros-jazzy-ackermann-msgs (2.0.2-6noble.20260412.033758) ... +#6 133.0 Selecting previously unselected package ros-jazzy-action-tutorials-interfaces. +#6 133.0 Preparing to unpack .../0880-ros-jazzy-action-tutorials-interfaces_0.33.10-1noble.20260412.032748_amd64.deb ... +#6 133.0 Unpacking ros-jazzy-action-tutorials-interfaces (0.33.10-1noble.20260412.032748) ... +#6 133.1 Selecting previously unselected package ros-jazzy-ament-index-cpp. +#6 133.1 Preparing to unpack .../0881-ros-jazzy-ament-index-cpp_1.8.2-1noble.20260412.024949_amd64.deb ... +#6 133.1 Unpacking ros-jazzy-ament-index-cpp (1.8.2-1noble.20260412.024949) ... +#6 133.1 Selecting previously unselected package libyaml-dev:amd64. +#6 133.1 Preparing to unpack .../0882-libyaml-dev_0.2.5-1build1_amd64.deb ... +#6 133.2 Unpacking libyaml-dev:amd64 (0.2.5-1build1) ... +#6 133.2 Selecting previously unselected package ros-jazzy-libyaml-vendor. +#6 133.2 Preparing to unpack .../0883-ros-jazzy-libyaml-vendor_1.6.3-2noble.20260225.235345_amd64.deb ... +#6 133.2 Unpacking ros-jazzy-libyaml-vendor (1.6.3-2noble.20260225.235345) ... +#6 133.3 Selecting previously unselected package ros-jazzy-rcl-interfaces. +#6 133.3 Preparing to unpack .../0884-ros-jazzy-rcl-interfaces_2.0.3-1noble.20260412.033104_amd64.deb ... +#6 133.3 Unpacking ros-jazzy-rcl-interfaces (2.0.3-1noble.20260412.033104) ... +#6 133.4 Selecting previously unselected package ros-jazzy-rcl-logging-interface. +#6 133.4 Preparing to unpack .../0885-ros-jazzy-rcl-logging-interface_3.1.1-1noble.20260226.002403_amd64.deb ... +#6 133.4 Unpacking ros-jazzy-rcl-logging-interface (3.1.1-1noble.20260226.002403) ... +#6 133.5 Selecting previously unselected package ros-jazzy-spdlog-vendor. +#6 133.5 Preparing to unpack .../0886-ros-jazzy-spdlog-vendor_1.6.1-1noble.20260225.225958_amd64.deb ... +#6 133.5 Unpacking ros-jazzy-spdlog-vendor (1.6.1-1noble.20260225.225958) ... +#6 133.5 Selecting previously unselected package ros-jazzy-rcl-logging-spdlog. +#6 133.5 Preparing to unpack .../0887-ros-jazzy-rcl-logging-spdlog_3.1.1-1noble.20260226.003321_amd64.deb ... +#6 133.5 Unpacking ros-jazzy-rcl-logging-spdlog (3.1.1-1noble.20260226.003321) ... +#6 133.6 Selecting previously unselected package ros-jazzy-rcl-yaml-param-parser. +#6 133.6 Preparing to unpack .../0888-ros-jazzy-rcl-yaml-param-parser_9.2.9-1noble.20260226.005115_amd64.deb ... +#6 133.6 Unpacking ros-jazzy-rcl-yaml-param-parser (9.2.9-1noble.20260226.005115) ... +#6 133.6 Selecting previously unselected package ros-jazzy-rmw-implementation-cmake. +#6 133.6 Preparing to unpack .../0889-ros-jazzy-rmw-implementation-cmake_7.3.3-1noble.20260225.225156_amd64.deb ... +#6 133.7 Unpacking ros-jazzy-rmw-implementation-cmake (7.3.3-1noble.20260225.225156) ... +#6 133.7 Selecting previously unselected package libtinyxml2-dev:amd64. +#6 133.7 Preparing to unpack .../0890-libtinyxml2-dev_10.0.0+dfsg-2_amd64.deb ... +#6 133.7 Unpacking libtinyxml2-dev:amd64 (10.0.0+dfsg-2) ... +#6 133.8 Selecting previously unselected package ros-jazzy-foonathan-memory-vendor. +#6 133.8 Preparing to unpack .../0891-ros-jazzy-foonathan-memory-vendor_1.3.1-3noble.20260225.055155_amd64.deb ... +#6 133.8 Unpacking ros-jazzy-foonathan-memory-vendor (1.3.1-3noble.20260225.055155) ... +#6 133.9 Selecting previously unselected package ros-jazzy-fastrtps. +#6 133.9 Preparing to unpack .../0892-ros-jazzy-fastrtps_2.14.6-1noble.20260303.233638_amd64.deb ... +#6 133.9 Unpacking ros-jazzy-fastrtps (2.14.6-1noble.20260303.233638) ... +#6 134.0 Selecting previously unselected package ros-jazzy-rmw-dds-common. +#6 134.0 Preparing to unpack .../0893-ros-jazzy-rmw-dds-common_3.1.1-1noble.20260412.033108_amd64.deb ... +#6 134.0 Unpacking ros-jazzy-rmw-dds-common (3.1.1-1noble.20260412.033108) ... +#6 134.1 Selecting previously unselected package liburcu-dev:amd64. +#6 134.1 Preparing to unpack .../0894-liburcu-dev_0.14.0-3.1build1_amd64.deb ... +#6 134.1 Unpacking liburcu-dev:amd64 (0.14.0-3.1build1) ... +#6 134.2 Selecting previously unselected package liblttng-ust-dev:amd64. +#6 134.2 Preparing to unpack .../0895-liblttng-ust-dev_2.13.7-1.1ubuntu2_amd64.deb ... +#6 134.2 Unpacking liblttng-ust-dev:amd64 (2.13.7-1.1ubuntu2) ... +#6 134.2 Selecting previously unselected package ros-jazzy-tracetools. +#6 134.3 Preparing to unpack .../0896-ros-jazzy-tracetools_8.2.5-1noble.20260226.001709_amd64.deb ... +#6 134.3 Unpacking ros-jazzy-tracetools (8.2.5-1noble.20260226.001709) ... +#6 134.3 Selecting previously unselected package ros-jazzy-rmw-fastrtps-shared-cpp. +#6 134.3 Preparing to unpack .../0897-ros-jazzy-rmw-fastrtps-shared-cpp_8.4.3-1noble.20260412.033316_amd64.deb ... +#6 134.3 Unpacking ros-jazzy-rmw-fastrtps-shared-cpp (8.4.3-1noble.20260412.033316) ... +#6 134.4 Selecting previously unselected package ros-jazzy-rosidl-dynamic-typesupport-fastrtps. +#6 134.4 Preparing to unpack .../0898-ros-jazzy-rosidl-dynamic-typesupport-fastrtps_0.1.0-3noble.20260304.002637_amd64.deb ... +#6 134.4 Unpacking ros-jazzy-rosidl-dynamic-typesupport-fastrtps (0.1.0-3noble.20260304.002637) ... +#6 134.4 Selecting previously unselected package ros-jazzy-rmw-fastrtps-cpp. +#6 134.4 Preparing to unpack .../0899-ros-jazzy-rmw-fastrtps-cpp_8.4.3-1noble.20260412.034154_amd64.deb ... +#6 134.4 Unpacking ros-jazzy-rmw-fastrtps-cpp (8.4.3-1noble.20260412.034154) ... +#6 134.5 Selecting previously unselected package ros-jazzy-rmw-implementation. +#6 134.5 Preparing to unpack .../0900-ros-jazzy-rmw-implementation_2.15.6-1noble.20260412.040200_amd64.deb ... +#6 134.5 Unpacking ros-jazzy-rmw-implementation (2.15.6-1noble.20260412.040200) ... +#6 134.6 Selecting previously unselected package ros-jazzy-type-description-interfaces. +#6 134.6 Preparing to unpack .../0901-ros-jazzy-type-description-interfaces_2.0.3-1noble.20260412.032338_amd64.deb ... +#6 134.6 Unpacking ros-jazzy-type-description-interfaces (2.0.3-1noble.20260412.032338) ... +#6 134.6 Selecting previously unselected package ros-jazzy-rcl. +#6 134.7 Preparing to unpack .../0902-ros-jazzy-rcl_9.2.9-1noble.20260412.040633_amd64.deb ... +#6 134.7 Unpacking ros-jazzy-rcl (9.2.9-1noble.20260412.040633) ... +#6 134.7 Selecting previously unselected package ros-jazzy-statistics-msgs. +#6 134.7 Preparing to unpack .../0903-ros-jazzy-statistics-msgs_2.0.3-1noble.20260412.033131_amd64.deb ... +#6 134.7 Unpacking ros-jazzy-statistics-msgs (2.0.3-1noble.20260412.033131) ... +#6 134.8 Selecting previously unselected package ros-jazzy-libstatistics-collector. +#6 134.8 Preparing to unpack .../0904-ros-jazzy-libstatistics-collector_1.7.4-1noble.20260412.041007_amd64.deb ... +#6 134.8 Unpacking ros-jazzy-libstatistics-collector (1.7.4-1noble.20260412.041007) ... +#6 134.9 Selecting previously unselected package ros-jazzy-rosgraph-msgs. +#6 134.9 Preparing to unpack .../0905-ros-jazzy-rosgraph-msgs_2.0.3-1noble.20260412.033127_amd64.deb ... +#6 134.9 Unpacking ros-jazzy-rosgraph-msgs (2.0.3-1noble.20260412.033127) ... +#6 134.9 Selecting previously unselected package ros-jazzy-rclcpp. +#6 134.9 Preparing to unpack .../0906-ros-jazzy-rclcpp_28.1.18-1noble.20260412.041931_amd64.deb ... +#6 134.9 Unpacking ros-jazzy-rclcpp (28.1.18-1noble.20260412.041931) ... +#6 135.0 Selecting previously unselected package ros-jazzy-rcl-action. +#6 135.0 Preparing to unpack .../0907-ros-jazzy-rcl-action_9.2.9-1noble.20260412.041043_amd64.deb ... +#6 135.0 Unpacking ros-jazzy-rcl-action (9.2.9-1noble.20260412.041043) ... +#6 135.1 Selecting previously unselected package ros-jazzy-rclcpp-action. +#6 135.1 Preparing to unpack .../0908-ros-jazzy-rclcpp-action_28.1.18-1noble.20260412.042748_amd64.deb ... +#6 135.1 Unpacking ros-jazzy-rclcpp-action (28.1.18-1noble.20260412.042748) ... +#6 135.2 Selecting previously unselected package libconsole-bridge-dev:amd64. +#6 135.2 Preparing to unpack .../0909-libconsole-bridge-dev_1.0.1+dfsg2-3build1_amd64.deb ... +#6 135.2 Unpacking libconsole-bridge-dev:amd64 (1.0.1+dfsg2-3build1) ... +#6 135.2 Selecting previously unselected package ros-jazzy-console-bridge-vendor. +#6 135.2 Preparing to unpack .../0910-ros-jazzy-console-bridge-vendor_1.7.1-3noble.20260225.232019_amd64.deb ... +#6 135.2 Unpacking ros-jazzy-console-bridge-vendor (1.7.1-3noble.20260225.232019) ... +#6 135.3 Selecting previously unselected package ros-jazzy-class-loader. +#6 135.3 Preparing to unpack .../0911-ros-jazzy-class-loader_2.7.0-3noble.20260226.003328_amd64.deb ... +#6 135.3 Unpacking ros-jazzy-class-loader (2.7.0-3noble.20260226.003328) ... +#6 135.3 Selecting previously unselected package ros-jazzy-composition-interfaces. +#6 135.4 Preparing to unpack .../0912-ros-jazzy-composition-interfaces_2.0.3-1noble.20260412.034209_amd64.deb ... +#6 135.4 Unpacking ros-jazzy-composition-interfaces (2.0.3-1noble.20260412.034209) ... +#6 135.4 Selecting previously unselected package ros-jazzy-rclcpp-components. +#6 135.4 Preparing to unpack .../0913-ros-jazzy-rclcpp-components_28.1.18-1noble.20260412.042656_amd64.deb ... +#6 135.4 Unpacking ros-jazzy-rclcpp-components (28.1.18-1noble.20260412.042656) ... +#6 135.5 Selecting previously unselected package ros-jazzy-action-tutorials-cpp. +#6 135.5 Preparing to unpack .../0914-ros-jazzy-action-tutorials-cpp_0.33.10-1noble.20260412.044552_amd64.deb ... +#6 135.5 Unpacking ros-jazzy-action-tutorials-cpp (0.33.10-1noble.20260412.044552) ... +#6 135.6 Selecting previously unselected package ros-jazzy-lifecycle-msgs. +#6 135.6 Preparing to unpack .../0915-ros-jazzy-lifecycle-msgs_2.0.3-1noble.20260412.032912_amd64.deb ... +#6 135.6 Unpacking ros-jazzy-lifecycle-msgs (2.0.3-1noble.20260412.032912) ... +#6 135.7 Selecting previously unselected package ros-jazzy-rcl-lifecycle. +#6 135.7 Preparing to unpack .../0916-ros-jazzy-rcl-lifecycle_9.2.9-1noble.20260412.040958_amd64.deb ... +#6 135.7 Unpacking ros-jazzy-rcl-lifecycle (9.2.9-1noble.20260412.040958) ... +#6 135.7 Selecting previously unselected package ros-jazzy-rclpy. +#6 135.7 Preparing to unpack .../0917-ros-jazzy-rclpy_7.1.11-1noble.20260412.041747_amd64.deb ... +#6 135.7 Unpacking ros-jazzy-rclpy (7.1.11-1noble.20260412.041747) ... +#6 135.8 Selecting previously unselected package ros-jazzy-action-tutorials-py. +#6 135.8 Preparing to unpack .../0918-ros-jazzy-action-tutorials-py_0.33.10-1noble.20260412.042036_amd64.deb ... +#6 135.8 Unpacking ros-jazzy-action-tutorials-py (0.33.10-1noble.20260412.042036) ... +#6 135.9 Selecting previously unselected package ros-jazzy-actionlib-msgs. +#6 135.9 Preparing to unpack .../0919-ros-jazzy-actionlib-msgs_5.3.7-1noble.20260412.034232_amd64.deb ... +#6 135.9 Unpacking ros-jazzy-actionlib-msgs (5.3.7-1noble.20260412.034232) ... +#6 136.0 Selecting previously unselected package ros-jazzy-ament-cmake-auto. +#6 136.0 Preparing to unpack .../0920-ros-jazzy-ament-cmake-auto_2.5.6-2noble.20260225.232257_amd64.deb ... +#6 136.0 Unpacking ros-jazzy-ament-cmake-auto (2.5.6-2noble.20260225.232257) ... +#6 136.0 Selecting previously unselected package ros-jazzy-ament-copyright. +#6 136.0 Preparing to unpack .../0921-ros-jazzy-ament-copyright_0.17.5-1noble.20260410.105859_amd64.deb ... +#6 136.0 Unpacking ros-jazzy-ament-copyright (0.17.5-1noble.20260410.105859) ... +#6 136.1 Selecting previously unselected package ros-jazzy-ament-cmake-copyright. +#6 136.1 Preparing to unpack .../0922-ros-jazzy-ament-cmake-copyright_0.17.5-1noble.20260410.113746_amd64.deb ... +#6 136.1 Unpacking ros-jazzy-ament-cmake-copyright (0.17.5-1noble.20260410.113746) ... +#6 136.2 Selecting previously unselected package ros-jazzy-ament-lint-cmake. +#6 136.2 Preparing to unpack .../0923-ros-jazzy-ament-lint-cmake_0.17.5-1noble.20260410.080405_amd64.deb ... +#6 136.2 Unpacking ros-jazzy-ament-lint-cmake (0.17.5-1noble.20260410.080405) ... +#6 136.2 Selecting previously unselected package ros-jazzy-ament-cmake-lint-cmake. +#6 136.2 Preparing to unpack .../0924-ros-jazzy-ament-cmake-lint-cmake_0.17.5-1noble.20260410.113602_amd64.deb ... +#6 136.2 Unpacking ros-jazzy-ament-cmake-lint-cmake (0.17.5-1noble.20260410.113602) ... +#6 136.3 Selecting previously unselected package ros-jazzy-ament-xmllint. +#6 136.3 Preparing to unpack .../0925-ros-jazzy-ament-xmllint_0.17.5-1noble.20260410.113521_amd64.deb ... +#6 136.3 Unpacking ros-jazzy-ament-xmllint (0.17.5-1noble.20260410.113521) ... +#6 136.3 Selecting previously unselected package ros-jazzy-ament-cmake-xmllint. +#6 136.3 Preparing to unpack .../0926-ros-jazzy-ament-cmake-xmllint_0.17.5-1noble.20260410.113914_amd64.deb ... +#6 136.3 Unpacking ros-jazzy-ament-cmake-xmllint (0.17.5-1noble.20260410.113914) ... +#6 136.4 Selecting previously unselected package ros-jazzy-ament-lint-auto. +#6 136.4 Preparing to unpack .../0927-ros-jazzy-ament-lint-auto_0.17.5-1noble.20260410.080333_amd64.deb ... +#6 136.4 Unpacking ros-jazzy-ament-lint-auto (0.17.5-1noble.20260410.080333) ... +#6 136.5 Selecting previously unselected package ros-jazzy-ament-lint-common. +#6 136.5 Preparing to unpack .../0928-ros-jazzy-ament-lint-common_0.17.5-1noble.20260410.114154_amd64.deb ... +#6 136.5 Unpacking ros-jazzy-ament-lint-common (0.17.5-1noble.20260410.114154) ... +#6 136.5 Selecting previously unselected package ros-jazzy-angles. +#6 136.5 Preparing to unpack .../0929-ros-jazzy-angles_1.16.1-1noble.20260225.231445_amd64.deb ... +#6 136.5 Unpacking ros-jazzy-angles (1.16.1-1noble.20260225.231445) ... +#6 136.6 Selecting previously unselected package ros-jazzy-backward-ros. +#6 136.6 Preparing to unpack .../0930-ros-jazzy-backward-ros_1.0.8-1noble.20260225.051215_amd64.deb ... +#6 136.6 Unpacking ros-jazzy-backward-ros (1.0.8-1noble.20260225.051215) ... +#6 136.6 Selecting previously unselected package ros-jazzy-bond. +#6 136.7 Preparing to unpack .../0931-ros-jazzy-bond_4.2.0-1noble.20260412.034243_amd64.deb ... +#6 136.7 Unpacking ros-jazzy-bond (4.2.0-1noble.20260412.034243) ... +#6 136.7 Selecting previously unselected package ros-jazzy-rclcpp-lifecycle. +#6 136.7 Preparing to unpack .../0932-ros-jazzy-rclcpp-lifecycle_28.1.18-1noble.20260412.042728_amd64.deb ... +#6 136.7 Unpacking ros-jazzy-rclcpp-lifecycle (28.1.18-1noble.20260412.042728) ... +#6 136.8 Selecting previously unselected package ros-jazzy-smclib. +#6 136.8 Preparing to unpack .../0933-ros-jazzy-smclib_4.2.0-1noble.20260317.155007_amd64.deb ... +#6 136.8 Unpacking ros-jazzy-smclib (4.2.0-1noble.20260317.155007) ... +#6 136.8 Selecting previously unselected package ros-jazzy-bondcpp. +#6 136.8 Preparing to unpack .../0934-ros-jazzy-bondcpp_4.2.0-1noble.20260412.051032_amd64.deb ... +#6 136.9 Unpacking ros-jazzy-bondcpp (4.2.0-1noble.20260412.051032) ... +#6 136.9 Selecting previously unselected package libassimp-dev:amd64. +#6 136.9 Preparing to unpack .../0935-libassimp-dev_5.3.1+ds-2build1_amd64.deb ... +#6 136.9 Unpacking libassimp-dev:amd64 (5.3.1+ds-2build1) ... +#6 137.0 Selecting previously unselected package ros-jazzy-eigen-stl-containers. +#6 137.0 Preparing to unpack .../0936-ros-jazzy-eigen-stl-containers_1.1.0-1noble.20260225.233822_amd64.deb ... +#6 137.0 Unpacking ros-jazzy-eigen-stl-containers (1.1.0-1noble.20260225.233822) ... +#6 137.0 Selecting previously unselected package ros-jazzy-eigen3-cmake-module. +#6 137.0 Preparing to unpack .../0937-ros-jazzy-eigen3-cmake-module_0.3.0-3noble.20260225.233716_amd64.deb ... +#6 137.0 Unpacking ros-jazzy-eigen3-cmake-module (0.3.0-3noble.20260225.233716) ... +#6 137.1 Selecting previously unselected package ros-jazzy-geometry-msgs. +#6 137.1 Preparing to unpack .../0938-ros-jazzy-geometry-msgs_5.3.7-1noble.20260412.033928_amd64.deb ... +#6 137.1 Unpacking ros-jazzy-geometry-msgs (5.3.7-1noble.20260412.033928) ... +#6 137.3 Selecting previously unselected package ros-jazzy-random-numbers. +#6 137.3 Preparing to unpack .../0939-ros-jazzy-random-numbers_2.0.1-5noble.20260225.225100_amd64.deb ... +#6 137.3 Unpacking ros-jazzy-random-numbers (2.0.1-5noble.20260225.225100) ... +#6 137.3 Selecting previously unselected package ros-jazzy-libcurl-vendor. +#6 137.3 Preparing to unpack .../0940-ros-jazzy-libcurl-vendor_3.4.4-1noble.20260225.235243_amd64.deb ... +#6 137.3 Unpacking ros-jazzy-libcurl-vendor (3.4.4-1noble.20260225.235243) ... +#6 137.4 Selecting previously unselected package ros-jazzy-resource-retriever. +#6 137.4 Preparing to unpack .../0941-ros-jazzy-resource-retriever_3.4.4-1noble.20260412.025343_amd64.deb ... +#6 137.4 Unpacking ros-jazzy-resource-retriever (3.4.4-1noble.20260412.025343) ... +#6 137.4 Selecting previously unselected package ros-jazzy-shape-msgs. +#6 137.5 Preparing to unpack .../0942-ros-jazzy-shape-msgs_5.3.7-1noble.20260412.035632_amd64.deb ... +#6 137.5 Unpacking ros-jazzy-shape-msgs (5.3.7-1noble.20260412.035632) ... +#6 137.5 Selecting previously unselected package ros-jazzy-sensor-msgs. +#6 137.5 Preparing to unpack .../0943-ros-jazzy-sensor-msgs_5.3.7-1noble.20260412.034842_amd64.deb ... +#6 137.5 Unpacking ros-jazzy-sensor-msgs (5.3.7-1noble.20260412.034842) ... +#6 137.7 Selecting previously unselected package ros-jazzy-visualization-msgs. +#6 137.7 Preparing to unpack .../0944-ros-jazzy-visualization-msgs_5.3.7-1noble.20260412.035359_amd64.deb ... +#6 137.7 Unpacking ros-jazzy-visualization-msgs (5.3.7-1noble.20260412.035359) ... +#6 137.8 Selecting previously unselected package ros-jazzy-geometric-shapes. +#6 137.8 Preparing to unpack .../0945-ros-jazzy-geometric-shapes_2.3.2-1noble.20260412.042659_amd64.deb ... +#6 137.8 Unpacking ros-jazzy-geometric-shapes (2.3.2-1noble.20260412.042659) ... +#6 138.0 Selecting previously unselected package ros-jazzy-tinyxml2-vendor. +#6 138.0 Preparing to unpack .../0946-ros-jazzy-tinyxml2-vendor_0.9.2-1noble.20260225.230621_amd64.deb ... +#6 138.0 Unpacking ros-jazzy-tinyxml2-vendor (0.9.2-1noble.20260225.230621) ... +#6 138.1 Selecting previously unselected package ros-jazzy-urdfdom-headers. +#6 138.1 Preparing to unpack .../0947-ros-jazzy-urdfdom-headers_1.1.2-1noble.20260225.142752_amd64.deb ... +#6 138.1 Unpacking ros-jazzy-urdfdom-headers (1.1.2-1noble.20260225.142752) ... +#6 138.1 Selecting previously unselected package ros-jazzy-urdfdom. +#6 138.1 Preparing to unpack .../0948-ros-jazzy-urdfdom_4.0.2-1noble.20260225.232653_amd64.deb ... +#6 138.1 Unpacking ros-jazzy-urdfdom (4.0.2-1noble.20260225.232653) ... +#6 138.2 Selecting previously unselected package ros-jazzy-pluginlib. +#6 138.2 Preparing to unpack .../0949-ros-jazzy-pluginlib_5.4.5-1noble.20260412.025240_amd64.deb ... +#6 138.2 Unpacking ros-jazzy-pluginlib (5.4.5-1noble.20260412.025240) ... +#6 138.3 Selecting previously unselected package ros-jazzy-urdf-parser-plugin. +#6 138.3 Preparing to unpack .../0950-ros-jazzy-urdf-parser-plugin_2.10.0-3noble.20260226.001913_amd64.deb ... +#6 138.3 Unpacking ros-jazzy-urdf-parser-plugin (2.10.0-3noble.20260226.001913) ... +#6 138.3 Selecting previously unselected package ros-jazzy-urdf. +#6 138.3 Preparing to unpack .../0951-ros-jazzy-urdf_2.10.0-3noble.20260412.025422_amd64.deb ... +#6 138.3 Unpacking ros-jazzy-urdf (2.10.0-3noble.20260412.025422) ... +#6 138.4 Selecting previously unselected package ros-jazzy-urdfdom-py. +#6 138.4 Preparing to unpack .../0952-ros-jazzy-urdfdom-py_1.2.1-3noble.20260412.042521_amd64.deb ... +#6 138.4 Unpacking ros-jazzy-urdfdom-py (1.2.1-3noble.20260412.042521) ... +#6 138.4 Selecting previously unselected package ros-jazzy-srdfdom. +#6 138.5 Preparing to unpack .../0953-ros-jazzy-srdfdom_2.0.7-1noble.20260412.053212_amd64.deb ... +#6 138.5 Unpacking ros-jazzy-srdfdom (2.0.7-1noble.20260412.053212) ... +#6 138.5 Selecting previously unselected package libbullet-dev:amd64. +#6 138.5 Preparing to unpack .../0954-libbullet-dev_3.24+dfsg-2.1build1_amd64.deb ... +#6 138.5 Unpacking libbullet-dev:amd64 (3.24+dfsg-2.1build1) ... +#6 138.6 Selecting previously unselected package libccd-dev:amd64. +#6 138.6 Preparing to unpack .../0955-libccd-dev_2.1-2_amd64.deb ... +#6 138.6 Unpacking libccd-dev:amd64 (2.1-2) ... +#6 138.7 Selecting previously unselected package libfcl-dev:amd64. +#6 138.7 Preparing to unpack .../0956-libfcl-dev_0.7.0-3build2_amd64.deb ... +#6 138.7 Unpacking libfcl-dev:amd64 (0.7.0-3build2) ... +#6 138.8 Selecting previously unselected package ros-jazzy-diagnostic-msgs. +#6 138.8 Preparing to unpack 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to unpack .../0961-ros-jazzy-trajectory-msgs_5.3.7-1noble.20260412.034949_amd64.deb ... +#6 139.2 Unpacking ros-jazzy-trajectory-msgs (5.3.7-1noble.20260412.034949) ... +#6 139.2 Selecting previously unselected package ros-jazzy-common-interfaces. +#6 139.3 Preparing to unpack .../0962-ros-jazzy-common-interfaces_5.3.7-1noble.20260412.035857_amd64.deb ... +#6 139.3 Unpacking ros-jazzy-common-interfaces (5.3.7-1noble.20260412.035857) ... +#6 139.3 Selecting previously unselected package ros-jazzy-generate-parameter-library-py. +#6 139.3 Preparing to unpack .../0963-ros-jazzy-generate-parameter-library-py_0.7.1-1noble.20260323.095134_amd64.deb ... +#6 139.3 Unpacking ros-jazzy-generate-parameter-library-py (0.7.1-1noble.20260323.095134) ... +#6 139.4 Selecting previously unselected package ros-jazzy-tcb-span. +#6 139.4 Preparing to unpack .../0964-ros-jazzy-tcb-span_1.2.0-1noble.20260304.072946_amd64.deb ... +#6 139.4 Unpacking ros-jazzy-tcb-span (1.2.0-1noble.20260304.072946) ... +#6 139.4 Selecting previously unselected package ros-jazzy-rsl. +#6 139.4 Preparing to unpack .../0965-ros-jazzy-rsl_1.3.0-1noble.20260412.052851_amd64.deb ... +#6 139.4 Unpacking ros-jazzy-rsl (1.3.0-1noble.20260412.052851) ... +#6 139.5 Selecting previously unselected package ros-jazzy-tl-expected. +#6 139.5 Preparing to unpack .../0966-ros-jazzy-tl-expected_1.2.0-1noble.20260225.230700_amd64.deb ... +#6 139.5 Unpacking ros-jazzy-tl-expected (1.2.0-1noble.20260225.230700) ... +#6 139.5 Selecting previously unselected package ros-jazzy-parameter-traits. +#6 139.6 Preparing to unpack .../0967-ros-jazzy-parameter-traits_0.7.1-1noble.20260412.053054_amd64.deb ... +#6 139.6 Unpacking ros-jazzy-parameter-traits (0.7.1-1noble.20260412.053054) ... +#6 139.6 Selecting previously unselected package ros-jazzy-generate-parameter-library. +#6 139.6 Preparing to unpack .../0968-ros-jazzy-generate-parameter-library_0.7.1-1noble.20260412.053405_amd64.deb ... +#6 139.6 Unpacking ros-jazzy-generate-parameter-library (0.7.1-1noble.20260412.053405) ... +#6 139.7 Selecting previously unselected package ros-jazzy-google-benchmark-vendor. +#6 139.7 Preparing to unpack .../0969-ros-jazzy-google-benchmark-vendor_0.5.1-1noble.20260225.055256_amd64.deb ... +#6 139.7 Unpacking ros-jazzy-google-benchmark-vendor (0.5.1-1noble.20260225.055256) ... +#6 139.7 Selecting previously unselected package ros-jazzy-orocos-kdl-vendor. +#6 139.7 Preparing to unpack .../0970-ros-jazzy-orocos-kdl-vendor_0.5.1-2noble.20260225.234720_amd64.deb ... +#6 139.8 Unpacking ros-jazzy-orocos-kdl-vendor (0.5.1-2noble.20260225.234720) ... +#6 139.8 Selecting previously unselected package ros-jazzy-kdl-parser. +#6 139.8 Preparing to unpack .../0971-ros-jazzy-kdl-parser_2.11.0-3noble.20260412.025844_amd64.deb ... +#6 139.8 Unpacking ros-jazzy-kdl-parser (2.11.0-3noble.20260412.025844) ... +#6 139.9 Selecting previously unselected package ros-jazzy-moveit-common. +#6 139.9 Preparing to unpack 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package ros-jazzy-osqp-vendor. +#6 140.5 Preparing to unpack .../0976-ros-jazzy-osqp-vendor_0.2.0-4noble.20260226.000013_amd64.deb ... +#6 140.5 Unpacking ros-jazzy-osqp-vendor (0.2.0-4noble.20260226.000013) ... +#6 140.6 Selecting previously unselected package ros-jazzy-ruckig. +#6 140.6 Preparing to unpack .../0977-ros-jazzy-ruckig_0.9.2-5noble.20260225.142307_amd64.deb ... +#6 140.6 Unpacking ros-jazzy-ruckig (0.9.2-5noble.20260225.142307) ... +#6 140.7 Selecting previously unselected package ros-jazzy-tf2. +#6 140.7 Preparing to unpack .../0978-ros-jazzy-tf2_0.36.20-1noble.20260412.034858_amd64.deb ... +#6 140.7 Unpacking ros-jazzy-tf2 (0.36.20-1noble.20260412.034858) ... +#6 140.7 Selecting previously unselected package ros-jazzy-message-filters. +#6 140.7 Preparing to unpack .../0979-ros-jazzy-message-filters_4.11.12-1noble.20260412.042737_amd64.deb ... +#6 140.7 Unpacking ros-jazzy-message-filters (4.11.12-1noble.20260412.042737) ... +#6 140.8 Selecting previously unselected package ros-jazzy-tf2-msgs. +#6 140.8 Preparing to unpack .../0980-ros-jazzy-tf2-msgs_0.36.20-1noble.20260412.034900_amd64.deb ... +#6 140.8 Unpacking ros-jazzy-tf2-msgs (0.36.20-1noble.20260412.034900) ... +#6 140.9 Selecting previously unselected package ros-jazzy-tf2-ros. +#6 140.9 Preparing to unpack .../0981-ros-jazzy-tf2-ros_0.36.20-1noble.20260412.044056_amd64.deb ... +#6 140.9 Unpacking ros-jazzy-tf2-ros (0.36.20-1noble.20260412.044056) ... +#6 141.0 Selecting previously unselected package ros-jazzy-tf2-eigen. +#6 141.0 Preparing to unpack .../0982-ros-jazzy-tf2-eigen_0.36.20-1noble.20260412.051518_amd64.deb ... +#6 141.0 Unpacking ros-jazzy-tf2-eigen (0.36.20-1noble.20260412.051518) ... +#6 141.1 Selecting previously unselected package ros-jazzy-tf2-py. +#6 141.1 Preparing to unpack .../0983-ros-jazzy-tf2-py_0.36.20-1noble.20260412.052955_amd64.deb ... +#6 141.1 Unpacking ros-jazzy-tf2-py (0.36.20-1noble.20260412.052955) ... +#6 141.1 Selecting previously unselected package ros-jazzy-tf2-ros-py. +#6 141.1 Preparing to unpack .../0984-ros-jazzy-tf2-ros-py_0.36.20-1noble.20260412.053403_amd64.deb ... +#6 141.1 Unpacking ros-jazzy-tf2-ros-py (0.36.20-1noble.20260412.053403) ... +#6 141.2 Selecting previously unselected package ros-jazzy-tf2-geometry-msgs. +#6 141.2 Preparing to unpack .../0985-ros-jazzy-tf2-geometry-msgs_0.36.20-1noble.20260412.053505_amd64.deb ... +#6 141.2 Unpacking ros-jazzy-tf2-geometry-msgs (0.36.20-1noble.20260412.053505) ... +#6 141.3 Selecting previously unselected package ros-jazzy-pybind11-vendor. +#6 141.3 Preparing to unpack .../0986-ros-jazzy-pybind11-vendor_3.1.3-1noble.20260226.000033_amd64.deb ... +#6 141.3 Unpacking ros-jazzy-pybind11-vendor (3.1.3-1noble.20260226.000033) ... +#6 141.3 Selecting previously unselected package ros-jazzy-python-orocos-kdl-vendor. +#6 141.3 Preparing to unpack .../0987-ros-jazzy-python-orocos-kdl-vendor_0.5.1-2noble.20260226.001217_amd64.deb ... +#6 141.4 Unpacking ros-jazzy-python-orocos-kdl-vendor (0.5.1-2noble.20260226.001217) ... +#6 141.4 Selecting previously unselected package ros-jazzy-tf2-kdl. +#6 141.4 Preparing to unpack .../0988-ros-jazzy-tf2-kdl_0.36.20-1noble.20260412.053442_amd64.deb ... +#6 141.4 Unpacking ros-jazzy-tf2-kdl (0.36.20-1noble.20260412.053442) ... +#6 141.5 Selecting previously unselected package ros-jazzy-moveit-core. +#6 141.5 Preparing to unpack .../0989-ros-jazzy-moveit-core_2.12.4-1noble.20260412.053952_amd64.deb ... +#6 141.5 Unpacking ros-jazzy-moveit-core (2.12.4-1noble.20260412.053952) ... +#6 141.6 Selecting previously unselected package ros-jazzy-chomp-motion-planner. +#6 141.6 Preparing to unpack .../0990-ros-jazzy-chomp-motion-planner_2.12.4-1noble.20260412.063134_amd64.deb ... +#6 141.6 Unpacking ros-jazzy-chomp-motion-planner (2.12.4-1noble.20260412.063134) ... +#6 141.7 Selecting previously unselected package ros-jazzy-example-interfaces. +#6 141.7 Preparing to unpack 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ros-jazzy-demo-nodes-cpp. +#6 142.6 Preparing to unpack .../0999-ros-jazzy-demo-nodes-cpp_0.33.10-1noble.20260412.044049_amd64.deb ... +#6 142.6 Unpacking ros-jazzy-demo-nodes-cpp (0.33.10-1noble.20260412.044049) ... +#6 142.7 Selecting previously unselected package ros-jazzy-demo-nodes-cpp-native. +#6 142.7 Preparing to unpack .../1000-ros-jazzy-demo-nodes-cpp-native_0.33.10-1noble.20260412.044602_amd64.deb ... +#6 142.7 Unpacking ros-jazzy-demo-nodes-cpp-native (0.33.10-1noble.20260412.044602) ... +#6 142.7 Selecting previously unselected package ros-jazzy-demo-nodes-py. +#6 142.7 Preparing to unpack .../1001-ros-jazzy-demo-nodes-py_0.33.10-1noble.20260412.042524_amd64.deb ... +#6 142.7 Unpacking ros-jazzy-demo-nodes-py (0.33.10-1noble.20260412.042524) ... +#6 142.8 Selecting previously unselected package ros-jazzy-image-geometry. +#6 142.8 Preparing to unpack .../1002-ros-jazzy-image-geometry_4.1.0-1noble.20260412.040226_amd64.deb ... +#6 142.8 Unpacking ros-jazzy-image-geometry 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ros-jazzy-ros2node (0.32.9-1noble.20260412.042626) ... +#6 146.9 Selecting previously unselected package ros-jazzy-ros2topic. +#6 146.9 Preparing to unpack .../1055-ros-jazzy-ros2topic_0.32.9-1noble.20260412.042628_amd64.deb ... +#6 146.9 Unpacking ros-jazzy-ros2topic (0.32.9-1noble.20260412.042628) ... +#6 146.9 Selecting previously unselected package ros-jazzy-ros2service. +#6 146.9 Preparing to unpack .../1056-ros-jazzy-ros2service_0.32.9-1noble.20260412.052412_amd64.deb ... +#6 146.9 Unpacking ros-jazzy-ros2service (0.32.9-1noble.20260412.052412) ... +#6 147.0 Selecting previously unselected package ros-jazzy-ros2param. +#6 147.0 Preparing to unpack .../1057-ros-jazzy-ros2param_0.32.9-1noble.20260412.052450_amd64.deb ... +#6 147.0 Unpacking ros-jazzy-ros2param (0.32.9-1noble.20260412.052450) ... +#6 147.1 Selecting previously unselected package ros-jazzy-ros2pkg. +#6 147.1 Preparing to unpack .../1058-ros-jazzy-ros2pkg_0.32.9-1noble.20260412.042622_amd64.deb ... +#6 147.1 Unpacking ros-jazzy-ros2pkg (0.32.9-1noble.20260412.042622) ... +#6 147.1 Selecting previously unselected package ros-jazzy-ros2component. +#6 147.2 Preparing to unpack .../1059-ros-jazzy-ros2component_0.32.9-1noble.20260412.052519_amd64.deb ... +#6 147.2 Unpacking ros-jazzy-ros2component (0.32.9-1noble.20260412.052519) ... +#6 147.2 Selecting previously unselected package ros-jazzy-ros2doctor. +#6 147.2 Preparing to unpack .../1060-ros-jazzy-ros2doctor_0.32.9-1noble.20260412.042619_amd64.deb ... +#6 147.2 Unpacking ros-jazzy-ros2doctor (0.32.9-1noble.20260412.042619) ... +#6 147.3 Selecting previously unselected package ros-jazzy-ros2interface. +#6 147.3 Preparing to unpack .../1061-ros-jazzy-ros2interface_0.32.9-1noble.20260412.042621_amd64.deb ... +#6 147.3 Unpacking ros-jazzy-ros2interface (0.32.9-1noble.20260412.042621) ... +#6 147.4 Selecting previously unselected package ros-jazzy-ros2launch. +#6 147.4 Preparing to unpack .../1062-ros-jazzy-ros2launch_0.26.11-1noble.20260412.043200_amd64.deb ... +#6 147.4 Unpacking ros-jazzy-ros2launch (0.26.11-1noble.20260412.043200) ... +#6 147.4 Selecting previously unselected package ros-jazzy-ros2lifecycle. +#6 147.4 Preparing to unpack .../1063-ros-jazzy-ros2lifecycle_0.32.9-1noble.20260412.052446_amd64.deb ... +#6 147.4 Unpacking ros-jazzy-ros2lifecycle (0.32.9-1noble.20260412.052446) ... +#6 147.5 Selecting previously unselected package ros-jazzy-ros2multicast. +#6 147.5 Preparing to unpack .../1064-ros-jazzy-ros2multicast_0.32.9-1noble.20260412.053041_amd64.deb ... +#6 147.5 Unpacking ros-jazzy-ros2multicast (0.32.9-1noble.20260412.053041) ... +#6 147.6 Selecting previously unselected package ros-jazzy-ros2plugin. +#6 147.6 Preparing to unpack .../1065-ros-jazzy-ros2plugin_5.4.5-1noble.20260412.042739_amd64.deb ... +#6 147.6 Unpacking ros-jazzy-ros2plugin (5.4.5-1noble.20260412.042739) ... +#6 147.6 Selecting previously unselected package ros-jazzy-ros2run. +#6 147.6 Preparing to unpack .../1066-ros-jazzy-ros2run_0.32.9-1noble.20260412.053103_amd64.deb ... +#6 147.6 Unpacking ros-jazzy-ros2run (0.32.9-1noble.20260412.053103) ... +#6 147.7 Selecting previously unselected package ros-jazzy-sros2. +#6 147.7 Preparing to unpack .../1067-ros-jazzy-sros2_0.13.6-1noble.20260412.042622_amd64.deb ... +#6 147.7 Unpacking ros-jazzy-sros2 (0.13.6-1noble.20260412.042622) ... +#6 147.8 Selecting previously unselected package ros-jazzy-ros2cli-common-extensions. +#6 147.8 Preparing to unpack .../1068-ros-jazzy-ros2cli-common-extensions_0.3.1-1noble.20260412.053337_amd64.deb ... +#6 147.8 Unpacking ros-jazzy-ros2cli-common-extensions (0.3.1-1noble.20260412.053337) ... +#6 147.8 Selecting previously unselected package ros-jazzy-rosidl-generator-rs. +#6 147.8 Preparing to unpack .../1069-ros-jazzy-rosidl-generator-rs_0.4.11-1noble.20260412.030734_amd64.deb ... +#6 147.9 Unpacking ros-jazzy-rosidl-generator-rs (0.4.11-1noble.20260412.030734) ... +#6 147.9 Selecting previously unselected package ros-jazzy-rosidl-core-generators. +#6 147.9 Preparing to unpack .../1070-ros-jazzy-rosidl-core-generators_0.2.1-1noble.20260412.030913_amd64.deb ... +#6 147.9 Unpacking ros-jazzy-rosidl-core-generators (0.2.1-1noble.20260412.030913) ... +#6 148.0 Selecting previously unselected package ros-jazzy-rosidl-default-generators. +#6 148.0 Preparing to unpack .../1071-ros-jazzy-rosidl-default-generators_1.6.0-3noble.20260412.032513_amd64.deb ... +#6 148.0 Unpacking ros-jazzy-rosidl-default-generators (1.6.0-3noble.20260412.032513) ... +#6 148.0 Selecting previously unselected package ros-jazzy-sros2-cmake. +#6 148.1 Preparing to unpack .../1072-ros-jazzy-sros2-cmake_0.13.6-1noble.20260412.053208_amd64.deb ... +#6 148.1 Unpacking ros-jazzy-sros2-cmake (0.13.6-1noble.20260412.053208) ... +#6 148.1 Selecting previously unselected package ros-jazzy-ros-core. +#6 148.1 Preparing to unpack .../1073-ros-jazzy-ros-core_0.11.0-1noble.20260412.053408_amd64.deb ... +#6 148.1 Unpacking ros-jazzy-ros-core (0.11.0-1noble.20260412.053408) ... +#6 148.2 Selecting previously unselected package ros-jazzy-yaml-cpp-vendor. +#6 148.2 Preparing to unpack .../1074-ros-jazzy-yaml-cpp-vendor_9.0.1-1noble.20260225.230938_amd64.deb ... +#6 148.2 Unpacking ros-jazzy-yaml-cpp-vendor (9.0.1-1noble.20260225.230938) ... +#6 148.2 Selecting previously unselected package ros-jazzy-rosbag2-storage. +#6 148.3 Preparing to unpack .../1075-ros-jazzy-rosbag2-storage_0.26.10-2noble.20260412.042713_amd64.deb ... +#6 148.3 Unpacking ros-jazzy-rosbag2-storage (0.26.10-2noble.20260412.042713) ... +#6 148.3 Selecting previously unselected package ros-jazzy-rosbag2-cpp. +#6 148.3 Preparing to unpack .../1076-ros-jazzy-rosbag2-cpp_0.26.10-2noble.20260412.043347_amd64.deb ... +#6 148.3 Unpacking ros-jazzy-rosbag2-cpp (0.26.10-2noble.20260412.043347) ... +#6 148.4 Selecting previously unselected package ros-jazzy-rosbag2-compression. +#6 148.4 Preparing to unpack .../1077-ros-jazzy-rosbag2-compression_0.26.10-2noble.20260412.053554_amd64.deb ... +#6 148.4 Unpacking ros-jazzy-rosbag2-compression (0.26.10-2noble.20260412.053554) ... +#6 148.5 Selecting previously unselected package ros-jazzy-keyboard-handler. +#6 148.5 Preparing to unpack .../1078-ros-jazzy-keyboard-handler_0.3.2-1noble.20260225.235108_amd64.deb ... +#6 148.5 Unpacking ros-jazzy-keyboard-handler (0.3.2-1noble.20260225.235108) ... +#6 148.5 Selecting previously unselected package ros-jazzy-rosbag2-interfaces. +#6 148.5 Preparing to unpack .../1079-ros-jazzy-rosbag2-interfaces_0.26.10-2noble.20260412.033118_amd64.deb ... +#6 148.5 Unpacking ros-jazzy-rosbag2-interfaces (0.26.10-2noble.20260412.033118) ... +#6 148.7 Selecting previously unselected package ros-jazzy-rosbag2-transport. +#6 148.8 Preparing to unpack .../1080-ros-jazzy-rosbag2-transport_0.26.10-2noble.20260412.054424_amd64.deb ... +#6 148.8 Unpacking ros-jazzy-rosbag2-transport (0.26.10-2noble.20260412.054424) ... +#6 148.8 Selecting previously unselected package ros-jazzy-rosbag2-py. +#6 148.9 Preparing to unpack .../1081-ros-jazzy-rosbag2-py_0.26.10-2noble.20260412.060353_amd64.deb ... +#6 148.9 Unpacking ros-jazzy-rosbag2-py (0.26.10-2noble.20260412.060353) ... +#6 148.9 Selecting previously unselected package ros-jazzy-liblz4-vendor. +#6 148.9 Preparing to unpack .../1082-ros-jazzy-liblz4-vendor_0.26.10-2noble.20260408.222020_amd64.deb ... +#6 148.9 Unpacking ros-jazzy-liblz4-vendor (0.26.10-2noble.20260408.222020) ... +#6 149.0 Selecting previously unselected package ros-jazzy-zstd-vendor. +#6 149.0 Preparing to unpack .../1083-ros-jazzy-zstd-vendor_0.26.10-2noble.20260408.222105_amd64.deb ... +#6 149.0 Unpacking ros-jazzy-zstd-vendor (0.26.10-2noble.20260408.222105) ... +#6 149.1 Selecting previously unselected package ros-jazzy-mcap-vendor. +#6 149.1 Preparing to unpack .../1084-ros-jazzy-mcap-vendor_0.26.10-2noble.20260408.222435_amd64.deb ... +#6 149.1 Unpacking ros-jazzy-mcap-vendor (0.26.10-2noble.20260408.222435) ... +#6 149.1 Selecting previously unselected package ros-jazzy-rosbag2-storage-mcap. +#6 149.1 Preparing to unpack .../1085-ros-jazzy-rosbag2-storage-mcap_0.26.10-2noble.20260412.043351_amd64.deb ... +#6 149.1 Unpacking ros-jazzy-rosbag2-storage-mcap (0.26.10-2noble.20260412.043351) ... +#6 149.2 Selecting previously unselected package ros-jazzy-sqlite3-vendor. +#6 149.2 Preparing to unpack .../1086-ros-jazzy-sqlite3-vendor_0.26.10-2noble.20260408.222053_amd64.deb ... +#6 149.2 Unpacking ros-jazzy-sqlite3-vendor (0.26.10-2noble.20260408.222053) ... +#6 149.3 Selecting previously unselected package ros-jazzy-rosbag2-storage-sqlite3. +#6 149.3 Preparing to unpack .../1087-ros-jazzy-rosbag2-storage-sqlite3_0.26.10-2noble.20260412.043751_amd64.deb ... +#6 149.3 Unpacking ros-jazzy-rosbag2-storage-sqlite3 (0.26.10-2noble.20260412.043751) ... +#6 149.4 Selecting previously unselected package ros-jazzy-rosbag2-storage-default-plugins. +#6 149.4 Preparing to unpack .../1088-ros-jazzy-rosbag2-storage-default-plugins_0.26.10-2noble.20260412.065628_amd64.deb ... +#6 149.4 Unpacking ros-jazzy-rosbag2-storage-default-plugins (0.26.10-2noble.20260412.065628) ... +#6 149.4 Selecting previously unselected package ros-jazzy-ros2bag. +#6 149.4 Preparing to unpack .../1089-ros-jazzy-ros2bag_0.26.10-2noble.20260412.065702_amd64.deb ... +#6 149.4 Unpacking ros-jazzy-ros2bag (0.26.10-2noble.20260412.065702) ... +#6 149.5 Selecting previously unselected package ros-jazzy-rosbag2-compression-zstd. +#6 149.5 Preparing to unpack .../1090-ros-jazzy-rosbag2-compression-zstd_0.26.10-2noble.20260412.054126_amd64.deb ... +#6 149.5 Unpacking ros-jazzy-rosbag2-compression-zstd (0.26.10-2noble.20260412.054126) ... +#6 149.6 Selecting previously unselected package ros-jazzy-rosbag2. +#6 149.6 Preparing to unpack .../1091-ros-jazzy-rosbag2_0.26.10-2noble.20260412.070736_amd64.deb ... +#6 149.6 Unpacking ros-jazzy-rosbag2 (0.26.10-2noble.20260412.070736) ... +#6 149.6 Selecting previously unselected package ros-jazzy-ros-base. +#6 149.6 Preparing to unpack .../1092-ros-jazzy-ros-base_0.11.0-1noble.20260412.071950_amd64.deb ... +#6 149.7 Unpacking ros-jazzy-ros-base (0.11.0-1noble.20260412.071950) ... +#6 149.7 Selecting previously unselected package ros-jazzy-python-qt-binding. +#6 149.7 Preparing to unpack .../1093-ros-jazzy-python-qt-binding_2.2.2-1noble.20260226.000339_amd64.deb ... +#6 149.7 Unpacking ros-jazzy-python-qt-binding (2.2.2-1noble.20260226.000339) ... +#6 149.8 Selecting previously unselected package tango-icon-theme. +#6 149.8 Preparing to unpack .../1094-tango-icon-theme_0.8.90-11_all.deb ... +#6 149.8 Unpacking tango-icon-theme (0.8.90-11) ... +#6 150.3 Selecting previously unselected package ros-jazzy-tango-icons-vendor. +#6 150.3 Preparing to unpack .../1095-ros-jazzy-tango-icons-vendor_0.3.1-1noble.20260225.230515_amd64.deb ... +#6 150.3 Unpacking ros-jazzy-tango-icons-vendor (0.3.1-1noble.20260225.230515) ... +#6 150.4 Selecting previously unselected package ros-jazzy-qt-gui. +#6 150.4 Preparing to unpack .../1096-ros-jazzy-qt-gui_2.7.6-1noble.20260412.025229_amd64.deb ... +#6 150.4 Unpacking ros-jazzy-qt-gui (2.7.6-1noble.20260412.025229) ... +#6 150.5 Selecting previously unselected package ros-jazzy-rqt-gui. +#6 150.5 Preparing to unpack .../1097-ros-jazzy-rqt-gui_1.6.3-1noble.20260412.052948_amd64.deb ... +#6 150.5 Unpacking ros-jazzy-rqt-gui (1.6.3-1noble.20260412.052948) ... +#6 150.5 Selecting previously unselected package ros-jazzy-rqt-gui-py. +#6 150.6 Preparing to unpack .../1098-ros-jazzy-rqt-gui-py_1.6.3-1noble.20260412.053546_amd64.deb ... +#6 150.6 Unpacking ros-jazzy-rqt-gui-py (1.6.3-1noble.20260412.053546) ... +#6 150.6 Selecting previously unselected package ros-jazzy-rqt-py-common. +#6 150.6 Preparing to unpack .../1099-ros-jazzy-rqt-py-common_1.6.3-1noble.20260412.042316_amd64.deb ... +#6 150.6 Unpacking ros-jazzy-rqt-py-common (1.6.3-1noble.20260412.042316) ... +#6 150.7 Selecting previously unselected package ros-jazzy-rqt-console. +#6 150.7 Preparing to unpack .../1100-ros-jazzy-rqt-console_2.2.2-1noble.20260412.053839_amd64.deb ... +#6 150.7 Unpacking ros-jazzy-rqt-console (2.2.2-1noble.20260412.053839) ... +#6 150.8 Selecting previously unselected package ros-jazzy-rqt-msg. +#6 150.8 Preparing to unpack .../1101-ros-jazzy-rqt-msg_1.5.2-1noble.20260412.053912_amd64.deb ... +#6 150.8 Unpacking ros-jazzy-rqt-msg (1.5.2-1noble.20260412.053912) ... +#6 150.9 Selecting previously unselected package ros-jazzy-rqt-action. +#6 150.9 Preparing to unpack .../1102-ros-jazzy-rqt-action_2.2.1-1noble.20260412.060445_amd64.deb ... +#6 150.9 Unpacking ros-jazzy-rqt-action (2.2.1-1noble.20260412.060445) ... +#6 151.0 Selecting previously unselected package ros-jazzy-rqt-bag. +#6 151.0 Preparing to unpack .../1103-ros-jazzy-rqt-bag_1.5.6-1noble.20260412.063147_amd64.deb ... +#6 151.0 Unpacking ros-jazzy-rqt-bag (1.5.6-1noble.20260412.063147) ... +#6 151.1 Selecting previously unselected package ros-jazzy-qt-gui-py-common. +#6 151.1 Preparing to unpack .../1104-ros-jazzy-qt-gui-py-common_2.7.6-1noble.20260412.025229_amd64.deb ... +#6 151.1 Unpacking ros-jazzy-qt-gui-py-common (2.7.6-1noble.20260412.025229) ... +#6 151.2 Selecting previously unselected package ros-jazzy-rqt-plot. +#6 151.2 Preparing to unpack .../1105-ros-jazzy-rqt-plot_1.4.5-1noble.20260412.053903_amd64.deb ... +#6 151.2 Unpacking ros-jazzy-rqt-plot (1.4.5-1noble.20260412.053903) ... +#6 151.2 Selecting previously unselected package ros-jazzy-rqt-bag-plugins. +#6 151.2 Preparing to unpack .../1106-ros-jazzy-rqt-bag-plugins_1.5.6-1noble.20260412.071952_amd64.deb ... +#6 151.2 Unpacking ros-jazzy-rqt-bag-plugins (1.5.6-1noble.20260412.071952) ... +#6 151.3 Selecting previously unselected package ros-jazzy-qt-dotgraph. +#6 151.3 Preparing to unpack .../1107-ros-jazzy-qt-dotgraph_2.7.6-1noble.20260330.190755_amd64.deb ... +#6 151.3 Unpacking ros-jazzy-qt-dotgraph (2.7.6-1noble.20260330.190755) ... +#6 151.4 Selecting previously unselected package ros-jazzy-rqt-graph. +#6 151.4 Preparing to unpack .../1108-ros-jazzy-rqt-graph_1.5.6-1noble.20260412.053847_amd64.deb ... +#6 151.4 Unpacking ros-jazzy-rqt-graph (1.5.6-1noble.20260412.053847) ... +#6 151.4 Selecting previously unselected package ros-jazzy-image-transport. +#6 151.4 Preparing to unpack .../1109-ros-jazzy-image-transport_5.1.7-1noble.20260412.043635_amd64.deb ... +#6 151.4 Unpacking ros-jazzy-image-transport (5.1.7-1noble.20260412.043635) ... +#6 151.5 Selecting previously unselected package ros-jazzy-qt-gui-cpp. +#6 151.5 Preparing to unpack .../1110-ros-jazzy-qt-gui-cpp_2.7.6-1noble.20260412.025941_amd64.deb ... +#6 151.5 Unpacking ros-jazzy-qt-gui-cpp (2.7.6-1noble.20260412.025941) ... +#6 151.6 Selecting previously unselected package ros-jazzy-rqt-gui-cpp. +#6 151.6 Preparing to unpack .../1111-ros-jazzy-rqt-gui-cpp_1.6.3-1noble.20260412.042715_amd64.deb ... +#6 151.6 Unpacking ros-jazzy-rqt-gui-cpp (1.6.3-1noble.20260412.042715) ... +#6 151.7 Selecting previously unselected package ros-jazzy-rqt-image-view. +#6 151.7 Preparing to unpack .../1112-ros-jazzy-rqt-image-view_1.3.0-2noble.20260412.053350_amd64.deb ... +#6 151.7 Unpacking ros-jazzy-rqt-image-view (1.3.0-2noble.20260412.053350) ... +#6 151.7 Selecting previously unselected package ros-jazzy-rqt-publisher. +#6 151.7 Preparing to unpack .../1113-ros-jazzy-rqt-publisher_1.7.3-1noble.20260412.053850_amd64.deb ... +#6 151.8 Unpacking ros-jazzy-rqt-publisher (1.7.3-1noble.20260412.053850) ... +#6 151.8 Selecting previously unselected package ros-jazzy-rqt-py-console. +#6 151.8 Preparing to unpack .../1114-ros-jazzy-rqt-py-console_1.2.3-1noble.20260412.053858_amd64.deb ... +#6 151.8 Unpacking ros-jazzy-rqt-py-console (1.2.3-1noble.20260412.053858) ... +#6 151.9 Selecting previously unselected package ros-jazzy-rqt-reconfigure. +#6 151.9 Preparing to unpack .../1115-ros-jazzy-rqt-reconfigure_1.6.4-1noble.20260412.053918_amd64.deb ... +#6 151.9 Unpacking ros-jazzy-rqt-reconfigure (1.6.4-1noble.20260412.053918) ... +#6 152.0 Selecting previously unselected package ros-jazzy-rqt-service-caller. +#6 152.0 Preparing to unpack .../1116-ros-jazzy-rqt-service-caller_1.2.2-1noble.20260412.063251_amd64.deb ... +#6 152.0 Unpacking ros-jazzy-rqt-service-caller (1.2.2-1noble.20260412.063251) ... +#6 152.0 Selecting previously unselected package ros-jazzy-rqt-shell. +#6 152.0 Preparing to unpack .../1117-ros-jazzy-rqt-shell_1.2.3-1noble.20260412.053911_amd64.deb ... +#6 152.0 Unpacking ros-jazzy-rqt-shell (1.2.3-1noble.20260412.053911) ... +#6 152.1 Selecting previously unselected package ros-jazzy-rqt-srv. +#6 152.1 Preparing to unpack .../1118-ros-jazzy-rqt-srv_1.2.3-1noble.20260412.060417_amd64.deb ... +#6 152.1 Unpacking ros-jazzy-rqt-srv (1.2.3-1noble.20260412.060417) ... +#6 152.2 Selecting previously unselected package ros-jazzy-rqt-topic. +#6 152.2 Preparing to unpack .../1119-ros-jazzy-rqt-topic_1.7.5-1noble.20260412.060341_amd64.deb ... +#6 152.2 Unpacking ros-jazzy-rqt-topic (1.7.5-1noble.20260412.060341) ... +#6 152.2 Selecting previously unselected package ros-jazzy-rqt-common-plugins. +#6 152.2 Preparing to unpack .../1120-ros-jazzy-rqt-common-plugins_1.2.0-4noble.20260412.072437_amd64.deb ... +#6 152.2 Unpacking ros-jazzy-rqt-common-plugins (1.2.0-4noble.20260412.072437) ... +#6 152.3 Selecting previously unselected package ros-jazzy-gz-cmake-vendor. +#6 152.3 Preparing to unpack .../1121-ros-jazzy-gz-cmake-vendor_0.0.11-1noble.20260225.223100_amd64.deb ... +#6 152.3 Unpacking ros-jazzy-gz-cmake-vendor (0.0.11-1noble.20260225.223100) ... +#6 152.4 Selecting previously unselected package ros-jazzy-gz-utils-vendor. +#6 152.4 Preparing to unpack .../1122-ros-jazzy-gz-utils-vendor_0.0.5-1noble.20260225.231257_amd64.deb ... +#6 152.4 Unpacking ros-jazzy-gz-utils-vendor (0.0.5-1noble.20260225.231257) ... +#6 152.5 Selecting previously unselected package ros-jazzy-gz-math-vendor. +#6 152.5 Preparing to unpack .../1123-ros-jazzy-gz-math-vendor_0.0.8-1noble.20260225.232138_amd64.deb ... +#6 152.5 Unpacking ros-jazzy-gz-math-vendor (0.0.8-1noble.20260225.232138) ... +#6 152.6 Selecting previously unselected package ros-jazzy-rviz-ogre-vendor. +#6 152.6 Preparing to unpack .../1124-ros-jazzy-rviz-ogre-vendor_14.1.20-2noble.20260225.225644_amd64.deb ... +#6 152.6 Unpacking ros-jazzy-rviz-ogre-vendor (14.1.20-2noble.20260225.225644) ... +#6 152.8 Selecting previously unselected package ros-jazzy-interactive-markers. +#6 152.8 Preparing to unpack .../1125-ros-jazzy-interactive-markers_2.5.5-1noble.20260412.054351_amd64.deb ... +#6 152.8 Unpacking ros-jazzy-interactive-markers (2.5.5-1noble.20260412.054351) ... +#6 152.9 Selecting previously unselected package ros-jazzy-laser-geometry. +#6 152.9 Preparing to unpack .../1126-ros-jazzy-laser-geometry_2.7.2-1noble.20260412.051842_amd64.deb ... +#6 152.9 Unpacking ros-jazzy-laser-geometry (2.7.2-1noble.20260412.051842) ... +#6 153.0 Selecting previously unselected package ros-jazzy-map-msgs. +#6 153.0 Preparing to unpack .../1127-ros-jazzy-map-msgs_2.4.1-2noble.20260412.035524_amd64.deb ... +#6 153.0 Unpacking ros-jazzy-map-msgs (2.4.1-2noble.20260412.035524) ... +#6 153.1 Selecting previously unselected package ros-jazzy-point-cloud-transport. +#6 153.1 Preparing to unpack .../1128-ros-jazzy-point-cloud-transport_4.0.7-1noble.20260412.043749_amd64.deb ... +#6 153.1 Unpacking ros-jazzy-point-cloud-transport (4.0.7-1noble.20260412.043749) ... +#6 153.2 Selecting previously unselected package ros-jazzy-rviz-assimp-vendor. +#6 153.2 Preparing to unpack .../1129-ros-jazzy-rviz-assimp-vendor_14.1.20-2noble.20260225.225641_amd64.deb ... +#6 153.2 Unpacking ros-jazzy-rviz-assimp-vendor (14.1.20-2noble.20260225.225641) ... +#6 153.2 Selecting previously unselected package ros-jazzy-rviz-rendering. +#6 153.2 Preparing to unpack .../1130-ros-jazzy-rviz-rendering_14.1.20-2noble.20260412.025918_amd64.deb ... +#6 153.2 Unpacking ros-jazzy-rviz-rendering (14.1.20-2noble.20260412.025918) ... +#6 153.3 Selecting previously unselected package ros-jazzy-rviz-common. +#6 153.3 Preparing to unpack .../1131-ros-jazzy-rviz-common_14.1.20-2noble.20260412.044615_amd64.deb ... +#6 153.3 Unpacking ros-jazzy-rviz-common (14.1.20-2noble.20260412.044615) ... +#6 153.4 Selecting previously unselected package ros-jazzy-rviz-default-plugins. +#6 153.4 Preparing to unpack .../1132-ros-jazzy-rviz-default-plugins_14.1.20-2noble.20260412.054746_amd64.deb ... +#6 153.4 Unpacking ros-jazzy-rviz-default-plugins (14.1.20-2noble.20260412.054746) ... +#6 153.5 Selecting previously unselected package ros-jazzy-rviz2. +#6 153.5 Preparing to unpack .../1133-ros-jazzy-rviz2_14.1.20-2noble.20260412.070714_amd64.deb ... +#6 153.6 Unpacking ros-jazzy-rviz2 (14.1.20-2noble.20260412.070714) ... +#6 153.6 Selecting previously unselected package ros-jazzy-teleop-twist-joy. +#6 153.6 Preparing to unpack .../1134-ros-jazzy-teleop-twist-joy_2.6.5-1noble.20260412.052507_amd64.deb ... +#6 153.6 Unpacking ros-jazzy-teleop-twist-joy (2.6.5-1noble.20260412.052507) ... +#6 153.7 Selecting previously unselected package ros-jazzy-teleop-twist-keyboard. +#6 153.7 Preparing to unpack .../1135-ros-jazzy-teleop-twist-keyboard_2.4.1-1noble.20260412.052948_amd64.deb ... +#6 153.7 Unpacking ros-jazzy-teleop-twist-keyboard (2.4.1-1noble.20260412.052948) ... +#6 153.7 Selecting previously unselected package ros-jazzy-topic-monitor. +#6 153.8 Preparing to unpack .../1136-ros-jazzy-topic-monitor_0.33.10-1noble.20260412.043450_amd64.deb ... +#6 153.8 Unpacking ros-jazzy-topic-monitor (0.33.10-1noble.20260412.043450) ... +#6 153.8 Selecting previously unselected package ros-jazzy-turtlesim. +#6 153.8 Preparing to unpack .../1137-ros-jazzy-turtlesim_1.8.3-1noble.20260412.043332_amd64.deb ... +#6 153.8 Unpacking ros-jazzy-turtlesim (1.8.3-1noble.20260412.043332) ... +#6 153.9 Selecting previously unselected package ros-jazzy-desktop. +#6 153.9 Preparing to unpack .../1138-ros-jazzy-desktop_0.11.0-1noble.20260412.072512_amd64.deb ... +#6 153.9 Unpacking ros-jazzy-desktop (0.11.0-1noble.20260412.072512) ... +#6 154.0 Selecting previously unselected package ros-jazzy-diagnostic-updater. +#6 154.0 Preparing to unpack .../1139-ros-jazzy-diagnostic-updater_4.2.6-1noble.20260412.045349_amd64.deb ... +#6 154.0 Unpacking ros-jazzy-diagnostic-updater (4.2.6-1noble.20260412.045349) ... +#6 154.1 Selecting previously unselected package ros-jazzy-domain-bridge. +#6 154.1 Preparing to unpack .../1140-ros-jazzy-domain-bridge_0.5.0-5noble.20260412.044125_amd64.deb ... +#6 154.1 Unpacking ros-jazzy-domain-bridge (0.5.0-5noble.20260412.044125) ... +#6 154.2 Selecting previously unselected package ros-jazzy-filters. +#6 154.2 Preparing to unpack .../1141-ros-jazzy-filters_2.2.2-1noble.20260412.042704_amd64.deb ... +#6 154.2 Unpacking ros-jazzy-filters (2.2.2-1noble.20260412.042704) ... +#6 154.3 Selecting previously unselected package ros-jazzy-geographic-msgs. +#6 154.3 Preparing to unpack .../1142-ros-jazzy-geographic-msgs_1.0.6-2noble.20260412.035916_amd64.deb ... +#6 154.3 Unpacking ros-jazzy-geographic-msgs (1.0.6-2noble.20260412.035916) ... +#6 154.4 Selecting previously unselected package ros-jazzy-grid-map-cmake-helpers. +#6 154.4 Preparing to unpack .../1143-ros-jazzy-grid-map-cmake-helpers_2.2.2-2noble.20260225.043338_amd64.deb ... +#6 154.4 Unpacking ros-jazzy-grid-map-cmake-helpers (2.2.2-2noble.20260225.043338) ... +#6 154.5 Selecting previously unselected package ros-jazzy-grid-map-core. +#6 154.5 Preparing to unpack .../1144-ros-jazzy-grid-map-core_2.2.2-2noble.20260225.231548_amd64.deb ... +#6 154.5 Unpacking ros-jazzy-grid-map-core (2.2.2-2noble.20260225.231548) ... +#6 154.6 Selecting previously unselected package ros-jazzy-nav2-msgs. +#6 154.6 Preparing to unpack .../1145-ros-jazzy-nav2-msgs_1.3.11-1noble.20260412.044112_amd64.deb ... +#6 154.6 Unpacking ros-jazzy-nav2-msgs (1.3.11-1noble.20260412.044112) ... +#6 154.9 Selecting previously unselected package ros-jazzy-nav2-common. +#6 154.9 Preparing to unpack .../1146-ros-jazzy-nav2-common_1.3.11-1noble.20260412.043444_amd64.deb ... +#6 154.9 Unpacking ros-jazzy-nav2-common (1.3.11-1noble.20260412.043444) ... +#6 155.0 Selecting previously unselected package ros-jazzy-nav2-util. +#6 155.0 Preparing to unpack .../1147-ros-jazzy-nav2-util_1.3.11-1noble.20260412.054222_amd64.deb ... +#6 155.0 Unpacking ros-jazzy-nav2-util (1.3.11-1noble.20260412.054222) ... +#6 155.0 Selecting previously unselected package ros-jazzy-nav2-voxel-grid. +#6 155.1 Preparing to unpack .../1148-ros-jazzy-nav2-voxel-grid_1.3.11-1noble.20260412.052741_amd64.deb ... +#6 155.1 Unpacking ros-jazzy-nav2-voxel-grid (1.3.11-1noble.20260412.052741) ... +#6 155.1 Selecting previously unselected package ros-jazzy-nav2-costmap-2d. +#6 155.1 Preparing to unpack .../1149-ros-jazzy-nav2-costmap-2d_1.3.11-1noble.20260412.054629_amd64.deb ... +#6 155.1 Unpacking ros-jazzy-nav2-costmap-2d (1.3.11-1noble.20260412.054629) ... +#6 155.2 Selecting previously unselected package ros-jazzy-grid-map-costmap-2d. +#6 155.2 Preparing to unpack .../1150-ros-jazzy-grid-map-costmap-2d_2.2.2-2noble.20260412.060249_amd64.deb ... +#6 155.2 Unpacking ros-jazzy-grid-map-costmap-2d (2.2.2-2noble.20260412.060249) ... +#6 155.3 Selecting previously unselected package ros-jazzy-grid-map-cv. +#6 155.3 Preparing to unpack .../1151-ros-jazzy-grid-map-cv_2.2.2-2noble.20260412.043610_amd64.deb ... +#6 155.3 Unpacking ros-jazzy-grid-map-cv (2.2.2-2noble.20260412.043610) ... +#6 155.4 Selecting previously unselected package ros-jazzy-octomap. +#6 155.4 Preparing to unpack .../1152-ros-jazzy-octomap_1.10.0-4noble.20260225.055711_amd64.deb ... +#6 155.4 Unpacking ros-jazzy-octomap (1.10.0-4noble.20260225.055711) ... +#6 155.4 Selecting previously unselected package ros-jazzy-grid-map-msgs. +#6 155.4 Preparing to unpack .../1153-ros-jazzy-grid-map-msgs_2.2.2-2noble.20260412.042825_amd64.deb ... +#6 155.4 Unpacking ros-jazzy-grid-map-msgs (2.2.2-2noble.20260412.042825) ... +#6 155.5 Selecting previously unselected package ros-jazzy-grid-map-ros. +#6 155.5 Preparing to unpack .../1154-ros-jazzy-grid-map-ros_2.2.2-2noble.20260412.045450_amd64.deb ... +#6 155.6 Unpacking ros-jazzy-grid-map-ros (2.2.2-2noble.20260412.045450) ... +#6 155.6 Selecting previously unselected package ros-jazzy-grid-map-filters. +#6 155.6 Preparing to unpack .../1155-ros-jazzy-grid-map-filters_2.2.2-2noble.20260412.050149_amd64.deb ... +#6 155.6 Unpacking ros-jazzy-grid-map-filters (2.2.2-2noble.20260412.050149) ... +#6 155.7 Selecting previously unselected package ros-jazzy-grid-map-loader. +#6 155.7 Preparing to unpack .../1156-ros-jazzy-grid-map-loader_2.2.2-2noble.20260412.065552_amd64.deb ... +#6 155.7 Unpacking ros-jazzy-grid-map-loader (2.2.2-2noble.20260412.065552) ... +#6 155.8 Selecting previously unselected package ros-jazzy-grid-map-octomap. +#6 155.8 Preparing to unpack .../1157-ros-jazzy-grid-map-octomap_2.2.2-2noble.20260225.232418_amd64.deb ... +#6 155.8 Unpacking ros-jazzy-grid-map-octomap (2.2.2-2noble.20260225.232418) ... +#6 155.8 Selecting previously unselected package ros-jazzy-grid-map-rviz-plugin. +#6 155.9 Preparing to unpack .../1158-ros-jazzy-grid-map-rviz-plugin_2.2.2-2noble.20260412.050603_amd64.deb ... +#6 155.9 Unpacking ros-jazzy-grid-map-rviz-plugin (2.2.2-2noble.20260412.050603) ... +#6 155.9 Selecting previously unselected package ros-jazzy-grid-map-visualization. +#6 155.9 Preparing to unpack .../1159-ros-jazzy-grid-map-visualization_2.2.2-2noble.20260412.051723_amd64.deb ... +#6 155.9 Unpacking ros-jazzy-grid-map-visualization (2.2.2-2noble.20260412.051723) ... +#6 156.0 Selecting previously unselected package ros-jazzy-octomap-rviz-plugins. +#6 156.0 Preparing to unpack .../1160-ros-jazzy-octomap-rviz-plugins_2.1.0-1noble.20260412.063215_amd64.deb ... +#6 156.0 Unpacking ros-jazzy-octomap-rviz-plugins (2.1.0-1noble.20260412.063215) ... +#6 156.1 Selecting previously unselected package ros-jazzy-octomap-ros. +#6 156.1 Preparing to unpack .../1161-ros-jazzy-octomap-ros_0.4.4-1noble.20260412.040015_amd64.deb ... +#6 156.1 Unpacking ros-jazzy-octomap-ros (0.4.4-1noble.20260412.040015) ... +#6 156.1 Selecting previously unselected package ros-jazzy-pcl-ros. +#6 156.1 Preparing to unpack .../1162-ros-jazzy-pcl-ros_2.6.4-1noble.20260412.055650_amd64.deb ... +#6 156.1 Unpacking ros-jazzy-pcl-ros (2.6.4-1noble.20260412.055650) ... +#6 156.2 Selecting previously unselected package ros-jazzy-octomap-server. +#6 156.2 Preparing to unpack .../1163-ros-jazzy-octomap-server_2.3.1-1noble.20260412.061859_amd64.deb ... +#6 156.2 Unpacking ros-jazzy-octomap-server (2.3.1-1noble.20260412.061859) ... +#6 156.3 Selecting previously unselected package ros-jazzy-grid-map-demos. +#6 156.3 Preparing to unpack .../1164-ros-jazzy-grid-map-demos_2.2.2-2noble.20260412.072241_amd64.deb ... +#6 156.3 Unpacking ros-jazzy-grid-map-demos (2.2.2-2noble.20260412.072241) ... +#6 156.4 Selecting previously unselected package ros-jazzy-grid-map-pcl. +#6 156.4 Preparing to unpack .../1165-ros-jazzy-grid-map-pcl_2.2.2-2noble.20260412.052630_amd64.deb ... +#6 156.4 Unpacking ros-jazzy-grid-map-pcl (2.2.2-2noble.20260412.052630) ... +#6 156.5 Selecting previously unselected package ros-jazzy-grid-map-sdf. +#6 156.5 Preparing to unpack .../1166-ros-jazzy-grid-map-sdf_2.2.2-2noble.20260225.232449_amd64.deb ... +#6 156.5 Unpacking ros-jazzy-grid-map-sdf (2.2.2-2noble.20260225.232449) ... +#6 156.5 Selecting previously unselected package ros-jazzy-grid-map. +#6 156.6 Preparing to unpack .../1167-ros-jazzy-grid-map_2.2.2-2noble.20260412.075203_amd64.deb ... +#6 156.6 Unpacking ros-jazzy-grid-map (2.2.2-2noble.20260412.075203) ... +#6 156.6 Selecting previously unselected package ros-jazzy-xacro. +#6 156.6 Preparing to unpack .../1168-ros-jazzy-xacro_2.1.1-1noble.20260412.025231_amd64.deb ... +#6 156.6 Unpacking ros-jazzy-xacro (2.1.1-1noble.20260412.025231) ... +#6 156.7 Selecting previously unselected package ros-jazzy-launch-param-builder. +#6 156.7 Preparing to unpack .../1169-ros-jazzy-launch-param-builder_0.1.1-4noble.20260412.042639_amd64.deb ... +#6 156.7 Unpacking ros-jazzy-launch-param-builder (0.1.1-4noble.20260412.042639) ... +#6 156.8 Selecting previously unselected package ros-jazzy-mavlink. +#6 156.8 Preparing to unpack .../1170-ros-jazzy-mavlink_2026.3.3-1noble.20260303.233645_amd64.deb ... +#6 156.8 Unpacking ros-jazzy-mavlink (2026.3.3-1noble.20260303.233645) ... +#6 157.1 Selecting previously unselected package ros-jazzy-libmavconn. +#6 157.1 Preparing to unpack .../1171-ros-jazzy-libmavconn_2.14.0-1noble.20260303.235119_amd64.deb ... +#6 157.1 Unpacking ros-jazzy-libmavconn (2.14.0-1noble.20260303.235119) ... +#6 157.1 Selecting previously unselected package ros-jazzy-mavros-msgs. +#6 157.2 Preparing to unpack .../1172-ros-jazzy-mavros-msgs_2.14.0-1noble.20260412.042020_amd64.deb ... +#6 157.2 Unpacking ros-jazzy-mavros-msgs (2.14.0-1noble.20260412.042020) ... +#6 157.7 Selecting previously unselected package ros-jazzy-mavros. +#6 157.7 Preparing to unpack .../1173-ros-jazzy-mavros_2.14.0-1noble.20260412.051838_amd64.deb ... +#6 157.7 Unpacking ros-jazzy-mavros (2.14.0-1noble.20260412.051838) ... +#6 157.8 Selecting previously unselected package ros-jazzy-moveit-planners-chomp. +#6 157.8 Preparing to unpack .../1174-ros-jazzy-moveit-planners-chomp_2.12.4-1noble.20260412.063945_amd64.deb ... +#6 157.8 Unpacking ros-jazzy-moveit-planners-chomp (2.12.4-1noble.20260412.063945) ... +#6 157.8 Selecting previously unselected package ros-jazzy-moveit-ros-occupancy-map-monitor. +#6 157.9 Preparing to unpack .../1175-ros-jazzy-moveit-ros-occupancy-map-monitor_2.12.4-1noble.20260412.060541_amd64.deb 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.../1179-ros-jazzy-moveit-planners-ompl_2.12.4-1noble.20260412.065232_amd64.deb ... +#6 158.3 Unpacking ros-jazzy-moveit-planners-ompl (2.12.4-1noble.20260412.065232) ... +#6 158.3 Selecting previously unselected package ros-jazzy-stomp. +#6 158.4 Preparing to unpack .../1180-ros-jazzy-stomp_0.1.2-4noble.20260225.143151_amd64.deb ... +#6 158.4 Unpacking ros-jazzy-stomp (0.1.2-4noble.20260225.143151) ... +#6 158.4 Selecting previously unselected package ros-jazzy-moveit-planners-stomp. +#6 158.4 Preparing to unpack .../1181-ros-jazzy-moveit-planners-stomp_2.12.4-1noble.20260412.061858_amd64.deb ... +#6 158.4 Unpacking ros-jazzy-moveit-planners-stomp (2.12.4-1noble.20260412.061858) ... +#6 158.5 Selecting previously unselected package ros-jazzy-moveit-kinematics. +#6 158.5 Preparing to unpack .../1182-ros-jazzy-moveit-kinematics_2.12.4-1noble.20260412.065216_amd64.deb ... +#6 158.5 Unpacking ros-jazzy-moveit-kinematics (2.12.4-1noble.20260412.065216) ... +#6 158.6 Selecting previously unselected package ros-jazzy-moveit-ros-move-group. +#6 158.6 Preparing to unpack .../1183-ros-jazzy-moveit-ros-move-group_2.12.4-1noble.20260412.070722_amd64.deb ... +#6 158.6 Unpacking ros-jazzy-moveit-ros-move-group (2.12.4-1noble.20260412.070722) ... +#6 158.7 Selecting previously unselected package ros-jazzy-pilz-industrial-motion-planner. +#6 158.7 Preparing to unpack .../1184-ros-jazzy-pilz-industrial-motion-planner_2.12.4-1noble.20260412.072051_amd64.deb ... +#6 158.7 Unpacking ros-jazzy-pilz-industrial-motion-planner (2.12.4-1noble.20260412.072051) ... +#6 158.8 Selecting previously unselected package ros-jazzy-moveit-planners. +#6 158.8 Preparing to unpack .../1185-ros-jazzy-moveit-planners_2.12.4-1noble.20260412.073607_amd64.deb ... +#6 158.8 Unpacking ros-jazzy-moveit-planners (2.12.4-1noble.20260412.073607) ... +#6 158.9 Selecting previously unselected package ros-jazzy-moveit-simple-controller-manager. +#6 158.9 Preparing to unpack .../1186-ros-jazzy-moveit-simple-controller-manager_2.12.4-1noble.20260412.061617_amd64.deb ... +#6 158.9 Unpacking ros-jazzy-moveit-simple-controller-manager (2.12.4-1noble.20260412.061617) ... +#6 158.9 Selecting previously unselected package ros-jazzy-moveit-plugins. +#6 159.0 Preparing to unpack .../1187-ros-jazzy-moveit-plugins_2.12.4-1noble.20260412.073600_amd64.deb ... +#6 159.0 Unpacking ros-jazzy-moveit-plugins (2.12.4-1noble.20260412.073600) ... +#6 159.0 Selecting previously unselected package ros-jazzy-warehouse-ros. +#6 159.0 Preparing to unpack .../1188-ros-jazzy-warehouse-ros_2.0.5-1noble.20260412.054120_amd64.deb ... +#6 159.0 Unpacking ros-jazzy-warehouse-ros (2.0.5-1noble.20260412.054120) ... +#6 159.1 Selecting previously unselected package ros-jazzy-moveit-ros-warehouse. +#6 159.1 Preparing to unpack .../1189-ros-jazzy-moveit-ros-warehouse_2.12.4-1noble.20260412.065555_amd64.deb ... +#6 159.1 Unpacking ros-jazzy-moveit-ros-warehouse (2.12.4-1noble.20260412.065555) 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unpack .../1193-ros-jazzy-moveit-ros-robot-interaction_2.12.4-1noble.20260412.065541_amd64.deb ... +#6 159.6 Unpacking ros-jazzy-moveit-ros-robot-interaction (2.12.4-1noble.20260412.065541) ... +#6 159.6 Selecting previously unselected package ros-jazzy-moveit-ros-visualization. +#6 159.6 Preparing to unpack .../1194-ros-jazzy-moveit-ros-visualization_2.12.4-1noble.20260412.073037_amd64.deb ... +#6 159.6 Unpacking ros-jazzy-moveit-ros-visualization (2.12.4-1noble.20260412.073037) ... +#6 159.7 Selecting previously unselected package ros-jazzy-moveit-ros. +#6 159.7 Preparing to unpack .../1195-ros-jazzy-moveit-ros_2.12.4-1noble.20260412.075256_amd64.deb ... +#6 159.7 Unpacking ros-jazzy-moveit-ros (2.12.4-1noble.20260412.075256) ... +#6 159.8 Selecting previously unselected package ros-jazzy-moveit-setup-framework. +#6 159.8 Preparing to unpack .../1196-ros-jazzy-moveit-setup-framework_2.12.4-1noble.20260412.075233_amd64.deb ... +#6 159.8 Unpacking ros-jazzy-moveit-setup-framework 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ros-jazzy-moveit-setup-srdf-plugins. +#6 160.1 Preparing to unpack .../1200-ros-jazzy-moveit-setup-srdf-plugins_2.12.4-1noble.20260412.081346_amd64.deb ... +#6 160.1 Unpacking ros-jazzy-moveit-setup-srdf-plugins (2.12.4-1noble.20260412.081346) ... +#6 160.2 Selecting previously unselected package ros-jazzy-moveit-setup-assistant. +#6 160.2 Preparing to unpack .../1201-ros-jazzy-moveit-setup-assistant_2.12.4-1noble.20260412.085049_amd64.deb ... +#6 160.2 Unpacking ros-jazzy-moveit-setup-assistant (2.12.4-1noble.20260412.085049) ... +#6 160.2 Selecting previously unselected package ros-jazzy-moveit. +#6 160.3 Preparing to unpack .../1202-ros-jazzy-moveit_2.12.4-1noble.20260412.090945_amd64.deb ... +#6 160.3 Unpacking ros-jazzy-moveit (2.12.4-1noble.20260412.090945) ... +#6 160.3 Selecting previously unselected package ros-jazzy-tf2-2d. +#6 160.3 Preparing to unpack .../1203-ros-jazzy-tf2-2d_1.4.1-1noble.20260412.060235_amd64.deb ... +#6 160.3 Unpacking ros-jazzy-tf2-2d 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(3.3.0-1build1) ... +#6 164.2 Setting up libraw1394-11:amd64 (2.1.2-2build3) ... +#6 164.2 Setting up libboost-stacktrace1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 164.2 Setting up python3-lark (1.1.9-1) ... +#6 164.4 Setting up libboost-wave1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 164.4 Setting up libvulkan-dev:amd64 (1.3.275.0-1build1) ... +#6 164.4 Setting up ros-jazzy-ros-workspace (1.0.3-7noble.20260224.191628) ... +#6 164.4 Setting up libxdamage1:amd64 (1:1.1.6-1build1) ... +#6 164.4 Setting up libpciaccess-dev:amd64 (0.17-3ubuntu0.24.04.2) ... +#6 164.4 Setting up libogg0:amd64 (1.3.5-3build1) ... +#6 164.4 Setting up libzstd-dev:amd64 (1.5.5+dfsg2-2build1.1) ... +#6 164.5 Setting up liblerc4:amd64 (4.0.0+ds-4ubuntu2) ... +#6 164.5 Setting up libspeex1:amd64 (1.2.1-2ubuntu2.24.04.1) ... +#6 164.5 Setting up proj-data (9.4.0-1build2) ... +#6 164.5 Setting up libshine3:amd64 (3.1.1-2build1) ... +#6 164.5 Setting up ros-jazzy-foonathan-memory-vendor (1.3.1-3noble.20260225.055155) 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(3.7.0-0.3build1.1) ... +#6 168.6 Setting up ros-jazzy-octomap (1.10.0-4noble.20260225.055711) ... +#6 168.6 Setting up libaom-dev:amd64 (3.8.2-2ubuntu0.1) ... +#6 168.7 Setting up libboost-context1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 168.7 Setting up libxnvctrl0:amd64 (510.47.03-0ubuntu4.24.04.1) ... +#6 168.7 Setting up librist4:amd64 (0.2.10+dfsg-2) ... +#6 168.7 Setting up unicode-data (15.1.0-1) ... +#6 168.7 Setting up python3-six (1.16.0-4) ... +#6 168.8 Setting up libasound2-data (1.2.11-1ubuntu0.2) ... +#6 168.8 Setting up ros-jazzy-domain-coordinator (0.12.0-3noble.20260225.051359) ... +#6 168.8 Setting up ros-jazzy-gtest-vendor (1.14.9000-2noble.20260225.055309) ... +#6 168.8 Setting up ros-jazzy-tcb-span (1.2.0-1noble.20260304.072946) ... +#6 168.9 Setting up python3-roman (3.3-3) ... +#6 169.0 Setting up libpgm-5.3-0t64:amd64 (5.3.128~dfsg-2.1build1) ... +#6 169.0 Setting up xtrans-dev (1.4.0-1) ... +#6 169.0 Setting up ros-jazzy-urdfdom-headers (1.1.2-1noble.20260225.142752) ... +#6 169.0 Setting up python3-decorator (5.1.1-5) ... +#6 169.1 Setting up python3-pycodestyle (2.11.1-1) ... +#6 169.3 Setting up libboost-numpy1.83.0 (1.83.0-2.1ubuntu3.2) ... +#6 169.3 Setting up autotools-dev (20220109.1) ... +#6 169.3 Setting up python3-jinja2 (3.1.2-1ubuntu1.3) ... +#6 169.4 Setting up python3-pygments (2.17.2+dfsg-1) ... +#6 169.9 Setting up libexpected-dev (1.1.0-2) ... +#6 169.9 Setting up libpcre2-32-0:amd64 (10.42-4ubuntu2.1) ... +#6 170.0 Setting up libglib2.0-0t64:amd64 (2.80.0-6ubuntu3.8) ... +#6 170.0 Setting up libblas3:amd64 (3.12.0-3build1.1) ... +#6 170.0 update-alternatives: using /usr/lib/x86_64-linux-gnu/blas/libblas.so.3 to provide /usr/lib/x86_64-linux-gnu/libblas.so.3 (libblas.so.3-x86_64-linux-gnu) in auto mode +#6 170.0 Setting up libglib2.0-data (2.80.0-6ubuntu3.8) ... +#6 170.0 Setting up python3-packaging (24.0-1) ... +#6 170.1 Setting up libxcb-xinerama0:amd64 (1.15-1ubuntu2) ... +#6 170.2 Setting up 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up libgles1:amd64 (1.7.0-1build1) ... +#6 171.4 Setting up libdbus-1-3:amd64 (1.14.10-4ubuntu4.1) ... +#6 171.4 Setting up libfribidi0:amd64 (1.0.13-3build1) ... +#6 171.4 Setting up libopus0:amd64 (1.4-1build1) ... +#6 171.4 Setting up python3-cycler (0.11.0-2) ... +#6 171.5 Setting up uncrustify (0.78.1+dfsg1-1) ... +#6 171.5 Setting up libexif12:amd64 (0.6.24-1build2) ... +#6 171.5 Setting up libimagequant0:amd64 (2.18.0-1build1) ... +#6 171.5 Setting up libxv1:amd64 (2:1.0.11-1.1build1) ... +#6 171.6 Setting up libssl-dev:amd64 (3.0.13-0ubuntu3.9) ... +#6 171.6 Setting up python3-kiwisolver (1.4.4-2build1) ... +#6 171.7 Setting up libboost-nowide1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 171.7 Setting up libhwloc15:amd64 (2.10.0-1build1) ... +#6 171.7 Setting up libimath-3-1-29t64:amd64 (3.1.9-3.1ubuntu2) ... +#6 171.7 Setting up libboost-stacktrace1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 171.7 Setting up libvorbis0a:amd64 (1.3.7-1build3) ... +#6 171.7 Setting up python3-wrapt 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ros-jazzy-fastrtps-cmake-module (3.6.3-1noble.20260225.234436) ... +#6 172.7 Setting up liblzma-dev:amd64 (5.6.1+really5.4.5-1ubuntu0.2) ... +#6 172.7 Setting up libsndio7.0:amd64 (1.9.0-0.3build3) ... +#6 172.7 Setting up libgif7:amd64 (5.2.2-1ubuntu1) ... +#6 172.8 Setting up python3-patiencediff (0.2.13-1build2) ... +#6 172.9 Setting up libodbc2:amd64 (2.3.12-1ubuntu0.24.04.1) ... +#6 172.9 Setting up python3-pyqt5.sip (12.13.0-1build3) ... +#6 172.9 Setting up liburiparser1:amd64 (0.9.7+dfsg-2build1) ... +#6 172.9 Setting up libboost-atomic-dev:amd64 (1.83.0.1ubuntu2) ... +#6 172.9 Setting up libnuma1:amd64 (2.0.18-1ubuntu0.24.04.1) ... +#6 172.9 Setting up libpcre2-posix3:amd64 (10.42-4ubuntu2.1) ... +#6 173.0 Setting up libfyba0t64:amd64 (4.1.1-11build1) ... +#6 173.0 Setting up libvpx9:amd64 (1.14.0-1ubuntu2.3) ... +#6 173.0 Setting up librttopo1:amd64 (1.1.0-3build2) ... +#6 173.0 Setting up libsrt1.5-gnutls:amd64 (1.5.3-1build2) ... +#6 173.0 Setting up google-mock:amd64 (1.14.0-1) ... +#6 173.0 Setting up libdav1d7:amd64 (1.4.1-1build1) ... +#6 173.0 Setting up libnl-3-dev:amd64 (3.7.0-0.3build1.1) ... +#6 173.1 Setting up libmtdev1t64:amd64 (1.1.6-1.1build1) ... +#6 173.1 Setting up libminizip1t64:amd64 (1:1.3.dfsg-3.1ubuntu2.1) ... +#6 173.1 Setting up ocl-icd-libopencl1:amd64 (2.3.2-1build1) ... +#6 173.1 Setting up libgif-dev:amd64 (5.2.2-1ubuntu1) ... +#6 173.1 Setting up libasyncns0:amd64 (0.8-6build4) ... +#6 173.1 Setting up libboost-exception1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 173.1 Setting up ros-jazzy-ament-cpplint (0.17.5-1noble.20260410.080348) ... +#6 173.1 Setting up at-spi2-common (2.52.0-1build1) ... +#6 173.2 Setting up libvdpau1:amd64 (1.5-2build1) ... +#6 173.2 Setting up python3-dulwich (0.21.6-1build2) ... +#6 173.5 Setting up libbullet-dev:amd64 (3.24+dfsg-2.1build1) ... +#6 173.5 Setting up libwayland-cursor0:amd64 (1.22.0-2.1build1) ... +#6 173.5 Setting up libboost-stacktrace-dev:amd64 (1.83.0.1ubuntu2) ... +#6 173.6 Setting up ros-jazzy-ruckig (0.9.2-5noble.20260225.142307) ... +#6 173.6 Setting up dbus-session-bus-common (1.14.10-4ubuntu4.1) ... +#6 173.6 Setting up libapr1t64:amd64 (1.7.2-3.1ubuntu0.1) ... +#6 173.6 Setting up libtheora0:amd64 (1.1.1+dfsg.1-16.1build3) ... +#6 173.6 Setting up libblosc1:amd64 (1.21.5+ds-1build1) ... +#6 173.6 Setting up libboost-graph1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 173.6 Setting up libpsm2-2 (11.2.185-2build1) ... +#6 173.6 Setting up openmpi-common (4.1.6-7ubuntu2) ... +#6 173.7 Setting up libmd4c0:amd64 (0.4.8-1build1) ... +#6 173.7 Setting up libdecor-0-0:amd64 (0.2.2-1build2) ... +#6 173.7 Setting up libboost-container1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 173.7 Setting up ros-jazzy-tl-expected (1.2.0-1noble.20260225.230700) ... +#6 173.7 Setting up python3-pydocstyle (6.3.0-1.1) ... +#6 173.8 Setting up libopenjp2-7:amd64 (2.5.0-2ubuntu0.5) ... +#6 173.8 Setting up ros-jazzy-yaml-cpp-vendor (9.0.1-1noble.20260225.230938) ... +#6 173.9 Setting up libharfbuzz0b:amd64 (8.3.0-2build2) ... +#6 173.9 Setting up libthai-data (0.1.29-2build1) ... +#6 173.9 Setting up python3-dateutil (2.8.2-3ubuntu1) ... +#6 174.0 Setting up xorg-sgml-doctools (1:1.11-1.1) ... +#6 174.0 Setting up python3-mccabe (0.7.0-1) ... +#6 174.1 Setting up libgts-0.7-5t64:amd64 (0.7.6+darcs121130-5.2build1) ... +#6 174.2 Setting up sgml-base (1.31) ... +#6 174.2 Setting up libboost-type-erasure1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 174.2 Setting up libcairo-gobject2:amd64 (1.18.0-3build1) ... +#6 174.3 Setting up libcdt5:amd64 (2.42.2-9ubuntu0.1) ... +#6 174.3 Setting up libcgraph6:amd64 (2.42.2-9ubuntu0.1) ... +#6 174.3 Setting up libflac12t64:amd64 (1.4.3+ds-2.1ubuntu2) ... +#6 174.3 Setting up libwayland-egl1:amd64 (1.22.0-2.1build1) ... +#6 174.3 Setting up libxss1:amd64 (1:1.2.3-1build3) ... +#6 174.3 Setting up libusb-1.0-0:amd64 (2:1.0.27-1) ... +#6 174.3 Setting up ros-jazzy-fastcdr (2.2.7-1noble.20260225.051855) ... +#6 174.3 Setting up libpsm-infinipath1 (3.3+20.604758e7-6.3build1) ... +#6 174.4 update-alternatives: using /usr/lib/libpsm1/libpsm_infinipath.so.1.16 to provide /usr/lib/x86_64-linux-gnu/libpsm_infinipath.so.1 (libpsm_infinipath.so.1) in auto mode +#6 174.4 Setting up libasio-dev (1:1.28.1-0.2) ... +#6 174.4 Setting up libboost-math1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 174.4 Setting up libopengl-dev:amd64 (1.7.0-1build1) ... +#6 174.4 Setting up liblttng-ust-ctl5t64:amd64 (2.13.7-1.1ubuntu2) ... +#6 174.4 Setting up libjs-jquery (3.6.1+dfsg+~3.5.14-1) ... +#6 174.4 Setting up ca-certificates-java (20240118) ... +#6 174.5 No JRE found. Skipping Java certificates setup. +#6 174.5 Setting up ros-jazzy-ament-lint-cmake (0.17.5-1noble.20260410.080405) ... +#6 174.5 Setting up lsb-release (12.0-2) ... +#6 174.5 Setting up dbus-system-bus-common (1.14.10-4ubuntu4.1) ... +#6 174.6 Setting up ros-build-essential (1.0.1) ... +#6 174.6 Setting up libconsole-bridge1.0:amd64 (1.0.1+dfsg2-3build1) ... +#6 174.6 Setting up python3-mpmath (1.2.1-3) ... +#6 175.0 Setting up python3-tzlocal (5.2-1.1) ... +#6 175.1 Setting up libfido2-1:amd64 (1.14.0-1build3) ... +#6 175.1 Setting up libpcl-kdtree1.14:amd64 (1.14.0+dfsg-1) ... +#6 175.1 Setting up libasound2-dev:amd64 (1.2.11-1ubuntu0.2) ... +#6 175.1 Setting up libde265-0:amd64 (1.0.15-1build3) ... +#6 175.1 Setting up libsharpyuv-dev:amd64 (1.3.2-0.4build3) ... +#6 175.2 Setting up python3-argcomplete (3.1.4-1ubuntu0.1) ... +#6 175.3 Setting up libkmlbase1t64:amd64 (1.3.0-12build1) ... +#6 175.3 Setting up ros-jazzy-zstd-vendor (0.26.10-2noble.20260408.222105) ... +#6 175.4 Setting up libgfortran-13-dev:amd64 (13.3.0-6ubuntu2~24.04.1) ... +#6 175.4 Setting up libsamplerate0:amd64 (0.2.2-4build1) ... +#6 175.4 Setting up python-matplotlib-data (3.6.3-1ubuntu5) ... +#6 175.4 Setting up openssl (3.0.13-0ubuntu3.9) ... +#6 175.5 Setting up libwebpmux3:amd64 (1.3.2-0.4build3) ... +#6 175.5 Setting up libdeflate-dev:amd64 (1.19-1build1.1) ... +#6 175.5 Setting up libconsole-bridge-dev:amd64 (1.0.1+dfsg2-3build1) ... +#6 175.5 Setting up libccd-dev:amd64 (2.1-2) ... +#6 175.5 Setting up python3-appdirs (1.4.4-4) ... +#6 175.6 Setting up libdrm-common (2.4.125-1ubuntu0.1~24.04.1) ... +#6 175.7 Setting up libxcomposite1:amd64 (1:0.4.5-1build3) ... +#6 175.7 Setting up libevdev2:amd64 (1.13.1+dfsg-1build1) ... +#6 175.7 Setting up libicu-dev:amd64 (74.2-1ubuntu3.1) ... +#6 175.7 Setting up libxml2:amd64 (2.9.14+dfsg-1.3ubuntu3.7) ... +#6 175.7 Setting up iso-codes (4.16.0-1) ... +#6 175.7 Setting up libboost-timer-dev:amd64 (1.83.0.1ubuntu2) ... +#6 175.7 Setting up libpcl-sample-consensus1.14:amd64 (1.14.0+dfsg-1) ... +#6 175.8 Setting up dbus-bin (1.14.10-4ubuntu4.1) ... +#6 175.8 Setting up python3-deprecated (1.2.14-1) ... +#6 175.9 Setting up libbrotli-dev:amd64 (1.1.0-2build2) ... +#6 175.9 Setting up libboost1.83-tools-dev (1.83.0-2.1ubuntu3.2) ... +#6 175.9 Setting up libgudev-1.0-0:amd64 (1:238-5ubuntu1) ... +#6 175.9 Setting up libzvbi-common (0.2.42-2) ... +#6 175.9 Setting up libpcl-stereo1.14:amd64 (1.14.0+dfsg-1) ... +#6 176.0 Setting up qtchooser (66-2build2) ... +#6 176.0 Setting up libgstreamer1.0-0:amd64 (1.24.2-1ubuntu0.1) ... +#6 176.0 Setcap worked! gst-ptp-helper is not suid! +#6 176.0 Setting up libmp3lame0:amd64 (3.100-6build1) ... +#6 176.0 Setting up libblas-dev:amd64 (3.12.0-3build1.1) ... +#6 176.0 update-alternatives: using /usr/lib/x86_64-linux-gnu/blas/libblas.so to provide /usr/lib/x86_64-linux-gnu/libblas.so (libblas.so-x86_64-linux-gnu) in auto mode +#6 176.0 Setting up libsz2:amd64 (1.1.2-1build1) ... +#6 176.0 Setting up libmysqlclient-dev (8.0.45-0ubuntu0.24.04.1) ... +#6 176.1 Setting up python3-cffi-backend:amd64 (1.16.0-2build1) ... +#6 176.1 Setting up liboctomap1.9t64:amd64 (1.9.7+dfsg-3.1build3) ... +#6 176.1 Setting up libvorbisenc2:amd64 (1.3.7-1build3) ... +#6 176.1 Setting up ros-jazzy-ament-cppcheck (0.17.5-1noble.20260410.080408) ... +#6 176.1 Setting up ros-jazzy-gz-utils-vendor (0.0.5-1noble.20260225.231257) ... +#6 176.1 Setting up libjs-underscore (1.13.4~dfsg+~1.11.4-3) ... +#6 176.1 Setting up libpopt0:amd64 (1.19+dfsg-1build1) ... +#6 176.2 Setting up tango-icon-theme (0.8.90-11) ... +#6 176.3 Setting up libllvm18:amd64 (1:18.1.3-1ubuntu1) ... +#6 176.3 Setting up libodbccr2:amd64 (2.3.12-1ubuntu0.24.04.1) ... +#6 176.3 Setting up gdal-plugins:amd64 (3.8.4+dfsg-3ubuntu3) ... +#6 176.3 Setting up libwacom-common (2.10.0-2) ... +#6 176.3 Setting up python3-sip (4.19.25+dfsg-5build3) ... +#6 176.4 Setting up libbz2-dev:amd64 (1.0.8-5.1build0.1) ... +#6 176.4 Setting up libxkbcommon0:amd64 (1.6.0-1build1) ... +#6 176.5 Setting up libjpeg8:amd64 (8c-2ubuntu11) ... +#6 176.5 Setting up automake (1:1.16.5-1.3ubuntu1) ... +#6 176.5 update-alternatives: using /usr/bin/automake-1.16 to provide /usr/bin/automake (automake) in auto mode +#6 176.5 update-alternatives: warning: skip creation of /usr/share/man/man1/automake.1.gz because associated file /usr/share/man/man1/automake-1.16.1.gz (of link group automake) doesn't exist +#6 176.5 update-alternatives: warning: skip creation of /usr/share/man/man1/aclocal.1.gz because associated file /usr/share/man/man1/aclocal-1.16.1.gz (of link group automake) doesn't exist +#6 176.5 Setting up default-libmysqlclient-dev:amd64 (1.1.0build1) ... +#6 176.5 Setting up ros-jazzy-xacro (2.1.1-1noble.20260412.025231) ... +#6 176.5 Setting up x11proto-dev (2023.2-1) ... +#6 176.5 Setting up liburcu-dev:amd64 (0.14.0-3.1build1) ... +#6 176.5 Setting up ros-jazzy-ros-environment (4.2.1-1noble.20260225.043405) ... +#6 176.6 Setting up libgdcm3.0t64:amd64 (3.0.22-2.1ubuntu1) ... +#6 176.6 Setting up libglib2.0-dev-bin (2.80.0-6ubuntu3.8) ... +#6 176.7 Setting up python3-sympy (1.12-7) ... +#6 180.2 Setting up ros-jazzy-rcutils (6.7.5-1noble.20260226.001538) ... +#6 180.2 Setting up libblkid-dev:amd64 (2.39.3-9ubuntu6.5) ... +#6 180.2 Setting up libaprutil1t64:amd64 (1.6.3-1.1ubuntu7) ... +#6 180.2 Setting up libimath-dev:amd64 (3.1.9-3.1ubuntu2) ... +#6 180.2 Setting up python3-flake8-import-order (0.18.2-2) ... +#6 180.3 Setting up libclang1-18 (1:18.1.3-1ubuntu1) ... +#6 180.4 Setting up librttopo-dev:amd64 (1.1.0-3build2) ... +#6 180.4 Setting up libibverbs1:amd64 (50.0-2ubuntu0.2) ... +#6 180.4 Setting up libodbcinst2:amd64 (2.3.12-1ubuntu0.24.04.1) ... +#6 180.4 Setting up ros-jazzy-mavlink (2026.3.3-1noble.20260303.233645) ... +#6 180.5 Setting up libjpeg-turbo8-dev:amd64 (2.1.5-2ubuntu2) ... +#6 180.5 Setting up python3-dbus (1.3.2-5build3) ... +#6 180.6 Setting up libexif-dev:amd64 (0.6.24-1build2) ... +#6 180.6 Setting up tcl8.6 (8.6.14+dfsg-1build1) ... +#6 180.6 Setting up liblapack3:amd64 (3.12.0-3build1.1) ... +#6 180.6 update-alternatives: using /usr/lib/x86_64-linux-gnu/lapack/liblapack.so.3 to provide /usr/lib/x86_64-linux-gnu/liblapack.so.3 (liblapack.so.3-x86_64-linux-gnu) in auto mode +#6 180.7 Setting up libgdcm-dev (3.0.22-2.1ubuntu1) ... +#6 180.7 Setting up libpcl-outofcore1.14:amd64 (1.14.0+dfsg-1) ... +#6 180.7 Setting up ros-jazzy-tinyxml2-vendor (0.9.2-1noble.20260225.230621) ... +#6 180.7 Setting up libkmlxsd1t64:amd64 (1.3.0-12build1) ... +#6 180.7 Setting up ros-jazzy-urdf-parser-plugin (2.10.0-3noble.20260226.001913) ... +#6 180.7 Setting up ros-jazzy-rcpputils (2.11.3-1noble.20260226.002359) ... +#6 180.7 Setting up libsndio-dev:amd64 (1.9.0-0.3build3) ... +#6 180.7 Setting up ros-jazzy-osqp-vendor (0.2.0-4noble.20260226.000013) ... +#6 180.8 Setting up libarpack2t64:amd64 (3.9.1-1.1build2) ... +#6 180.8 Setting up libboost-coroutine1.83.0:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 180.8 Setting up libcfitsio-dev:amd64 (4.3.1-1.1build2) ... +#6 180.8 Setting up libopenni2-0:amd64 (2.2.0.33+dfsg-18) ... +#6 180.8 Setting up libatk1.0-0t64:amd64 (2.52.0-1build1) ... +#6 180.8 Setting up python3-cairo (1.25.1-2build2) ... +#6 181.0 Setting up libzmq5:amd64 (4.3.5-1build2) ... +#6 181.0 Setting up libxau-dev:amd64 (1:1.0.9-1build6) ... +#6 181.0 Setting up python3-importlib-metadata (4.12.0-1) ... +#6 181.1 Setting up libgtest-dev:amd64 (1.14.0-1) ... +#6 181.1 Setting up libspdlog1.12:amd64 (1:1.12.0+ds-2build1) ... +#6 181.1 Setting up libboost-locale1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 181.1 Setting up python3-distro (1.9.0-1) ... +#6 181.3 Setting up qt5-qmake:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 181.3 Setting up libpcre2-dev:amd64 (10.42-4ubuntu2.1) ... +#6 181.3 Setting up libzvbi0t64:amd64 (0.2.42-2) ... +#6 181.3 Setting up libllvm15t64:amd64 (1:15.0.7-14build3) ... +#6 181.3 Setting up mercurial (6.7.2-1ubuntu2.2) ... +#6 181.4 debconf: unable to initialize frontend: Dialog +#6 181.4 debconf: (TERM is not set, so the dialog frontend is not usable.) +#6 181.4 debconf: falling back to frontend: Readline +#6 181.4 debconf: unable to initialize frontend: Readline +#6 181.4 debconf: (This frontend requires a controlling tty.) +#6 181.4 debconf: falling back to frontend: Teletype +#6 181.5 +#6 181.5 Creating config file /etc/mercurial/hgrc.d/hgext.rc with new version +#6 181.5 Setting up libyaml-dev:amd64 (0.2.5-1build1) ... +#6 181.5 Setting up libice-dev:amd64 (2:1.0.10-1build3) ... +#6 181.6 Setting up libtirpc3t64:amd64 (1.3.4+ds-1.1build1) ... +#6 181.6 Setting up ibverbs-providers:amd64 (50.0-2ubuntu0.2) ... +#6 181.7 Setting up libboost-math1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 181.7 Setting up libogdi4.1:amd64 (4.1.1+ds-3build1) ... +#6 181.7 Setting up libgirepository-2.0-0:amd64 (2.80.0-6ubuntu3.8) ... +#6 181.7 Setting up libblosc-dev:amd64 (1.21.5+ds-1build1) ... +#6 181.7 Setting up ros-jazzy-rcl-logging-interface (3.1.1-1noble.20260226.002403) ... +#6 181.7 Setting up ros-jazzy-liblz4-vendor (0.26.10-2noble.20260408.222020) ... +#6 181.8 Setting up libwacom9:amd64 (2.10.0-2) ... +#6 181.8 Setting up libsm-dev:amd64 (2:1.2.3-1build3) ... +#6 181.8 Setting up libselinux1-dev:amd64 (3.5-2ubuntu2.1) ... +#6 181.8 Setting up libboost-log1.83.0 (1.83.0-2.1ubuntu3.2) ... +#6 181.8 Setting up python3-pytest (7.4.4-1) ... +#6 182.0 Setting up openssh-client (1:9.6p1-3ubuntu13.16) ... +#6 182.1 Setting up libboost-math-dev:amd64 (1.83.0.1ubuntu2) ... +#6 182.1 Setting up libfyba-dev:amd64 (4.1.1-11build1) ... +#6 182.2 Setting up libwebpdemux2:amd64 (1.3.2-0.4build3) ... +#6 182.2 Setting up ros-jazzy-sqlite3-vendor (0.26.10-2noble.20260408.222053) ... +#6 182.2 Setting up tcl8.6-dev:amd64 (8.6.14+dfsg-1build1) ... +#6 182.2 Setting up libtk8.6:amd64 (8.6.14-1build1) ... +#6 182.2 Setting up libxkbcommon-dev:amd64 (1.6.0-1build1) ... +#6 182.2 Setting up libxcursor1:amd64 (1:1.2.1-1build1) ... +#6 182.2 Setting up ros-jazzy-ament-copyright (0.17.5-1noble.20260410.105859) ... +#6 182.2 Setting up libibus-1.0-5:amd64 (1.5.29-2) ... +#6 182.3 Setting up libpugixml-dev:amd64 (1.14-0.1build1) ... +#6 182.3 Setting up libaec-dev:amd64 (1.1.2-1build1) ... +#6 182.3 Setting up libserf-1-1:amd64 (1.3.10-1ubuntu0.24.04.1) ... +#6 182.3 Setting up libboost-type-erasure1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 182.3 Setting up libavahi-common3:amd64 (0.8-13ubuntu6.2) ... +#6 182.3 Setting up libomp5-18:amd64 (1:18.1.3-1ubuntu1) ... +#6 182.3 Setting up libjbig-dev:amd64 (2.1-6.1ubuntu2) ... +#6 182.3 Setting up ros-jazzy-mcap-vendor (0.26.10-2noble.20260408.222435) ... +#6 182.4 Setting up libboost-random-dev:amd64 (1.83.0.1ubuntu2) ... +#6 182.4 Setting up libglib2.0-bin (2.80.0-6ubuntu3.8) ... +#6 182.4 Setting up libboost-test1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 182.4 Setting up libgeographiclib-dev (2.3-1build1) ... +#6 182.4 Setting up libusb-1.0-0-dev:amd64 (2:1.0.27-1) ... +#6 182.4 Setting up libboost-url1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 182.5 Setting up python3-breezy (3.3.5-6build2) ... +#6 183.6 Setting up libboost-locale-dev:amd64 (1.83.0.1ubuntu2) ... +#6 183.7 Setting up libfcl0.7:amd64 (0.7.0-3build2) ... +#6 183.7 Setting up libboost-tools-dev (1.83.0.1ubuntu2) ... +#6 183.7 Setting up libpq-dev (16.14-0ubuntu0.24.04.1) ... +#6 183.7 Setting up libpython3.12-dev:amd64 (3.12.3-1ubuntu0.13) ... +#6 183.7 Setting up libnss3:amd64 (2:3.98-1ubuntu0.1) ... +#6 183.7 Setting up libboost-filesystem1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 183.7 Setting up dbus-daemon (1.14.10-4ubuntu4.1) ... +#6 183.8 Setting up libboost-exception-dev:amd64 (1.83.0.1ubuntu2) ... +#6 183.8 Setting up libboost-context-dev:amd64 (1.83.0.1ubuntu2) ... +#6 183.8 Setting up libsuperlu6:amd64 (6.0.1+dfsg1-1build1) ... +#6 183.8 Setting up libgl2ps-dev (1.4.2+dfsg1-2build1) ... +#6 183.8 Setting up libhwloc-plugins:amd64 (2.10.0-1build1) ... +#6 183.8 Setting up libboost-nowide-dev (1.83.0.1ubuntu2) ... +#6 183.9 Setting up gfortran-13-x86-64-linux-gnu (13.3.0-6ubuntu2~24.04.1) ... +#6 183.9 Setting up libdw-dev:amd64 (0.190-1.1ubuntu0.1) ... +#6 183.9 Setting up liboctomap-dev:amd64 (1.9.7+dfsg-3.1build3) ... +#6 183.9 Setting up libcolord2:amd64 (1.4.7-1build2) ... +#6 183.9 Setting up ros-jazzy-tango-icons-vendor (0.3.1-1noble.20260225.230515) ... +#6 183.9 Setting up ros-jazzy-uncrustify-vendor (3.0.1-1noble.20260225.230730) ... +#6 183.9 Setting up libboost-type-erasure-dev:amd64 (1.83.0.1ubuntu2) ... +#6 184.0 Setting up pkgconf:amd64 (1.8.1-2build1) ... +#6 184.0 Setting up brz (3.3.5-6build2) ... +#6 184.0 update-alternatives: using /usr/bin/brz to provide /usr/bin/bzr (bzr) in auto mode +#6 184.0 update-alternatives: warning: skip creation of /usr/share/man/man1/bzr.1.gz because associated file /usr/share/man/man1/brz.1.gz (of link group bzr) doesn't exist +#6 184.0 Setting up libinput-bin (1.25.0-1ubuntu3.4) ... +#6 184.0 Setting up libopenni0t64 (1.5.4.0+dfsg-7.1build1) ... +#6 184.0 Setting up libfreetype-dev:amd64 (2.13.2+dfsg-1ubuntu0.1) ... +#6 184.0 Setting up libtbbbind-2-5:amd64 (2021.11.0-2ubuntu2) ... +#6 184.1 Setting up liburiparser-dev (0.9.7+dfsg-2build1) ... +#6 184.1 Setting up libnuma-dev:amd64 (2.0.18-1ubuntu0.24.04.1) ... +#6 184.1 Setting up python3-flake8 (7.0.0-1) ... +#6 184.2 Setting up python3-fs (2.4.16-3) ... +#6 184.4 Setting up libboost-test-dev:amd64 (1.83.0.1ubuntu2) ... +#6 184.4 Setting up libdconf1:amd64 (0.40.0-4ubuntu0.1) ... +#6 184.4 Setting up libkmldom1t64:amd64 (1.3.0-12build1) ... +#6 184.4 Setting up python3-colcon-core (0.20.1+upstream-1) ... +#6 184.6 Setting up libpcl-octree1.14:amd64 (1.14.0+dfsg-1) ... +#6 184.6 Setting up libminizip-dev:amd64 (1:1.3.dfsg-3.1ubuntu2.1) ... +#6 184.6 Setting up python3-colcon-pkg-config (0.1.0-100) ... +#6 184.7 Setting up libnl-route-3-dev:amd64 (3.7.0-0.3build1.1) ... +#6 184.7 Setting up libboost-coroutine1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 184.8 Setting up libltdl-dev:amd64 (2.4.7-7build1) ... +#6 184.8 Setting up libthai0:amd64 (0.1.29-2build1) ... +#6 184.8 Setting up bzr (2.7.0+bzr6622+brz) ... +#6 184.8 Setting up libvorbisfile3:amd64 (1.3.7-1build3) ... +#6 184.8 Setting up libxdmcp-dev:amd64 (1:1.1.3-0ubuntu6) ... +#6 184.8 Setting up libwayland-bin (1.22.0-2.1build1) ... +#6 184.9 Setting up python3-colcon-zsh (0.5.0-100) ... +#6 185.0 Setting up libxml2-dev:amd64 (2.9.14+dfsg-1.3ubuntu3.7) ... +#6 185.0 Setting up libwebp-dev:amd64 (1.3.2-0.4build3) ... +#6 185.0 Setting up libtirpc-dev:amd64 (1.3.4+ds-1.1build1) ... +#6 185.0 Setting up libtheora-dev:amd64 (1.1.1+dfsg.1-16.1build3) ... +#6 185.0 Setting up libjs-jquery-ui (1.13.2+dfsg-1) ... +#6 185.0 Setting up libllvm17t64:amd64 (1:17.0.6-9ubuntu1) ... +#6 185.1 Setting up libboost-fiber1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 185.1 Setting up libde265-dev:amd64 (1.0.15-1build3) ... +#6 185.1 Setting up libopenjp2-7-dev:amd64 (2.5.0-2ubuntu0.5) ... +#6 185.1 Setting up libboost-container1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 185.1 Setting up gfortran-13 (13.3.0-6ubuntu2~24.04.1) ... +#6 185.1 Setting up libxerces-c-dev:amd64 (3.2.4+debian-1.2ubuntu2) ... +#6 185.1 Setting up libassimp5:amd64 (5.3.1+ds-2build1) ... +#6 185.2 Setting up python3-colcon-mixin (0.2.3-100) ... +#6 185.3 Setting up python3-cryptography (41.0.7-4ubuntu0.4) ... +#6 185.5 Setting up libatspi2.0-0t64:amd64 (2.52.0-1build1) ... +#6 185.5 Setting up libraqm0:amd64 (0.10.1-1build1) ... +#6 185.5 Setting up dbus (1.14.10-4ubuntu4.1) ... +#6 185.6 Setting up libdav1d-dev:amd64 (1.4.1-1build1) ... +#6 185.6 Setting up libopenexr-3-1-30:amd64 (3.1.5-5.1build3) ... +#6 185.6 Setting up python3-colcon-library-path (0.2.1-100) ... +#6 185.7 Setting up shared-mime-info (2.4-4) ... +#6 188.2 Setting up liblttng-ust1t64:amd64 (2.13.7-1.1ubuntu2) ... +#6 188.3 Setting up ros-jazzy-random-numbers (2.0.1-5noble.20260225.225100) ... +#6 188.3 Setting up libboost-numpy-dev (1.83.0.1ubuntu2) ... +#6 188.3 Setting up libxkbcommon-x11-0:amd64 (1.6.0-1build1) ... +#6 188.3 Setting up libdc1394-25:amd64 (2.2.6-4build1) ... +#6 188.3 Setting up libevent-dev (2.1.12-stable-9ubuntu2) ... +#6 188.3 Setting up liblapack-dev:amd64 (3.12.0-3build1.1) ... +#6 188.4 update-alternatives: using /usr/lib/x86_64-linux-gnu/lapack/liblapack.so to provide /usr/lib/x86_64-linux-gnu/liblapack.so (liblapack.so-x86_64-linux-gnu) in auto mode +#6 188.4 Setting up libeigen3-dev (3.4.0-4build0.1) ... +#6 188.4 Setting up python3.12-dev (3.12.3-1ubuntu0.13) ... +#6 188.4 Setting up ros-jazzy-console-bridge-vendor (1.7.1-3noble.20260225.232019) ... +#6 188.4 Setting up libfmt-dev:amd64 (9.1.0+ds1-2) ... +#6 188.4 Setting up libboost-regex1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 188.4 Setting up python3-flake8-quotes (3.4.0-1) ... +#6 188.6 Setting up libassimp-dev:amd64 (5.3.1+ds-2build1) ... +#6 188.6 Setting up libpmix2t64:amd64 (5.0.1-4.1build1) ... +#6 188.6 Setting up ros-jazzy-class-loader (2.7.0-3noble.20260226.003328) ... +#6 188.6 Setting up libclang1-15t64 (1:15.0.7-14build3) ... +#6 188.6 Setting up python3-numpy (1:1.26.4+ds-6ubuntu1) ... +#6 189.7 Setting up libjs-sphinxdoc (7.2.6-6) ... +#6 189.7 Setting up libhdf4-0-alt:amd64 (4.2.16-4build1) ... +#6 189.7 Setting up libx265-199:amd64 (3.5-2build1) ... +#6 189.7 Setting up libgvpr2:amd64 (2.42.2-9ubuntu0.1) ... +#6 189.7 Setting up libdrm2:amd64 (2.4.125-1ubuntu0.1~24.04.1) ... +#6 189.8 Setting up python3-notify2 (0.3-5) ... +#6 189.9 Setting up libfreexl1:amd64 (2.0.0-1build2) ... +#6 189.9 Setting up libva-drm2:amd64 (2.20.0-2ubuntu0.1) ... +#6 189.9 Setting up libtiff6:amd64 (4.5.1+git230720-4ubuntu2.5) ... +#6 189.9 Setting up xml-core (0.19) ... +#6 190.1 Setting up ros-jazzy-libmavconn (2.14.0-1noble.20260303.235119) ... +#6 190.1 Setting up tcl (8.6.14build1) ... +#6 190.1 Setting up pydocstyle (6.3.0-1.1) ... +#6 190.1 Setting up libxslt1.1:amd64 (1.1.39-0exp1ubuntu0.24.04.3) ... +#6 190.1 Setting up libopenni2-dev:amd64 (2.2.0.33+dfsg-18) ... +#6 190.2 Setting up libpam-systemd:amd64 (255.4-1ubuntu8.15) ... +#6 190.2 debconf: unable to initialize frontend: Dialog +#6 190.2 debconf: (TERM is not set, so the dialog frontend is not usable.) +#6 190.2 debconf: falling back to frontend: Readline +#6 190.2 debconf: unable to initialize frontend: Readline +#6 190.2 debconf: (This frontend requires a controlling tty.) +#6 190.2 debconf: falling back to frontend: Teletype +#6 190.3 Setting up librdmacm1t64:amd64 (50.0-2ubuntu0.2) ... +#6 190.3 Setting up libpcap0.8t64:amd64 (1.10.4-4.1ubuntu3) ... +#6 190.3 Setting up libgdk-pixbuf-2.0-0:amd64 (2.42.10+dfsg-3ubuntu3.3) ... +#6 190.3 Setting up python3-contourpy (1.0.7-2build1) ... +#6 190.5 Setting up libboost-url-dev:amd64 (1.83.0.1ubuntu2) ... +#6 190.5 Setting up ros-jazzy-rosidl-cli (4.6.7-1noble.20260225.142152) ... +#6 190.5 Setting up ros-jazzy-rviz-assimp-vendor (14.1.20-2noble.20260225.225641) ... +#6 190.5 Setting up libhwloc-dev:amd64 (2.10.0-1build1) ... +#6 190.5 Setting up ros-jazzy-ament-package (0.16.5-1noble.20260121.174946) ... +#6 190.5 Setting up libboost-coroutine-dev:amd64 (1.83.0.1ubuntu2) ... +#6 190.5 Setting up libgphoto2-port12t64:amd64 (2.5.31-2.1ubuntu1) ... +#6 190.6 Setting up libamd-comgr2:amd64 (6.0+git20231212.4510c28+dfsg-3build2) ... +#6 190.6 Setting up libsndfile1:amd64 (1.2.2-1ubuntu5.24.04.1) ... +#6 190.6 Setting up ros-jazzy-libyaml-vendor (1.6.3-2noble.20260225.235345) ... +#6 190.6 Setting up libboost-log1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 190.6 Setting up python3-colcon-metadata (0.2.5-100) ... +#6 190.7 Setting up libjpeg8-dev:amd64 (8c-2ubuntu11) ... +#6 190.7 Setting up liblttng-ctl0t64:amd64 (2.13.11-2.1build4) ... +#6 190.8 Setting up libhdf5-103-1t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 190.8 Setting up libxml2-utils (2.9.14+dfsg-1.3ubuntu3.7) ... +#6 190.8 Setting up libbluray2:amd64 (1:1.3.4-1build1) ... +#6 190.8 Setting up libsvn1:amd64 (1.14.3-1build4) ... +#6 190.8 Setting up libsuperlu-dev:amd64 (6.0.1+dfsg1-1build1) ... +#6 190.8 Setting up python3-colcon-python-setup-py (0.2.9-100) ... +#6 190.9 Setting up libpcl-search1.14:amd64 (1.14.0+dfsg-1) ... +#6 190.9 Setting up python3-flake8-docstrings (1.6.0-2) ... +#6 191.1 Setting up libva-x11-2:amd64 (2.20.0-2ubuntu0.1) ... +#6 191.1 Setting up libtiffxx6:amd64 (4.5.1+git230720-4ubuntu2.5) ... +#6 191.1 Setting up libboost-regex-dev:amd64 (1.83.0.1ubuntu2) ... +#6 191.1 Setting up python3-colcon-package-information (0.4.1+upstream-1) ... +#6 191.2 Setting up gir1.2-ibus-1.0:amd64 (1.5.29-2) ... +#6 191.2 Setting up libboost-log-dev (1.83.0.1ubuntu2) ... +#6 191.2 Setting up libogdi-dev (4.1.1+ds-3build1) ... +#6 191.2 Setting up unixodbc-dev:amd64 (2.3.12-1ubuntu0.24.04.1) ... +#6 191.3 Setting up libopenmpt0t64:amd64 (0.7.3-1.1build3) ... +#6 191.3 Setting up libavahi-client3:amd64 (0.8-13ubuntu6.2) ... +#6 191.3 Setting up libmount-dev:amd64 (2.39.3-9ubuntu6.5) ... +#6 191.3 Setting up libboost-filesystem-dev:amd64 (1.83.0.1ubuntu2) ... +#6 191.3 Setting up libpmix-dev:amd64 (5.0.1-4.1build1) ... +#6 191.3 Setting up libarmadillo12 (1:12.6.7+dfsg-1build2) ... +#6 191.3 Setting up ros-jazzy-osrf-pycommon (2.1.7-1noble.20260225.055811) ... +#6 191.3 Setting up python3-colcon-output (0.2.14+upstream-1) ... +#6 191.5 Setting up ros-jazzy-backward-ros (1.0.8-1noble.20260225.051215) ... +#6 191.5 Setting up libboost-fiber-dev:amd64 (1.83.0.1ubuntu2) ... +#6 191.5 Setting up liblbfgsb0:amd64 (3.0+dfsg.4-1build1) ... +#6 191.5 Setting up ros-jazzy-moveit-common (2.12.4-1noble.20260225.235600) ... +#6 191.5 Setting up libdrm-amdgpu1:amd64 (2.4.125-1ubuntu0.1~24.04.1) ... +#6 191.5 Setting up libomp-18-dev (1:18.1.3-1ubuntu1) ... +#6 191.5 Setting up libatk-bridge2.0-0t64:amd64 (2.52.0-1build1) ... +#6 191.5 Setting up tk8.6 (8.6.14-1build1) ... +#6 191.6 Setting up libfabric1:amd64 (1.17.0-3build2) ... +#6 191.6 Setting up libinput10:amd64 (1.25.0-1ubuntu3.4) ... +#6 191.6 Setting up python3-colcon-package-selection (0.2.10-100) ... +#6 191.7 Setting up python3-colcon-defaults (0.2.9+upstream-1) ... +#6 191.9 Setting up gtk-update-icon-cache (3.24.41-4ubuntu1.3) ... +#6 191.9 Setting up libhdf5-hl-100t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 191.9 Setting up python3-colcon-devtools (0.3.0-100) ... +#6 192.0 Setting up python3-colcon-test-result (0.3.8-100) ... +#6 192.1 Setting up tk8.6-blt2.5 (2.5.3+dfsg-7build1) ... +#6 192.2 Setting up libnetcdf19t64:amd64 (1:4.9.2-5ubuntu4) ... +#6 192.2 Setting up libdrm-nouveau2:amd64 (2.4.125-1ubuntu0.1~24.04.1) ... +#6 192.2 Setting up libarpack2-dev:amd64 (3.9.1-1.1build2) ... +#6 192.2 Setting up ros-jazzy-libcurl-vendor (3.4.4-1noble.20260225.235243) ... +#6 192.2 Setting up python3-scipy (1.11.4-6build1) ... +#6 194.1 Setting up libpython3-dev:amd64 (3.12.3-0ubuntu2.1) ... +#6 194.1 Setting up libboost-json1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 194.1 Setting up libxcb1-dev:amd64 (1.15-1ubuntu2) ... +#6 194.1 Setting up libboost-wave1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 194.1 Setting up liborocos-kdl-dev:amd64 (1.5.1-4build1) ... +#6 194.1 Setting up openjdk-21-jre-headless:amd64 (21.0.11+10-1~24.04.2) ... +#6 194.3 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/java to provide /usr/bin/java (java) in auto mode +#6 194.3 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jpackage to provide /usr/bin/jpackage (jpackage) in auto mode +#6 194.3 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/keytool to provide /usr/bin/keytool (keytool) in auto mode +#6 194.3 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/rmiregistry to provide /usr/bin/rmiregistry (rmiregistry) in auto mode +#6 194.3 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/lib/jexec to provide /usr/bin/jexec (jexec) in auto mode +#6 194.3 Setting up libproj25:amd64 (9.4.0-1build2) ... +#6 194.3 Setting up libdc1394-dev:amd64 (2.2.6-4build1) ... +#6 194.3 Setting up python3-colcon-powershell (0.5.0+upstream-1) ... +#6 194.4 Setting up libpoppler134:amd64 (24.02.0-1ubuntu9.8) ... +#6 194.5 Setting up libpulse0:amd64 (1:16.1+dfsg1-2ubuntu10.1) ... +#6 194.5 Setting up ros-jazzy-ament-uncrustify (0.17.5-1noble.20260410.080359) ... +#6 194.5 Setting up libfontconfig-dev:amd64 (2.15.0-1.1ubuntu2) ... +#6 194.5 Setting up libdrm-radeon1:amd64 (2.4.125-1ubuntu0.1~24.04.1) ... +#6 194.5 Setting up libboost-iostreams1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 194.5 Setting up libfreexl-dev:amd64 (2.0.0-1build2) ... +#6 194.5 Setting up ros-jazzy-stomp (0.1.2-4noble.20260225.143151) ... +#6 194.6 Setting up blt (2.5.3+dfsg-7build1) ... +#6 194.6 Setting up libpango-1.0-0:amd64 (1.52.1+ds-1build1) ... +#6 194.6 Setting up libhdf5-cpp-103-1t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 194.6 Setting up libsamplerate0-dev:amd64 (0.2.2-4build1) ... +#6 194.6 Setting up libopenni-dev:amd64 (1.5.4.0+dfsg-7.1build1) ... +#6 194.6 Setting up libdrm-intel1:amd64 (2.4.125-1ubuntu0.1~24.04.1) ... +#6 194.6 Setting up python3-colcon-bash (0.5.0-100) ... +#6 194.8 Setting up subversion (1.14.3-1build4) ... +#6 194.8 Setting up libjpeg-dev:amd64 (8c-2ubuntu11) ... +#6 194.8 Setting up ros-jazzy-ament-xmllint (0.17.5-1noble.20260410.113521) ... +#6 194.8 Setting up libx11-dev:amd64 (2:1.8.7-1build1) ... +#6 194.8 Setting up ros-jazzy-urdfdom (4.0.2-1noble.20260225.232653) ... +#6 194.8 Setting up python3-flake8-comprehensions (3.14.0-1) ... +#6 194.9 Setting up libhdf5-fortran-102t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 195.0 Setting up python3-tk:amd64 (3.12.3-0ubuntu1) ... +#6 195.1 Setting up libgstreamer-plugins-base1.0-0:amd64 (1.24.2-1ubuntu0.4) ... +#6 195.1 Setting up libtbb12:amd64 (2021.11.0-2ubuntu2) ... +#6 195.1 Setting up libboost-wave-dev:amd64 (1.83.0.1ubuntu2) ... +#6 195.1 Setting up libkmlengine1t64:amd64 (1.3.0-12build1) ... +#6 195.1 Setting up libboost-iostreams-dev:amd64 (1.83.0.1ubuntu2) ... +#6 195.1 Setting up python3-colcon-parallel-executor (0.3.0-100) ... +#6 195.2 Setting up libibverbs-dev:amd64 (50.0-2ubuntu0.2) ... +#6 195.3 Setting up python3-colcon-argcomplete (0.3.3+upstream-1) ... +#6 195.4 Setting up python3-flake8-builtins (2.1.0-1) ... +#6 195.5 Setting up liblttng-ust-python-agent1t64:amd64 (2.13.7-1.1ubuntu2) ... +#6 195.5 Setting up libspdlog-dev:amd64 (1:1.12.0+ds-2build1) ... +#6 195.5 Setting up libwayland-dev:amd64 (1.22.0-2.1build1) ... +#6 195.5 Setting up python3-colcon-recursive-crawl (0.2.3-100) ... +#6 195.6 Setting up libboost-graph1.83-dev:amd64 (1.83.0-2.1ubuntu3.2) ... +#6 195.7 Setting up pybind11-dev (2.11.1-2) ... +#6 195.7 Setting up ros-jazzy-pluginlib (5.4.5-1noble.20260412.025240) ... +#6 195.7 Setting up libboost-container-dev:amd64 (1.83.0.1ubuntu2) ... +#6 195.7 Setting up liblept5:amd64 (1.82.0-3build4) ... +#6 195.7 Setting up libgeotiff5:amd64 (1.7.1-5build1) ... +#6 195.7 Setting up python3-colcon-cmake (0.2.29-100) ... +#6 195.8 Setting up ros-jazzy-eigen-stl-containers (1.1.0-1noble.20260225.233822) ... +#6 195.9 Setting up libfcl-dev:amd64 (0.7.0-3build2) ... +#6 195.9 Setting up ros-jazzy-gz-math-vendor (0.0.8-1noble.20260225.232138) ... +#6 195.9 Setting up libxfixes-dev:amd64 (1:6.0.0-2build1) ... +#6 195.9 Setting up libdecor-0-dev:amd64 (0.2.2-1build2) ... +#6 195.9 Setting up ros-jazzy-grid-map-core (2.2.2-2noble.20260225.231548) ... +#6 195.9 Setting up python3-colcon-notification (0.3.1+upstream-1) ... +#6 196.0 Setting up python3-pil:amd64 (10.2.0-1ubuntu1) ... +#6 196.3 Setting up dbus-user-session (1.14.10-4ubuntu4.1) ... +#6 196.3 Setting up libqt5core5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 196.3 Setting up libpcl-filters1.14:amd64 (1.14.0+dfsg-1) ... +#6 196.3 Setting up libopenexr-dev (3.1.5-5.1build3) ... +#6 196.4 Setting up libglib2.0-dev:amd64 (2.80.0-6ubuntu3.8) ... +#6 196.4 Setting up libtiff-dev:amd64 (4.5.1+git230720-4ubuntu2.5) ... +#6 196.4 Setting up ros-jazzy-ament-pep257 (0.17.5-1noble.20260410.113520) ... +#6 196.4 Setting up python3-pil.imagetk:amd64 (10.2.0-1ubuntu1) ... +#6 196.5 Setting up libxt-dev:amd64 (1:1.2.1-1.2build1) ... +#6 196.5 Setting up libpcl-registration1.14:amd64 (1.14.0+dfsg-1) ... +#6 196.5 Setting up libpulse-mainloop-glib0:amd64 (1:16.1+dfsg1-2ubuntu10.1) ... +#6 196.6 Setting up python3-dev (3.12.3-0ubuntu2.1) ... +#6 196.6 Setting up libx265-dev:amd64 (3.5-2build1) ... +#6 196.6 Setting up ros-jazzy-pybind11-vendor (3.1.3-1noble.20260226.000033) ... +#6 196.6 Setting up libboost-python1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 196.6 Setting up libxpm-dev:amd64 (1:3.5.17-1build2) ... +#6 196.6 Setting up ros-jazzy-spdlog-vendor (1.6.1-1noble.20260225.225958) ... +#6 196.6 Setting up qtattributionsscanner-qt5 (5.15.13-1) ... +#6 196.7 Setting up python3-vcstools (0.1.42-1) ... +#6 196.7 /usr/lib/python3/dist-packages/vcstools/git_archive_all.py:328: SyntaxWarning: invalid escape sequence '\s' +#6 196.7 m = re.match("^\s*path\s*=\s*(.*)\s*$", l) +#6 196.7 /usr/lib/python3/dist-packages/vcstools/git_archive_all.py:483: SyntaxWarning: invalid escape sequence '\.' +#6 196.7 '(\.zip|\.tar|\.tgz|\.txz|\.gz|\.bz2|\.xz|\.tar\.gz|\.tar\.bz2|\.tar\.xz)$', +#6 196.8 Setting up libproj-dev:amd64 (9.4.0-1build2) ... +#6 196.8 Setting up lttng-tools (2.13.11-2.1build4) ... +#6 196.9 invoke-rc.d: could not determine current runlevel +#6 196.9 invoke-rc.d: policy-rc.d denied execution of start. +#6 197.0 Created symlink /etc/systemd/system/multi-user.target.wants/lttng-sessiond.service → /usr/lib/systemd/system/lttng-sessiond.service. +#6 197.0 Setting up libpulse-dev:amd64 (1:16.1+dfsg1-2ubuntu10.1) ... +#6 197.0 Setting up python3-colcon-cd (0.2.1-100) ... +#6 197.1 Setting up tcl-dev:amd64 (8.6.14build1) ... +#6 197.1 Setting up libxext-dev:amd64 (2:1.3.4-1build2) ... +#6 197.1 Setting up ros-jazzy-orocos-kdl-vendor (0.5.1-2noble.20260225.234720) ... +#6 197.1 Setting up ros-jazzy-generate-parameter-library-py (0.7.1-1noble.20260323.095134) ... +#6 197.2 Setting up libtesseract5:amd64 (5.3.4-1build5) ... +#6 197.2 Setting up ros-jazzy-python-orocos-kdl-vendor (0.5.1-2noble.20260226.001217) ... +#6 197.2 Setting up python3-lxml:amd64 (5.2.1-1) ... +#6 197.3 Setting up ros-jazzy-python-cmake-module (0.11.1-2noble.20260226.000327) ... +#6 197.3 Setting up libqt5sql5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 197.3 Setting up libglx-dev:amd64 (1.7.0-1build1) ... +#6 197.4 Setting up ros-jazzy-launch (3.4.10-1noble.20260412.025232) ... +#6 197.4 Setting up shiboken2 (5.15.13-1) ... +#6 197.4 Setting up libtbb-dev:amd64 (2021.11.0-2ubuntu2) ... +#6 197.4 Setting up libkmlconvenience1t64:amd64 (1.3.0-12build1) ... +#6 197.4 Setting up libboost-json-dev:amd64 (1.83.0.1ubuntu2) ... +#6 197.4 Setting up libpangoft2-1.0-0:amd64 (1.52.1+ds-1build1) ... +#6 197.4 Setting up ros-jazzy-launch-xml (3.4.10-1noble.20260412.025343) ... +#6 197.4 Setting up libxi-dev:amd64 (2:1.8.1-1build1) ... +#6 197.4 Setting up libhdf5-hl-cpp-100t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 197.5 Setting up tk (8.6.14build1) ... +#6 197.5 Setting up libxrender-dev:amd64 (1:0.9.10-1.1build1) ... +#6 197.5 Setting up libcups2t64:amd64 (2.4.7-1.2ubuntu7.9) ... +#6 197.5 Setting up libopencv-core406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 197.5 Setting up libgl-dev:amd64 (1.7.0-1build1) ... +#6 197.5 Setting up libhsakmt1:amd64 (5.7.0-1build1) ... +#6 197.5 Setting up ros-jazzy-grid-map-octomap (2.2.2-2noble.20260225.232418) ... +#6 197.5 Setting up libpangocairo-1.0-0:amd64 (1.52.1+ds-1build1) ... +#6 197.6 Setting up libomp-dev:amd64 (1:18.0-59~exp2) ... +#6 197.6 Setting up libxft-dev:amd64 (2.3.6-1build1) ... +#6 197.6 Setting up libspatialite8t64:amd64 (5.1.0-3build1) ... +#6 197.6 Setting up libpoppler-dev:amd64 (24.02.0-1ubuntu9.8) ... +#6 197.6 Setting up ros-jazzy-resource-retriever (3.4.4-1noble.20260412.025343) ... +#6 197.6 Setting up libboost-graph-dev:amd64 (1.83.0.1ubuntu2) ... +#6 197.6 Setting up mesa-libgallium:amd64 (25.2.8-0ubuntu0.24.04.1) ... +#6 197.6 Setting up liblttng-ust-dev:amd64 (2.13.7-1.1ubuntu2) ... +#6 197.7 Setting up libdrm-dev:amd64 (2.4.125-1ubuntu0.1~24.04.1) ... +#6 197.7 Setting up libxmu-headers (2:1.1.3-3build2) ... +#6 197.7 Setting up libqt5dbus5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 197.7 Setting up ros-jazzy-urdf (2.10.0-3noble.20260412.025422) ... +#6 197.7 Setting up libfontconfig1-dev:amd64 (2.15.0-1.1ubuntu2) ... +#6 197.7 Setting up ros-jazzy-fastrtps (2.14.6-1noble.20260303.233638) ... +#6 197.7 Setting up libkmlregionator1t64:amd64 (1.3.0-12build1) ... +#6 197.7 Setting up libqt5sql5-sqlite:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 197.8 Setting up ros-jazzy-ament-flake8 (0.17.5-1noble.20260410.113507) ... +#6 197.8 Setting up libvpl2 (2023.3.0-1build1) ... +#6 197.8 Setting up libegl-dev:amd64 (1.7.0-1build1) ... +#6 197.8 Setting up libgbm1:amd64 (25.2.8-0ubuntu0.24.04.1) ... +#6 197.8 Setting up libpcl-tracking1.14:amd64 (1.14.0+dfsg-1) ... +#6 197.8 Setting up ros-jazzy-tracetools (8.2.5-1noble.20260226.001709) ... +#6 197.8 Setting up libgeotiff-dev:amd64 (1.7.1-5build1) ... +#6 197.8 Setting up python3-sip-dev (4.19.25+dfsg-5build3) ... +#6 198.0 Setting up libxcursor-dev:amd64 (1:1.2.1-1build1) ... +#6 198.0 Setting up qdoc-qt5 (5.15.13-1) ... +#6 198.0 Setting up libqt5concurrent5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 198.0 Setting up libxxf86vm-dev:amd64 (1:1.1.4-1build4) ... +#6 198.0 Setting up ros-jazzy-kdl-parser (2.11.0-3noble.20260412.025844) ... +#6 198.0 Setting up libpoppler-private-dev:amd64 (24.02.0-1ubuntu9.8) ... +#6 198.0 Setting up libqt5positioning5:amd64 (5.15.13+dfsg-1) ... +#6 198.0 Setting up libgl1-mesa-dri:amd64 (25.2.8-0ubuntu0.24.04.1) ... +#6 198.1 Setting up libqt5network5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 198.1 Setting up libhdf5-hl-fortran-100t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 198.1 Setting up ros-jazzy-rcl-logging-spdlog (3.1.1-1noble.20260226.003321) ... +#6 198.1 Setting up libqt5xml5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 198.1 Setting up ros-jazzy-launch-yaml (3.4.10-1noble.20260412.025341) ... +#6 198.1 Setting up libavutil58:amd64 (7:6.1.1-3ubuntu5) ... +#6 198.1 Setting up dconf-service (0.40.0-4ubuntu0.1) ... +#6 198.2 Setting up libopencv-flann406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 198.2 Setting up libpcl-features1.14:amd64 (1.14.0+dfsg-1) ... +#6 198.2 Setting up libqt5test5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 198.2 Setting up libxmu-dev:amd64 (2:1.1.3-3build2) ... +#6 198.2 Setting up libxss-dev:amd64 (1:1.2.3-1build3) ... +#6 198.2 Setting up libgbm-dev:amd64 (25.2.8-0ubuntu0.24.04.1) ... +#6 198.2 Setting up libboost-python-dev (1.83.0.1ubuntu2) ... +#6 198.2 Setting up librsvg2-2:amd64 (2.58.0+dfsg-1build1) ... +#6 198.3 Setting up qtbase5-dev-tools (5.15.13+dfsg-1ubuntu1) ... +#6 198.3 Setting up libxv-dev:amd64 (2:1.0.11-1.1build1) ... +#6 198.3 Setting up libxrandr-dev:amd64 (2:1.5.2-2build1) ... +#6 198.3 Setting up libqt5gui5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 198.3 Setting up libegl-mesa0:amd64 (25.2.8-0ubuntu0.24.04.1) ... +#6 198.3 Setting up libopencv-ml406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 198.3 Setting up libswresample4:amd64 (7:6.1.1-3ubuntu5) ... +#6 198.3 Setting up libqt5qml5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 198.4 Setting up libhdf5-dev (1.10.10+repack-3.1ubuntu4) ... +#6 198.4 update-alternatives: using /usr/lib/x86_64-linux-gnu/pkgconfig/hdf5-serial.pc to provide /usr/lib/x86_64-linux-gnu/pkgconfig/hdf5.pc (hdf5.pc) in auto mode +#6 198.4 Setting up libopencv-imgproc406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 198.4 Setting up libglu1-mesa-dev:amd64 (9.0.2-1.1build1) ... +#6 198.4 Setting up libxinerama-dev:amd64 (2:1.1.4-3build1) ... +#6 198.4 Setting up libnetcdf-dev (1:4.9.2-5ubuntu4) ... +#6 198.4 Setting up libqt5webchannel5:amd64 (5.15.13-1) ... +#6 198.4 Setting up libspatialite-dev:amd64 (5.1.0-3build1) ... +#6 198.4 Setting up libshiboken2-dev (5.15.13-1) ... +#6 198.5 Setting up libavcodec60:amd64 (7:6.1.1-3ubuntu5) ... +#6 198.5 Setting up tk8.6-dev:amd64 (8.6.14-1build1) ... +#6 198.5 Setting up libopencv-core-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 198.5 Setting up libpcl-keypoints1.14:amd64 (1.14.0+dfsg-1) ... +#6 198.5 Setting up libhsa-runtime64-1 (5.7.1-2build1) ... +#6 198.5 Setting up libxaw7-dev:amd64 (2:1.0.14-1build2) ... +#6 198.5 Setting up libpyside2-py3-5.15t64 (5.15.13-1) ... +#6 198.6 Setting up libgles-dev:amd64 (1.7.0-1build1) ... +#6 198.7 Setting up libqt5sensors5:amd64 (5.15.13-1) ... +#6 198.7 Setting up libsdl2-2.0-0:amd64 (2.30.0+dfsg-1ubuntu3.1) ... +#6 198.7 Setting up libpcl-segmentation1.14:amd64 (1.14.0+dfsg-1) ... +#6 198.7 Setting up libswscale7:amd64 (7:6.1.1-3ubuntu5) ... +#6 198.7 Setting up libavutil-dev:amd64 (7:6.1.1-3ubuntu5) ... +#6 198.7 Setting up libkml-dev:amd64 (1.3.0-12build1) ... +#6 198.7 Setting up libopencv-flann-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 198.7 Setting up libqt5qmlmodels5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 198.8 Setting up libopencv-ml-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 198.8 Setting up libglx-mesa0:amd64 (25.2.8-0ubuntu0.24.04.1) ... +#6 198.8 Setting up libopencv-dnn406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 198.8 Setting up ros-jazzy-launch-testing (3.4.10-1noble.20260412.025508) ... +#6 198.8 Setting up dconf-gsettings-backend:amd64 (0.40.0-4ubuntu0.1) ... +#6 198.8 Setting up libqt5widgets5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 198.8 Setting up libswresample-dev:amd64 (7:6.1.1-3ubuntu5) ... +#6 198.8 Setting up libavcodec-dev:amd64 (7:6.1.1-3ubuntu5) ... +#6 198.9 Setting up libopencv-features2d406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 198.9 Setting up libqt5svg5:amd64 (5.15.13-1) ... +#6 198.9 Setting up libglvnd-dev:amd64 (1.7.0-1build1) ... +#6 198.9 Setting up libopencv-photo406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 198.9 Setting up libavformat60:amd64 (7:6.1.1-3ubuntu5) ... +#6 198.9 Setting up libpyside2-dev (5.15.13-1) ... +#6 198.9 Setting up libqt5help5:amd64 (5.15.13-1) ... +#6 198.9 Setting up libqt5qmlworkerscript5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 198.9 Setting up libarmadillo-dev (1:12.6.7+dfsg-1build2) ... +#6 199.0 Setting up libglew-dev:amd64 (2.2.0-4build1) ... +#6 199.0 Setting up tk-dev:amd64 (8.6.14build1) ... +#6 199.0 Setting up libamdhip64-5 (5.7.1-3) ... +#6 199.0 Setting up python3-pyside2.qtcore (5.15.13-1) ... +#6 199.0 Setting up libopencv-imgproc-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.0 Setting up libopencv-dnn-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.0 Setting up libswscale-dev:amd64 (7:6.1.1-3ubuntu5) ... +#6 199.0 Setting up libhdf4-alt-dev (4.2.16-4build1) ... +#6 199.1 Setting up libgl1-mesa-dev:amd64 (25.2.8-0ubuntu0.24.04.1) ... +#6 199.1 Setting up libqt5opengl5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 199.1 Setting up libopencv-calib3d406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.1 Setting up libqt5quick5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 199.1 Setting up ros-jazzy-rviz-ogre-vendor (14.1.20-2noble.20260225.225644) ... +#6 199.1 Setting up libgtk-3-common (3.24.41-4ubuntu1.3) ... +#6 199.1 Setting up libqt5printsupport5t64:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 199.1 Setting up libqt5quickshapes5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 199.2 Setting up libqt5quicktest5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 199.2 Setting up libucx0:amd64 (1.16.0+ds-5ubuntu1) ... +#6 199.2 Setting up libopencv-video406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.2 Setting up libqt5designer5:amd64 (5.15.13-1) ... +#6 199.2 Setting up python3-pyside2.qtgui (5.15.13-1) ... +#6 199.2 Setting up qtdeclarative5-dev-tools (5.15.13+dfsg-1ubuntu0.1) ... +#6 199.2 Setting up libopencv-photo-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.2 Setting up python3-pyside2.qtwidgets (5.15.13-1) ... +#6 199.3 Setting up libopencv-stitching406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.3 Setting up qhelpgenerator-qt5 (5.15.13-1) ... +#6 199.3 Setting up libavformat-dev:amd64 (7:6.1.1-3ubuntu5) ... +#6 199.3 Setting up libqt5webkit5:amd64 (5.212.0~alpha4-36) ... +#6 199.3 Setting up libqt5designercomponents5:amd64 (5.15.13-1) ... +#6 199.3 Setting up qt5-qmltooling-plugins:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 199.4 Setting up libqt5quickwidgets5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 199.4 Setting up libopenmpi3t64:amd64 (4.1.6-7ubuntu2) ... +#6 199.4 Setting up libopencv-objdetect406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.4 Setting up qtbase5-dev:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 199.4 Setting up qt5-assistant (5.15.13-1) ... +#6 199.4 Setting up libopencv-video-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.4 Setting up qttools5-dev-tools (5.15.13-1) ... +#6 199.4 Setting up libvtk9.1t64:amd64 (9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 199.5 Setting up libopencv-shape406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.5 Setting up libqt5quickparticles5:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 199.5 Setting up libboost-mpi1.83.0 (1.83.0-2.1ubuntu3.2) ... +#6 199.5 Setting up openmpi-bin (4.1.6-7ubuntu2) ... +#6 199.5 update-alternatives: using /usr/bin/mpirun.openmpi to provide /usr/bin/mpirun (mpirun) in auto mode +#6 199.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpirun.1.gz because associated file /usr/share/man/man1/mpirun.openmpi.1.gz (of link group mpirun) doesn't exist +#6 199.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpiexec.1.gz because associated file /usr/share/man/man1/mpiexec.openmpi.1.gz (of link group mpirun) doesn't exist +#6 199.5 update-alternatives: using /usr/bin/mpicc.openmpi to provide /usr/bin/mpicc (mpi) in auto mode +#6 199.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpicc.1.gz because associated file /usr/share/man/man1/mpicc.openmpi.1.gz (of link group mpi) doesn't exist +#6 199.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpic++.1.gz because associated file /usr/share/man/man1/mpic++.openmpi.1.gz (of link group mpi) doesn't exist +#6 199.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpicxx.1.gz because associated file /usr/share/man/man1/mpicxx.openmpi.1.gz (of link group mpi) doesn't exist +#6 199.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpiCC.1.gz because associated file /usr/share/man/man1/mpiCC.openmpi.1.gz (of link group mpi) doesn't exist +#6 199.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpif77.1.gz because associated file /usr/share/man/man1/mpif77.openmpi.1.gz (of link group mpi) doesn't exist +#6 199.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpif90.1.gz because associated file /usr/share/man/man1/mpif90.openmpi.1.gz (of link group mpi) doesn't exist +#6 199.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpifort.1.gz because associated file /usr/share/man/man1/mpifort.openmpi.1.gz (of link group mpi) doesn't exist +#6 199.5 Setting up python3-pyqt5 (5.15.10+dfsg-1build6) ... +#6 199.6 Setting up python3-pyqt5.qtsvg (5.15.10+dfsg-1build6) ... +#6 199.7 Setting up libopencv-shape-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.7 Setting up libboost-graph-parallel1.83.0 (1.83.0-2.1ubuntu3.2) ... +#6 199.7 Setting up python3-pyside2.qtsvg (5.15.13-1) ... +#6 199.7 Setting up libqt5opengl5-dev:amd64 (5.15.13+dfsg-1ubuntu1) ... +#6 199.7 Setting up mpi-default-bin (1.15build1) ... +#6 199.7 Setting up python3-mpi4py (3.1.5-5ubuntu2) ... +#6 199.9 Setting up libhdf5-openmpi-103-1t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 199.9 Setting up libpcl-surface1.14:amd64 (1.14.0+dfsg-1) ... +#6 199.9 Setting up libpcl-io1.14:amd64 (1.14.0+dfsg-1) ... +#6 199.9 Setting up ros-jazzy-rviz-rendering (14.1.20-2noble.20260412.025918) ... +#6 199.9 Setting up libopencv-viz406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 199.9 Setting up qttools5-dev:amd64 (5.15.13-1) ... +#6 199.9 Setting up libpcl-apps1.14:amd64 (1.14.0+dfsg-1) ... +#6 199.9 Setting up libopencv-viz-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 200.0 Setting up libvtk9.1t64-qt:amd64 (9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 200.0 Setting up libvtk9-java (9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 200.0 Setting up vtk9 (9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 200.0 Setting up qtdeclarative5-dev:amd64 (5.15.13+dfsg-1ubuntu0.1) ... +#6 200.0 Setting up libhdf5-openmpi-fortran-102t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 200.0 Setting up libhdf5-openmpi-cpp-103-1t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 200.0 Setting up libopenmpi-dev:amd64 (4.1.6-7ubuntu2) ... +#6 200.0 update-alternatives: using /usr/lib/x86_64-linux-gnu/openmpi/include to provide /usr/include/x86_64-linux-gnu/mpi (mpi-x86_64-linux-gnu) in auto mode +#6 200.0 Setting up libboost-graph-parallel1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 200.1 Setting up ros-jazzy-python-qt-binding (2.2.2-1noble.20260226.000339) ... +#6 200.1 Setting up libpcl-recognition1.14:amd64 (1.14.0+dfsg-1) ... +#6 200.1 Setting up qttools5-private-dev:amd64 (5.15.13-1) ... +#6 200.1 Setting up python3-vtk9 (9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 200.2 /usr/lib/python3/dist-packages/vtkmodules/util/vtkMethodParser.py:304: SyntaxWarning: invalid escape sequence '\S' +#6 200.2 patn = re.compile (" \S") +#6 200.3 Setting up libpcl-visualization1.14:amd64 (1.14.0+dfsg-1) ... +#6 200.3 Setting up libboost-mpi-python1.83.0 (1.83.0-2.1ubuntu3.2) ... +#6 200.4 Setting up libhdf5-openmpi-hl-100t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 200.4 Setting up libqt5webkit5-dev:amd64 (5.212.0~alpha4-36) ... +#6 200.4 Setting up libhdf5-openmpi-hl-fortran-100t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 200.4 Setting up libboost-graph-parallel-dev (1.83.0.1ubuntu2) ... +#6 200.4 Setting up ros-jazzy-qt-gui-py-common (2.7.6-1noble.20260412.025229) ... +#6 200.4 Setting up mpi-default-dev (1.15build1) ... +#6 200.5 Setting up libhdf5-openmpi-hl-cpp-100t64:amd64 (1.10.10+repack-3.1ubuntu4) ... +#6 200.5 Setting up libhdf5-openmpi-dev (1.10.10+repack-3.1ubuntu4) ... +#6 200.5 update-alternatives: using /usr/bin/h5pcc.openmpi to provide /usr/bin/h5pcc (h5pcc) in auto mode +#6 200.5 update-alternatives: warning: skip creation of /usr/share/man/man1/h5pcc.1.gz because associated file /usr/share/man/man1/h5pcc.openmpi.1.gz (of link group h5pcc) doesn't exist +#6 200.5 update-alternatives: warning: skip creation of /usr/share/man/man1/h5pfc.1.gz because associated file /usr/share/man/man1/h5pfc.openmpi.1.gz (of link group h5pcc) doesn't exist +#6 200.5 update-alternatives: using /usr/lib/x86_64-linux-gnu/pkgconfig/hdf5-openmpi.pc to provide /usr/lib/x86_64-linux-gnu/pkgconfig/hdf5.pc (hdf5.pc) in auto mode +#6 200.5 update-alternatives: updating alternative /usr/bin/mpicc.openmpi because link group mpi has changed slave links +#6 200.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpiCC.1.gz because associated file /usr/share/man/man1/mpiCC.openmpi.1.gz (of link group mpi) doesn't exist +#6 200.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpic++.1.gz because associated file /usr/share/man/man1/mpic++.openmpi.1.gz (of link group mpi) doesn't exist +#6 200.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpicc.1.gz because associated file /usr/share/man/man1/mpicc.openmpi.1.gz (of link group mpi) doesn't exist +#6 200.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpicxx.1.gz because associated file /usr/share/man/man1/mpicxx.openmpi.1.gz (of link group mpi) doesn't exist +#6 200.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpif77.1.gz because associated file /usr/share/man/man1/mpif77.openmpi.1.gz (of link group mpi) doesn't exist +#6 200.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpif90.1.gz because associated file /usr/share/man/man1/mpif90.openmpi.1.gz (of link group mpi) doesn't exist +#6 200.5 update-alternatives: warning: skip creation of /usr/share/man/man1/mpifort.1.gz because associated file /usr/share/man/man1/mpifort.openmpi.1.gz (of link group mpi) doesn't exist +#6 200.5 update-alternatives: using /usr/lib/x86_64-linux-gnu/pkgconfig/hdf5-mpi.pc to provide /usr/lib/x86_64-linux-gnu/pkgconfig/hdf5.pc (hdf5.pc) in auto mode +#6 200.5 Setting up libboost-mpi1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 200.5 Setting up libboost-mpi-dev (1.83.0.1ubuntu2) ... +#6 200.5 Setting up libhdf5-mpi-dev (1.10.10+repack-3.1ubuntu4) ... +#6 200.6 Setting up libboost-mpi-python1.83-dev (1.83.0-2.1ubuntu3.2) ... +#6 200.6 Setting up libflann-dev:amd64 (1.9.2+dfsg-2build1) ... +#6 200.6 Setting up libboost-mpi-python-dev (1.83.0.1ubuntu2) ... +#6 200.6 Setting up libboost-all-dev (1.83.0.1ubuntu2) ... +#6 200.6 Setting up ros-jazzy-ompl (1.7.0-2noble.20260225.055751) ... +#6 200.6 Setting up libheif-plugin-aomdec:amd64 (1.17.6-1ubuntu4.3) ... +#6 200.8 Setting up libheif1:amd64 (1.17.6-1ubuntu4.3) ... +#6 200.8 Setting up libheif-dev:amd64 (1.17.6-1ubuntu4.3) ... +#6 200.9 Setting up python3-fonttools (4.46.0-1build2) ... +#6 201.4 Setting up libgdal34t64:amd64 (3.8.4+dfsg-3ubuntu3) ... +#6 201.5 Setting up adwaita-icon-theme (46.0-1) ... +#6 201.5 update-alternatives: using /usr/share/icons/Adwaita/cursor.theme to provide /usr/share/icons/default/index.theme (x-cursor-theme) in auto mode +#6 201.6 Setting up libgtk-3-0t64:amd64 (3.24.41-4ubuntu1.3) ... +#6 201.6 Setting up libgd3:amd64 (2.3.3-9ubuntu5) ... +#6 201.6 Setting up libgvc6 (2.42.2-9ubuntu0.1) ... +#6 201.7 Setting up python3-ufolib2 (0.16.0+dfsg1-1) ... +#6 201.8 Setting up libgdal-dev (3.8.4+dfsg-3ubuntu3) ... +#6 202.0 Setting up graphviz (2.42.2-9ubuntu0.1) ... +#6 202.0 Setting up libopencv-imgcodecs406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 202.0 Setting up python3-matplotlib (3.6.3-1ubuntu5) ... +#6 203.0 Setting up python3-pydot (1.4.2-2) ... +#6 203.2 Setting up libopencv-imgcodecs-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 203.3 Setting up humanity-icon-theme (0.6.16) ... +#6 203.5 Setting up libopencv-highgui406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 203.5 Setting up libgphoto2-6t64:amd64 (2.5.31-2.1ubuntu1) ... +#6 203.6 No diversion 'diversion of /lib/udev/hwdb.d/20-libgphoto2-6.hwdb to /lib/udev/hwdb.d/20-libgphoto2-6.hwdb.usr-is-merged by usr-is-merged', none removed. +#6 203.6 No diversion 'diversion of /lib/udev/rules.d/60-libgphoto2-6.rules to /lib/udev/rules.d/60-libgphoto2-6.rules.usr-is-merged by usr-is-merged', none removed. +#6 203.6 Setting up libopencv-videoio406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 203.8 Setting up ros-jazzy-qt-dotgraph (2.7.6-1noble.20260330.190755) ... +#6 203.8 Setting up libgphoto2-dev:amd64 (2.5.31-2.1ubuntu1) ... +#6 203.9 Setting up ubuntu-mono (24.04-0ubuntu1) ... +#6 204.0 Setting up libopencv-contrib406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 204.1 Setting up libopencv-superres406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 204.1 Setting up libopencv-videostab406t64:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 204.2 Setting up libopencv-videoio-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 204.3 Setting up python3-opencv:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 204.4 Setting up libopencv-superres-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 204.6 Setting up libopencv-highgui-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 204.6 Setting up libopencv-features2d-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 204.6 Setting up libopencv-calib3d-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 204.7 Setting up libopencv-objdetect-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 205.0 Setting up libopencv-videostab-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 205.1 Setting up libopencv-stitching-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 205.1 Setting up libopencv-contrib-dev:amd64 (4.6.0+dfsg-13.1ubuntu1) ... +#6 205.3 Setting up libopencv-dev (4.6.0+dfsg-13.1ubuntu1) ... +#6 206.2 Processing triggers for libc-bin (2.39-0ubuntu8.7) ... +#6 207.0 Processing triggers for ca-certificates-java (20240118) ... +#6 207.3 Adding debian:ACCVRAIZ1.pem +#6 207.3 Adding debian:AC_RAIZ_FNMT-RCM.pem +#6 207.3 Adding debian:AC_RAIZ_FNMT-RCM_SERVIDORES_SEGUROS.pem +#6 207.3 Adding debian:ANF_Secure_Server_Root_CA.pem +#6 207.3 Adding debian:Actalis_Authentication_Root_CA.pem +#6 207.3 Adding debian:AffirmTrust_Commercial.pem +#6 207.3 Adding debian:AffirmTrust_Networking.pem +#6 207.3 Adding debian:AffirmTrust_Premium.pem +#6 207.3 Adding debian:AffirmTrust_Premium_ECC.pem +#6 207.3 Adding debian:Amazon_Root_CA_1.pem +#6 207.3 Adding debian:Amazon_Root_CA_2.pem +#6 207.3 Adding debian:Amazon_Root_CA_3.pem +#6 207.3 Adding debian:Amazon_Root_CA_4.pem +#6 207.3 Adding debian:Atos_TrustedRoot_2011.pem +#6 207.3 Adding debian:Atos_TrustedRoot_Root_CA_ECC_TLS_2021.pem +#6 207.3 Adding debian:Atos_TrustedRoot_Root_CA_RSA_TLS_2021.pem +#6 207.3 Adding debian:Autoridad_de_Certificacion_Firmaprofesional_CIF_A62634068.pem +#6 207.3 Adding debian:BJCA_Global_Root_CA1.pem +#6 207.3 Adding debian:BJCA_Global_Root_CA2.pem +#6 207.3 Adding debian:Baltimore_CyberTrust_Root.pem +#6 207.3 Adding debian:Buypass_Class_2_Root_CA.pem +#6 207.3 Adding debian:Buypass_Class_3_Root_CA.pem +#6 207.3 Adding debian:CA_Disig_Root_R2.pem +#6 207.3 Adding debian:CFCA_EV_ROOT.pem +#6 207.3 Adding debian:COMODO_Certification_Authority.pem +#6 207.3 Adding debian:COMODO_ECC_Certification_Authority.pem +#6 207.3 Adding debian:COMODO_RSA_Certification_Authority.pem +#6 207.3 Adding debian:Certainly_Root_E1.pem +#6 207.3 Adding debian:Certainly_Root_R1.pem +#6 207.3 Adding debian:Certigna.pem +#6 207.3 Adding debian:Certigna_Root_CA.pem +#6 207.3 Adding debian:Certum_EC-384_CA.pem +#6 207.3 Adding debian:Certum_Trusted_Network_CA.pem +#6 207.3 Adding debian:Certum_Trusted_Network_CA_2.pem +#6 207.3 Adding debian:Certum_Trusted_Root_CA.pem +#6 207.3 Adding debian:CommScope_Public_Trust_ECC_Root-01.pem +#6 207.3 Adding debian:CommScope_Public_Trust_ECC_Root-02.pem +#6 207.3 Adding debian:CommScope_Public_Trust_RSA_Root-01.pem +#6 207.3 Adding debian:CommScope_Public_Trust_RSA_Root-02.pem +#6 207.3 Adding debian:Comodo_AAA_Services_root.pem +#6 207.3 Adding debian:D-TRUST_BR_Root_CA_1_2020.pem +#6 207.3 Adding debian:D-TRUST_EV_Root_CA_1_2020.pem +#6 207.3 Adding debian:D-TRUST_Root_Class_3_CA_2_2009.pem +#6 207.3 Adding debian:D-TRUST_Root_Class_3_CA_2_EV_2009.pem +#6 207.3 Adding debian:DigiCert_Assured_ID_Root_CA.pem +#6 207.3 Adding debian:DigiCert_Assured_ID_Root_G2.pem +#6 207.3 Adding debian:DigiCert_Assured_ID_Root_G3.pem +#6 207.3 Adding debian:DigiCert_Global_Root_CA.pem +#6 207.3 Adding debian:DigiCert_Global_Root_G2.pem +#6 207.4 Adding debian:DigiCert_Global_Root_G3.pem +#6 207.4 Adding debian:DigiCert_High_Assurance_EV_Root_CA.pem +#6 207.4 Adding debian:DigiCert_TLS_ECC_P384_Root_G5.pem +#6 207.4 Adding debian:DigiCert_TLS_RSA4096_Root_G5.pem +#6 207.4 Adding debian:DigiCert_Trusted_Root_G4.pem +#6 207.4 Adding debian:Entrust.net_Premium_2048_Secure_Server_CA.pem +#6 207.4 Adding debian:Entrust_Root_Certification_Authority.pem +#6 207.4 Adding debian:Entrust_Root_Certification_Authority_-_EC1.pem +#6 207.4 Adding debian:Entrust_Root_Certification_Authority_-_G2.pem +#6 207.4 Adding debian:Entrust_Root_Certification_Authority_-_G4.pem +#6 207.4 Adding debian:GDCA_TrustAUTH_R5_ROOT.pem +#6 207.4 Adding debian:GLOBALTRUST_2020.pem +#6 207.4 Adding debian:GTS_Root_R1.pem +#6 207.4 Adding debian:GTS_Root_R2.pem +#6 207.4 Adding debian:GTS_Root_R3.pem +#6 207.4 Adding debian:GTS_Root_R4.pem +#6 207.4 Adding debian:GlobalSign_ECC_Root_CA_-_R4.pem +#6 207.4 Adding debian:GlobalSign_ECC_Root_CA_-_R5.pem +#6 207.4 Adding debian:GlobalSign_Root_CA.pem +#6 207.4 Adding debian:GlobalSign_Root_CA_-_R3.pem +#6 207.4 Adding debian:GlobalSign_Root_CA_-_R6.pem +#6 207.4 Adding debian:GlobalSign_Root_E46.pem +#6 207.4 Adding debian:GlobalSign_Root_R46.pem +#6 207.4 Adding debian:Go_Daddy_Class_2_CA.pem +#6 207.4 Adding debian:Go_Daddy_Root_Certificate_Authority_-_G2.pem +#6 207.4 Adding debian:HARICA_TLS_ECC_Root_CA_2021.pem +#6 207.4 Adding debian:HARICA_TLS_RSA_Root_CA_2021.pem +#6 207.4 Adding debian:Hellenic_Academic_and_Research_Institutions_ECC_RootCA_2015.pem +#6 207.4 Adding debian:Hellenic_Academic_and_Research_Institutions_RootCA_2015.pem +#6 207.4 Adding debian:HiPKI_Root_CA_-_G1.pem +#6 207.4 Adding debian:Hongkong_Post_Root_CA_3.pem +#6 207.4 Adding debian:ISRG_Root_X1.pem +#6 207.4 Adding debian:ISRG_Root_X2.pem +#6 207.4 Adding debian:IdenTrust_Commercial_Root_CA_1.pem +#6 207.4 Adding debian:IdenTrust_Public_Sector_Root_CA_1.pem +#6 207.4 Adding debian:Izenpe.com.pem +#6 207.4 Adding debian:Microsec_e-Szigno_Root_CA_2009.pem +#6 207.4 Adding debian:Microsoft_ECC_Root_Certificate_Authority_2017.pem +#6 207.4 Adding debian:Microsoft_RSA_Root_Certificate_Authority_2017.pem +#6 207.4 Adding debian:NAVER_Global_Root_Certification_Authority.pem +#6 207.4 Adding debian:NetLock_Arany_=Class_Gold=_Főtanúsítvány.pem +#6 207.4 Adding debian:OISTE_WISeKey_Global_Root_GB_CA.pem +#6 207.4 Adding debian:OISTE_WISeKey_Global_Root_GC_CA.pem +#6 207.4 Adding debian:QuoVadis_Root_CA_1_G3.pem +#6 207.4 Adding debian:QuoVadis_Root_CA_2.pem +#6 207.4 Adding debian:QuoVadis_Root_CA_2_G3.pem +#6 207.4 Adding debian:QuoVadis_Root_CA_3.pem +#6 207.4 Adding debian:QuoVadis_Root_CA_3_G3.pem +#6 207.4 Adding debian:SSL.com_EV_Root_Certification_Authority_ECC.pem +#6 207.4 Adding debian:SSL.com_EV_Root_Certification_Authority_RSA_R2.pem +#6 207.4 Adding debian:SSL.com_Root_Certification_Authority_ECC.pem +#6 207.4 Adding debian:SSL.com_Root_Certification_Authority_RSA.pem +#6 207.4 Adding debian:SSL.com_TLS_ECC_Root_CA_2022.pem +#6 207.4 Adding debian:SSL.com_TLS_RSA_Root_CA_2022.pem +#6 207.4 Adding debian:SZAFIR_ROOT_CA2.pem +#6 207.4 Adding debian:Sectigo_Public_Server_Authentication_Root_E46.pem +#6 207.4 Adding debian:Sectigo_Public_Server_Authentication_Root_R46.pem +#6 207.4 Adding debian:SecureSign_RootCA11.pem +#6 207.4 Adding debian:SecureTrust_CA.pem +#6 207.4 Adding debian:Secure_Global_CA.pem +#6 207.4 Adding debian:Security_Communication_ECC_RootCA1.pem +#6 207.4 Adding debian:Security_Communication_RootCA2.pem +#6 207.4 Adding debian:Security_Communication_RootCA3.pem +#6 207.4 Adding debian:Security_Communication_Root_CA.pem +#6 207.4 Adding debian:Starfield_Class_2_CA.pem +#6 207.4 Adding debian:Starfield_Root_Certificate_Authority_-_G2.pem +#6 207.4 Adding debian:Starfield_Services_Root_Certificate_Authority_-_G2.pem +#6 207.4 Adding debian:SwissSign_Gold_CA_-_G2.pem +#6 207.4 Adding debian:SwissSign_Silver_CA_-_G2.pem +#6 207.5 Adding debian:T-TeleSec_GlobalRoot_Class_2.pem +#6 207.5 Adding debian:T-TeleSec_GlobalRoot_Class_3.pem +#6 207.5 Adding debian:TUBITAK_Kamu_SM_SSL_Kok_Sertifikasi_-_Surum_1.pem +#6 207.5 Adding debian:TWCA_Global_Root_CA.pem +#6 207.5 Adding debian:TWCA_Root_Certification_Authority.pem +#6 207.5 Adding debian:TeliaSonera_Root_CA_v1.pem +#6 207.5 Adding debian:Telia_Root_CA_v2.pem +#6 207.5 Adding debian:TrustAsia_Global_Root_CA_G3.pem +#6 207.5 Adding debian:TrustAsia_Global_Root_CA_G4.pem +#6 207.5 Adding debian:Trustwave_Global_Certification_Authority.pem +#6 207.5 Adding debian:Trustwave_Global_ECC_P256_Certification_Authority.pem +#6 207.5 Adding debian:Trustwave_Global_ECC_P384_Certification_Authority.pem +#6 207.5 Adding debian:TunTrust_Root_CA.pem +#6 207.5 Adding debian:UCA_Extended_Validation_Root.pem +#6 207.5 Adding debian:UCA_Global_G2_Root.pem +#6 207.5 Adding debian:USERTrust_ECC_Certification_Authority.pem +#6 207.5 Adding debian:USERTrust_RSA_Certification_Authority.pem +#6 207.5 Adding debian:XRamp_Global_CA_Root.pem +#6 207.5 Adding debian:certSIGN_ROOT_CA.pem +#6 207.5 Adding debian:certSIGN_Root_CA_G2.pem +#6 207.5 Adding debian:e-Szigno_Root_CA_2017.pem +#6 207.5 Adding debian:ePKI_Root_Certification_Authority.pem +#6 207.5 Adding debian:emSign_ECC_Root_CA_-_C3.pem +#6 207.5 Adding debian:emSign_ECC_Root_CA_-_G3.pem +#6 207.5 Adding debian:emSign_Root_CA_-_C1.pem +#6 207.5 Adding debian:emSign_Root_CA_-_G1.pem +#6 207.5 Adding debian:vTrus_ECC_Root_CA.pem +#6 207.5 Adding debian:vTrus_Root_CA.pem +#6 207.5 done. +#6 207.6 Setting up openjdk-21-jre:amd64 (21.0.11+10-1~24.04.2) ... +#6 207.9 Setting up openjdk-21-jdk-headless:amd64 (21.0.11+10-1~24.04.2) ... +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jar to provide /usr/bin/jar (jar) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jarsigner to provide /usr/bin/jarsigner (jarsigner) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/javac to provide /usr/bin/javac (javac) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/javadoc to provide /usr/bin/javadoc (javadoc) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/javap to provide /usr/bin/javap (javap) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jcmd to provide /usr/bin/jcmd (jcmd) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jdb to provide /usr/bin/jdb (jdb) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jdeprscan to provide /usr/bin/jdeprscan (jdeprscan) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jdeps to provide /usr/bin/jdeps (jdeps) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jfr to provide /usr/bin/jfr (jfr) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jimage to provide /usr/bin/jimage (jimage) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jinfo to provide /usr/bin/jinfo (jinfo) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jlink to provide /usr/bin/jlink (jlink) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jmap to provide /usr/bin/jmap (jmap) in auto mode +#6 207.9 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jmod to provide /usr/bin/jmod (jmod) in auto mode +#6 208.0 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jps to provide /usr/bin/jps (jps) in auto mode +#6 208.0 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jrunscript to provide /usr/bin/jrunscript (jrunscript) in auto mode +#6 208.0 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jshell to provide /usr/bin/jshell (jshell) in auto mode +#6 208.0 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jstack to provide /usr/bin/jstack (jstack) in auto mode +#6 208.0 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jstat to provide /usr/bin/jstat (jstat) in auto mode +#6 208.0 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jstatd to provide /usr/bin/jstatd (jstatd) in auto mode +#6 208.0 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jwebserver to provide /usr/bin/jwebserver (jwebserver) in auto mode +#6 208.0 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/serialver to provide /usr/bin/serialver (serialver) in auto mode +#6 208.0 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jhsdb to provide /usr/bin/jhsdb (jhsdb) in auto mode +#6 208.0 Setting up default-jre-headless (2:1.21-75+exp1) ... +#6 208.1 Setting up default-jre (2:1.21-75+exp1) ... +#6 208.2 Setting up openjdk-21-jdk:amd64 (21.0.11+10-1~24.04.2) ... +#6 208.2 update-alternatives: using /usr/lib/jvm/java-21-openjdk-amd64/bin/jconsole to provide /usr/bin/jconsole (jconsole) in auto mode +#6 208.3 Setting up default-jdk-headless (2:1.21-75+exp1) ... +#6 208.5 Setting up default-jdk (2:1.21-75+exp1) ... +#6 208.9 Setting up libvtk9-dev (9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 208.9 Setting up libvtk9-qt-dev:amd64 (9.1.0+really9.1.0+dfsg2-7.1build3) ... +#6 209.1 Setting up libpcl-dev (1.14.0+dfsg-1) ... +#6 209.3 Setting up ros-jazzy-grid-map-sdf (2.2.2-2noble.20260225.232449) ... +#6 210.0 Processing triggers for sgml-base (1.31) ... +#6 210.0 Setting up libdbus-1-dev:amd64 (1.14.10-4ubuntu4.1) ... +#6 210.3 Setting up docutils-common (0.20.1+dfsg-3) ... +#6 210.5 Setting up libibus-1.0-dev:amd64 (1.5.29-2) ... +#6 210.8 Setting up libsdl2-dev:amd64 (2.30.0+dfsg-1ubuntu3.1) ... +#6 211.1 Setting up ros-jazzy-sdl2-vendor (3.3.0-3noble.20260225.225708) ... +#6 211.7 Processing triggers for sgml-base (1.31) ... +#6 212.1 Setting up python3-docutils (0.20.1+dfsg-3) ... +#6 212.4 Setting up python3-catkin-pkg-modules (1.1.0-2) ... +#6 212.6 Setting up ros-jazzy-qt-gui (2.7.6-1noble.20260412.025229) ... +#6 212.6 Setting up python3-colcon-ros (0.5.0+upstream-1) ... +#6 212.8 Setting up python3-catkin-pkg (1.1.0-101) ... +#6 212.9 Setting up ros-jazzy-ament-cmake-core (2.5.6-2noble.20260224.191131) ... +#6 212.9 Setting up ros-jazzy-ament-cmake-export-definitions (2.5.6-2noble.20260224.232207) ... +#6 213.0 Setting up ros-jazzy-ament-cmake-include-directories (2.5.6-2noble.20260225.042241) ... +#6 213.0 Setting up python3-rospkg-modules (1.6.1-1) ... +#6 213.1 Setting up ros-jazzy-grid-map-cmake-helpers (2.2.2-2noble.20260225.043338) ... +#6 213.1 Setting up ros-jazzy-ament-cmake-libraries (2.5.6-2noble.20260225.042312) ... +#6 213.2 Setting up ros-jazzy-ament-cmake-export-libraries (2.5.6-2noble.20260224.232254) ... +#6 213.2 Setting up ros-jazzy-qt-gui-cpp (2.7.6-1noble.20260412.025941) ... +#6 213.3 Setting up ros-jazzy-ament-cmake-export-interfaces (2.5.6-2noble.20260225.042039) ... +#6 213.3 Setting up python3-colcon-common-extensions (0.3.0-100) ... +#6 213.4 Setting up ros-jazzy-ament-cmake-export-targets (2.5.6-2noble.20260225.042100) ... +#6 213.4 Setting up ros-jazzy-ament-cmake-export-link-flags (2.5.6-2noble.20260225.042107) ... +#6 213.5 Setting up ros-jazzy-ament-cmake-version (2.5.6-2noble.20260225.042330) ... +#6 213.5 Setting up ros-jazzy-ament-cmake-export-include-directories (2.5.6-2noble.20260224.232223) ... +#6 213.5 Setting up ros-jazzy-ament-cmake-python (2.5.6-2noble.20260225.042312) ... +#6 213.6 Setting up ros-jazzy-ament-cmake-test (2.5.6-2noble.20260225.143205) ... +#6 213.6 Setting up ros-jazzy-ament-cmake-cpplint (0.17.5-1noble.20260410.105800) ... +#6 213.6 Setting up ros-jazzy-ament-cmake-export-dependencies (2.5.6-2noble.20260225.043730) ... +#6 213.6 Setting up ros-jazzy-ament-cmake-xmllint (0.17.5-1noble.20260410.113914) ... +#6 213.7 Setting up ros-jazzy-rosidl-adapter (4.6.7-1noble.20260225.225255) ... +#6 213.7 Setting up ros-jazzy-ament-cmake-gen-version-h (2.5.6-2noble.20260225.042237) ... +#6 213.7 Setting up ros-jazzy-ament-cmake-pep257 (0.17.5-1noble.20260410.113929) ... +#6 213.7 Setting up ros-jazzy-ament-cmake-target-dependencies (2.5.6-2noble.20260225.043936) ... +#6 213.7 Setting up python3-rosdistro-modules (1.0.1-1) ... +#6 213.9 Setting up ros-jazzy-ament-cmake-flake8 (0.17.5-1noble.20260410.113910) ... +#6 213.9 Setting up python3-rosdep-modules (0.26.0-1) ... +#6 214.1 Setting up ros-jazzy-ament-cmake-lint-cmake (0.17.5-1noble.20260410.113602) ... +#6 214.1 Setting up ros-jazzy-ament-lint-auto (0.17.5-1noble.20260410.080333) ... +#6 214.2 Setting up ros-jazzy-rosidl-parser (4.6.7-1noble.20260225.230105) ... +#6 214.2 Setting up ros-jazzy-rosidl-generator-type-description (4.6.7-1noble.20260412.025231) ... +#6 214.2 Setting up python3-rosdistro (1.0.1-100) ... +#6 214.2 Setting up ros-jazzy-launch-testing-ament-cmake (3.4.10-1noble.20260412.025830) ... +#6 214.3 Setting up ros-jazzy-ament-cmake-pytest (2.5.6-2noble.20260225.145739) ... +#6 214.3 Setting up ros-jazzy-ament-cmake-copyright (0.17.5-1noble.20260410.113746) ... +#6 214.3 Setting up ros-jazzy-ament-cmake-gtest (2.5.6-2noble.20260225.145055) ... +#6 214.4 Setting up ros-jazzy-ament-cmake-cppcheck (0.17.5-1noble.20260410.113607) ... +#6 214.4 Setting up ros-jazzy-ament-cmake-uncrustify (0.17.5-1noble.20260410.113615) ... +#6 214.5 Setting up ros-jazzy-rosidl-runtime-py (0.13.1-2noble.20260226.000416) ... +#6 214.5 Setting up ros-jazzy-ament-cmake (2.5.6-2noble.20260225.222913) ... +#6 214.5 Setting up ros-jazzy-rosidl-pycommon (4.6.7-1noble.20260226.000402) ... +#6 214.6 Setting up python3-rosdep (0.26.0-1) ... +#6 214.6 Setting up ros-jazzy-rosidl-runtime-c (4.6.7-1noble.20260226.002400) ... +#6 214.7 Setting up ros-jazzy-ament-cmake-gmock (2.5.6-2noble.20260225.215706) ... +#6 214.7 Setting up ros-jazzy-rosidl-cmake (4.6.7-1noble.20260226.001208) ... +#6 214.7 Setting up ros-jazzy-rosidl-runtime-cpp (4.6.7-1noble.20260226.003416) ... +#6 214.8 Setting up ros-jazzy-ament-lint-common (0.17.5-1noble.20260410.114154) ... +#6 214.8 Setting up ros-jazzy-angles (1.16.1-1noble.20260225.231445) ... +#6 214.9 Setting up ros-jazzy-ament-cmake-ros (0.12.0-3noble.20260225.232209) ... +#6 214.9 Setting up ros-jazzy-tlsf (0.9.0-3noble.20260225.230709) ... +#6 214.9 Setting up ros-jazzy-rosidl-dynamic-typesupport (0.1.2-3noble.20260226.003402) ... +#6 215.0 Setting up ros-jazzy-ament-cmake-auto (2.5.6-2noble.20260225.232257) ... +#6 215.0 Setting up ros-jazzy-rmw-implementation-cmake (7.3.3-1noble.20260225.225156) ... +#6 215.1 Setting up python3-bloom (0.14.3+upstream-1) ... +#6 215.2 Setting up ros-dev-tools (1.0.1) ... +#6 215.3 Setting up ros-jazzy-rosidl-generator-c (4.6.7-1noble.20260412.025459) ... +#6 215.3 Setting up ros-jazzy-rmw (7.3.3-1noble.20260226.004315) ... +#6 215.3 Setting up ros-jazzy-rosidl-typesupport-c (3.2.2-1noble.20260412.030231) ... +#6 215.4 Setting up ros-jazzy-rosidl-typesupport-introspection-c (4.6.7-1noble.20260412.025838) ... +#6 215.5 Setting up ros-jazzy-rosidl-generator-rs (0.4.11-1noble.20260412.030734) ... +#6 215.5 Setting up ros-jazzy-rosidl-generator-cpp (4.6.7-1noble.20260412.025832) ... +#6 215.5 Setting up ros-jazzy-rcl-yaml-param-parser (9.2.9-1noble.20260226.005115) ... +#6 215.5 Setting up ros-jazzy-rosidl-dynamic-typesupport-fastrtps (0.1.0-3noble.20260304.002637) ... +#6 215.6 Setting up ros-jazzy-rosidl-generator-py (0.22.2-1noble.20260412.030620) ... +#6 215.6 Setting up ros-jazzy-rosidl-typesupport-fastrtps-cpp (3.6.3-1noble.20260412.030048) ... +#6 215.7 Setting up ros-jazzy-rosidl-typesupport-cpp (3.2.2-1noble.20260412.030737) ... +#6 215.8 Setting up ros-jazzy-rosidl-typesupport-fastrtps-c (3.6.3-1noble.20260412.030624) ... +#6 215.9 Setting up ros-jazzy-rosidl-typesupport-introspection-cpp (4.6.7-1noble.20260412.030123) ... +#6 216.0 Setting up ros-jazzy-rosidl-core-runtime (0.2.1-1noble.20260412.030912) ... +#6 216.2 Setting up ros-jazzy-rosidl-core-generators (0.2.1-1noble.20260412.030913) ... +#6 216.3 Setting up ros-jazzy-unique-identifier-msgs (2.5.0-3noble.20260412.031407) ... +#6 216.3 Setting up ros-jazzy-builtin-interfaces (2.0.3-1noble.20260412.031450) ... +#6 216.6 Setting up ros-jazzy-service-msgs (2.0.3-1noble.20260412.031935) ... +#6 216.7 Setting up ros-jazzy-type-description-interfaces (2.0.3-1noble.20260412.032338) ... +#6 216.7 Setting up ros-jazzy-action-msgs (2.0.3-1noble.20260412.032342) ... +#6 216.8 Setting up ros-jazzy-rosidl-default-runtime (1.6.0-3noble.20260412.032511) ... +#6 216.8 Setting up ros-jazzy-topic-tools-interfaces (1.3.3-1noble.20260412.033140) ... +#6 216.9 Setting up ros-jazzy-std-srvs (5.3.7-1noble.20260412.033137) ... +#6 217.0 Setting up ros-jazzy-statistics-msgs (2.0.3-1noble.20260412.033131) ... +#6 217.0 Setting up ros-jazzy-rmw-dds-common (3.1.1-1noble.20260412.033108) ... +#6 217.0 Setting up ros-jazzy-example-interfaces (0.12.0-3noble.20260412.032829) ... +#6 217.1 Setting up ros-jazzy-rosbag2-interfaces (0.26.10-2noble.20260412.033118) ... +#6 217.1 Setting up ros-jazzy-lifecycle-msgs (2.0.3-1noble.20260412.032912) ... +#6 217.1 Setting up ros-jazzy-pendulum-msgs (0.33.10-1noble.20260412.033002) ... +#6 217.1 Setting up ros-jazzy-rosgraph-msgs (2.0.3-1noble.20260412.033127) ... +#6 217.2 Setting up ros-jazzy-rosidl-default-generators (1.6.0-3noble.20260412.032513) ... +#6 217.2 Setting up ros-jazzy-action-tutorials-interfaces (0.33.10-1noble.20260412.032748) ... +#6 217.2 Setting up ros-jazzy-rmw-fastrtps-shared-cpp (8.4.3-1noble.20260412.033316) ... +#6 217.3 Setting up ros-jazzy-std-msgs (5.3.7-1noble.20260412.033140) ... +#6 217.3 Setting up ros-jazzy-rcl-interfaces (2.0.3-1noble.20260412.033104) ... +#6 217.4 Setting up ros-jazzy-bond (4.2.0-1noble.20260412.034243) ... +#6 217.5 Setting up ros-jazzy-geometry-msgs (5.3.7-1noble.20260412.033928) ... +#6 217.5 Setting up ros-jazzy-diagnostic-msgs (5.3.7-1noble.20260412.034614) ... +#6 217.6 Setting up ros-jazzy-tf2-web-republisher-interfaces (1.0.0-1noble.20260412.034941) ... +#6 217.6 Setting up ros-jazzy-geographic-msgs (1.0.6-2noble.20260412.035916) ... +#6 217.6 Setting up ros-jazzy-tf2-web-republisher-interfaces-dbgsym (1.0.0-1noble.20260412.034941) ... +#6 217.6 Setting up ros-jazzy-rmw-fastrtps-cpp (8.4.3-1noble.20260412.034154) ... +#6 217.6 Setting up ros-jazzy-shape-msgs (5.3.7-1noble.20260412.035632) ... +#6 217.7 Setting up ros-jazzy-actionlib-msgs (5.3.7-1noble.20260412.034232) ... +#6 217.7 Setting up ros-jazzy-ackermann-msgs (2.0.2-6noble.20260412.033758) ... +#6 217.7 Setting up ros-jazzy-rmw-implementation (2.15.6-1noble.20260412.040200) ... +#6 217.7 Setting up ros-jazzy-composition-interfaces (2.0.3-1noble.20260412.034209) ... +#6 217.8 Setting up ros-jazzy-octomap-msgs (2.0.1-1noble.20260412.035529) ... +#6 217.8 Setting up ros-jazzy-sensor-msgs (5.3.7-1noble.20260412.034842) ... +#6 217.9 Setting up ros-jazzy-image-geometry (4.1.0-1noble.20260412.040226) ... +#6 217.9 Setting up ros-jazzy-trajectory-msgs (5.3.7-1noble.20260412.034949) ... +#6 217.9 Setting up ros-jazzy-mavros-msgs (2.14.0-1noble.20260412.042020) ... +#6 218.0 Setting up ros-jazzy-object-recognition-msgs (2.0.0-5noble.20260412.035902) ... +#6 218.0 Setting up ros-jazzy-nav-msgs (5.3.7-1noble.20260412.034710) ... +#6 218.0 Setting up ros-jazzy-tf2 (0.36.20-1noble.20260412.034858) ... +#6 218.0 Setting up ros-jazzy-tf2-msgs (0.36.20-1noble.20260412.034900) ... +#6 218.1 Setting up ros-jazzy-visualization-msgs (5.3.7-1noble.20260412.035359) ... +#6 218.1 Setting up ros-jazzy-stereo-msgs (5.3.7-1noble.20260412.035620) ... +#6 218.1 Setting up ros-jazzy-rcl (9.2.9-1noble.20260412.040633) ... +#6 218.1 Setting up ros-jazzy-sensor-msgs-py (5.3.7-1noble.20260412.035802) ... +#6 218.2 Setting up ros-jazzy-pcl-msgs (1.0.0-9noble.20260412.035559) ... +#6 218.2 Setting up ros-jazzy-control-msgs (5.9.0-1noble.20260412.040109) ... +#6 218.3 Setting up ros-jazzy-tf2-eigen-kdl (0.36.20-1noble.20260412.040107) ... +#6 218.3 Setting up ros-jazzy-map-msgs (2.4.1-2noble.20260412.035524) ... +#6 218.3 Setting up ros-jazzy-tf2-eigen-kdl-dbgsym (0.36.20-1noble.20260412.040107) ... +#6 218.4 Setting up ros-jazzy-rcl-lifecycle (9.2.9-1noble.20260412.040958) ... +#6 218.4 Setting up ros-jazzy-moveit-msgs (2.6.0-1noble.20260412.041739) ... +#6 218.4 Setting up ros-jazzy-libstatistics-collector (1.7.4-1noble.20260412.041007) ... +#6 218.4 Setting up ros-jazzy-tf2-msgs-dbgsym (0.36.20-1noble.20260412.034900) ... +#6 218.5 Setting up ros-jazzy-rcl-action (9.2.9-1noble.20260412.041043) ... +#6 218.6 Setting up ros-jazzy-octomap-ros (0.4.4-1noble.20260412.040015) ... +#6 218.6 Setting up ros-jazzy-tf2-dbgsym (0.36.20-1noble.20260412.034858) ... +#6 218.7 Setting up ros-jazzy-common-interfaces (5.3.7-1noble.20260412.035857) ... +#6 218.7 Setting up ros-jazzy-rclpy (7.1.11-1noble.20260412.041747) ... +#6 218.7 Setting up ros-jazzy-rclcpp (28.1.18-1noble.20260412.041931) ... +#6 218.7 Setting up ros-jazzy-launch-param-builder (0.1.1-4noble.20260412.042639) ... +#6 218.7 Setting up ros-jazzy-filters (2.2.2-1noble.20260412.042704) ... +#6 218.8 Setting up ros-jazzy-examples-rclpy-minimal-subscriber (0.19.7-1noble.20260412.042605) ... +#6 218.8 Setting up ros-jazzy-nav2-voxel-grid (1.3.11-1noble.20260412.052741) ... +#6 218.8 Setting up ros-jazzy-rqt-gui-cpp (1.6.3-1noble.20260412.042715) ... +#6 218.8 Setting up ros-jazzy-rclcpp-components (28.1.18-1noble.20260412.042656) ... +#6 218.8 Setting up ros-jazzy-tf2-py (0.36.20-1noble.20260412.052955) ... +#6 218.9 Setting up ros-jazzy-rclcpp-action (28.1.18-1noble.20260412.042748) ... +#6 218.9 Setting up ros-jazzy-grid-map-msgs (2.2.2-2noble.20260412.042825) ... +#6 218.9 Setting up ros-jazzy-quality-of-service-demo-py (0.33.10-1noble.20260412.042122) ... +#6 218.9 Setting up ros-jazzy-geometric-shapes (2.3.2-1noble.20260412.042659) ... +#6 218.9 Setting up ros-jazzy-rqt-gui (1.6.3-1noble.20260412.052948) ... +#6 218.9 Setting up ros-jazzy-examples-rclcpp-minimal-publisher (0.19.7-1noble.20260412.045354) ... +#6 219.0 Setting up ros-jazzy-examples-rclcpp-minimal-client (0.19.7-1noble.20260412.051022) ... +#6 219.0 Setting up ros-jazzy-examples-rclcpp-minimal-subscriber (0.19.7-1noble.20260412.045426) ... +#6 219.0 Setting up ros-jazzy-diagnostic-updater (4.2.6-1noble.20260412.045349) ... +#6 219.0 Setting up ros-jazzy-rqt-gui-py (1.6.3-1noble.20260412.053546) ... +#6 219.0 Setting up ros-jazzy-examples-rclcpp-multithreaded-executor (0.19.7-1noble.20260412.045432) ... +#6 219.1 Setting up ros-jazzy-nav2-msgs (1.3.11-1noble.20260412.044112) ... +#6 219.1 Setting up ros-jazzy-ros2cli (0.32.9-1noble.20260412.042300) ... +#6 219.1 Setting up ros-jazzy-demo-nodes-cpp-native (0.33.10-1noble.20260412.044602) ... +#6 219.1 Setting up ros-jazzy-ros2pkg (0.32.9-1noble.20260412.042622) ... +#6 219.1 Setting up ros-jazzy-action-tutorials-py (0.33.10-1noble.20260412.042036) ... +#6 219.2 Setting up ros-jazzy-teleop-twist-keyboard (2.4.1-1noble.20260412.052948) ... +#6 219.2 Setting up ros-jazzy-examples-rclpy-minimal-publisher (0.19.7-1noble.20260412.042601) ... +#6 219.2 Setting up ros-jazzy-rqt-shell (1.2.3-1noble.20260412.053911) ... +#6 219.2 Setting up ros-jazzy-rqt-py-console (1.2.3-1noble.20260412.053858) ... +#6 219.2 Setting up ros-jazzy-examples-rclcpp-minimal-timer (0.19.7-1noble.20260412.052718) ... +#6 219.3 Setting up ros-jazzy-launch-ros (0.26.11-1noble.20260412.042642) ... +#6 219.3 Setting up ros-jazzy-rsl (1.3.0-1noble.20260412.052851) ... +#6 219.3 Setting up ros-jazzy-parameter-traits (0.7.1-1noble.20260412.053054) ... +#6 219.3 Setting up ros-jazzy-rosbag2-storage (0.26.10-2noble.20260412.042713) ... +#6 219.4 Setting up ros-jazzy-laser-geometry (2.7.2-1noble.20260412.051842) ... +#6 219.4 Setting up ros-jazzy-composition (0.33.10-1noble.20260412.044808) ... +#6 219.4 Setting up ros-jazzy-topic-monitor (0.33.10-1noble.20260412.043450) ... +#6 219.4 Setting up ros-jazzy-examples-rclpy-minimal-action-client (0.19.7-1noble.20260412.042555) ... +#6 219.4 Setting up ros-jazzy-dummy-sensors (0.33.10-1noble.20260412.051906) ... +#6 219.4 Setting up ros-jazzy-tf2-py-dbgsym (0.36.20-1noble.20260412.052955) ... +#6 219.5 Setting up ros-jazzy-depthimage-to-laserscan (2.5.1-3noble.20260412.051904) ... +#6 219.5 Setting up ros-jazzy-demo-nodes-py (0.33.10-1noble.20260412.042524) ... +#6 219.5 Setting up ros-jazzy-examples-rclpy-minimal-service (0.19.7-1noble.20260412.042602) ... +#6 219.5 Setting up ros-jazzy-dummy-map-server (0.33.10-1noble.20260412.051842) ... +#6 219.5 Setting up ros-jazzy-sros2 (0.13.6-1noble.20260412.042622) ... +#6 219.5 Setting up ros-jazzy-ros2node (0.32.9-1noble.20260412.042626) ... +#6 219.6 Setting up ros-jazzy-topic-tools (1.3.3-1noble.20260412.044115) ... +#6 219.6 Setting up ros-jazzy-ros2multicast (0.32.9-1noble.20260412.053041) ... +#6 219.6 Setting up ros-jazzy-ros2topic (0.32.9-1noble.20260412.042628) ... +#6 219.6 Setting up ros-jazzy-urdfdom-py (1.2.1-3noble.20260412.042521) ... +#6 219.6 Setting up ros-jazzy-sros2-cmake (0.13.6-1noble.20260412.053208) ... +#6 219.7 Setting up ros-jazzy-ros2plugin (5.4.5-1noble.20260412.042739) ... +#6 219.7 Setting up ros-jazzy-examples-rclpy-executors (0.19.7-1noble.20260412.042551) ... +#6 219.7 Setting up ros-jazzy-examples-rclcpp-minimal-service (0.19.7-1noble.20260412.051024) ... +#6 219.7 Setting up ros-jazzy-srdfdom (2.0.7-1noble.20260412.053212) ... +#6 219.7 Setting up ros-jazzy-message-filters (4.11.12-1noble.20260412.042737) ... +#6 219.8 Setting up ros-jazzy-rclcpp-lifecycle (28.1.18-1noble.20260412.042728) ... +#6 219.8 Setting up ros-jazzy-ros2action (0.32.9-1noble.20260412.053021) ... +#6 219.8 Setting up ros-jazzy-ros2service (0.32.9-1noble.20260412.052412) ... +#6 219.8 Setting up ros-jazzy-examples-rclpy-minimal-action-server (0.19.7-1noble.20260412.042203) ... +#6 219.8 Setting up ros-jazzy-examples-rclpy-minimal-client (0.19.7-1noble.20260412.042556) ... +#6 219.8 Setting up ros-jazzy-rqt-graph (1.5.6-1noble.20260412.053847) ... +#6 219.9 Setting up ros-jazzy-tf2-ros-py (0.36.20-1noble.20260412.053403) ... +#6 219.9 Setting up ros-jazzy-rqt-py-common (1.6.3-1noble.20260412.042316) ... +#6 219.9 Setting up ros-jazzy-examples-rclcpp-minimal-action-server (0.19.7-1noble.20260412.051019) ... +#6 219.9 Setting up ros-jazzy-tlsf-cpp (0.17.1-3noble.20260412.050239) ... +#6 219.9 Setting up ros-jazzy-pendulum-control (0.33.10-1noble.20260412.050614) ... +#6 220.0 Setting up ros-jazzy-joy (3.3.0-3noble.20260412.051931) ... +#6 220.0 Setting up ros-jazzy-quality-of-service-demo-cpp (0.33.10-1noble.20260412.050216) ... +#6 220.0 Setting up ros-jazzy-cv-bridge (4.1.0-1noble.20260412.042648) ... +#6 220.0 Setting up ros-jazzy-logging-demo (0.33.10-1noble.20260412.044110) ... +#6 220.0 Setting up ros-jazzy-ros2run (0.32.9-1noble.20260412.053103) ... +#6 220.0 Setting up ros-jazzy-examples-rclcpp-minimal-composition (0.19.7-1noble.20260412.045356) ... +#6 220.1 Setting up ros-jazzy-intra-process-demo (0.33.10-1noble.20260412.045501) ... +#6 220.1 Setting up ros-jazzy-image-tools (0.33.10-1noble.20260412.045451) ... +#6 220.1 Setting up ros-jazzy-rosbag2-cpp (0.26.10-2noble.20260412.043347) ... +#6 220.1 Setting up ros-jazzy-action-tutorials-cpp (0.33.10-1noble.20260412.044552) ... +#6 220.1 Setting up ros-jazzy-ros2param (0.32.9-1noble.20260412.052450) ... +#6 220.1 Setting up ros-jazzy-rqt-plot (1.4.5-1noble.20260412.053903) ... +#6 220.1 Setting up ros-jazzy-examples-rclcpp-minimal-action-client (0.19.7-1noble.20260412.051021) ... +#6 220.2 Setting up ros-jazzy-rosbag2-storage-mcap (0.26.10-2noble.20260412.043351) ... +#6 220.2 Setting up ros-jazzy-rosbag2-storage-sqlite3 (0.26.10-2noble.20260412.043751) ... +#6 220.2 Setting up ros-jazzy-turtlesim (1.8.3-1noble.20260412.043332) ... +#6 220.3 Setting up ros-jazzy-pcl-conversions (2.6.4-1noble.20260412.045759) ... +#6 220.3 Setting up ros-jazzy-ros2interface (0.32.9-1noble.20260412.042621) ... +#6 220.3 Setting up ros-jazzy-teleop-twist-joy (2.6.5-1noble.20260412.052507) ... +#6 220.3 Setting up ros-jazzy-tf2-tools (0.36.20-1noble.20260412.053524) ... +#6 220.4 Setting up ros-jazzy-ros2doctor (0.32.9-1noble.20260412.042619) ... +#6 220.4 Setting up ros-jazzy-ros2launch (0.26.11-1noble.20260412.043200) ... +#6 220.4 Setting up ros-jazzy-tf2-ros (0.36.20-1noble.20260412.044056) ... +#6 220.4 Setting up ros-jazzy-nav2-common (1.3.11-1noble.20260412.043444) ... +#6 220.4 Setting up ros-jazzy-rqt-topic (1.7.5-1noble.20260412.060341) ... +#6 220.4 Setting up ros-jazzy-rqt-console (2.2.2-1noble.20260412.053839) ... +#6 220.5 Setting up ros-jazzy-demo-nodes-cpp (0.33.10-1noble.20260412.044049) ... +#6 220.5 Setting up ros-jazzy-rqt-publisher (1.7.3-1noble.20260412.053850) ... +#6 220.5 Setting up ros-jazzy-launch-testing-ros (0.26.11-1noble.20260412.043323) ... +#6 220.5 Setting up ros-jazzy-rqt-service-caller (1.2.2-1noble.20260412.063251) ... +#6 220.6 Setting up ros-jazzy-grid-map-cv (2.2.2-2noble.20260412.043610) ... +#6 220.6 Setting up ros-jazzy-tf2-geometry-msgs (0.36.20-1noble.20260412.053505) ... +#6 220.6 Setting up ros-jazzy-lifecycle (0.33.10-1noble.20260412.045645) ... +#6 220.6 Setting up ros-jazzy-tf2-ros-dbgsym (0.36.20-1noble.20260412.044056) ... +#6 220.6 Setting up ros-jazzy-rosbag2-storage-default-plugins (0.26.10-2noble.20260412.065628) ... +#6 220.7 Setting up ros-jazzy-interactive-markers (2.5.5-1noble.20260412.054351) ... +#6 220.7 Setting up ros-jazzy-grid-map-ros (2.2.2-2noble.20260412.045450) ... +#6 220.7 Setting up ros-jazzy-generate-parameter-library (0.7.1-1noble.20260412.053405) ... +#6 220.7 Setting up ros-jazzy-ros2lifecycle (0.32.9-1noble.20260412.052446) ... +#6 220.8 Setting up ros-jazzy-grid-map-pcl (2.2.2-2noble.20260412.052630) ... +#6 220.8 Setting up ros-jazzy-tf2-sensor-msgs (0.36.20-1noble.20260412.053455) ... +#6 220.8 Setting up ros-jazzy-robot-state-publisher (3.3.3-3noble.20260412.044622) ... +#6 220.8 Setting up ros-jazzy-tf2-eigen (0.36.20-1noble.20260412.051518) ... +#6 220.8 Setting up ros-jazzy-ros2component (0.32.9-1noble.20260412.052519) ... +#6 220.9 Setting up ros-jazzy-moveit-configs-utils (2.12.4-1noble.20260412.053416) ... +#6 220.9 Setting up ros-jazzy-tf2-2d (1.4.1-1noble.20260412.060235) ... +#6 220.9 Setting up ros-jazzy-point-cloud-transport (4.0.7-1noble.20260412.043749) ... +#6 220.9 Setting up ros-jazzy-tf2-web-republisher (1.0.0-1noble.20260412.051550) ... +#6 220.9 Setting up ros-jazzy-rviz-common (14.1.20-2noble.20260412.044615) ... +#6 221.0 Setting up ros-jazzy-image-transport (5.1.7-1noble.20260412.043635) ... +#6 221.0 Setting up ros-jazzy-rqt-reconfigure (1.6.4-1noble.20260412.053918) ... +#6 221.0 Setting up ros-jazzy-bondcpp (4.2.0-1noble.20260412.051032) ... +#6 221.0 Setting up ros-jazzy-grid-map-loader (2.2.2-2noble.20260412.065552) ... +#6 221.0 Setting up ros-jazzy-mavros (2.14.0-1noble.20260412.051838) ... +#6 221.0 Setting up ros-jazzy-rosbag2-compression (0.26.10-2noble.20260412.053554) ... +#6 221.1 Setting up ros-jazzy-tf2-bullet (0.36.20-1noble.20260412.051516) ... +#6 221.1 Setting up ros-jazzy-rqt-msg (1.5.2-1noble.20260412.053912) ... +#6 221.1 Setting up ros-jazzy-domain-bridge (0.5.0-5noble.20260412.044125) ... +#6 221.1 Setting up ros-jazzy-grid-map-filters (2.2.2-2noble.20260412.050149) ... +#6 221.1 Setting up ros-jazzy-ros2cli-common-extensions (0.3.1-1noble.20260412.053337) ... +#6 221.2 Setting up ros-jazzy-tf2-kdl (0.36.20-1noble.20260412.053442) ... +#6 221.2 Setting up ros-jazzy-rosbag2-transport (0.26.10-2noble.20260412.054424) ... +#6 221.2 Setting up ros-jazzy-rosbag2-compression-zstd (0.26.10-2noble.20260412.054126) ... +#6 221.2 Setting up ros-jazzy-rqt-image-view (1.3.0-2noble.20260412.053350) ... +#6 221.3 Setting up ros-jazzy-pcl-ros (2.6.4-1noble.20260412.055650) ... +#6 221.3 Setting up ros-jazzy-rosbag2-py (0.26.10-2noble.20260412.060353) ... +#6 221.3 Setting up ros-jazzy-warehouse-ros (2.0.5-1noble.20260412.054120) ... +#6 221.3 Setting up ros-jazzy-nav2-util (1.3.11-1noble.20260412.054222) ... +#6 221.3 Setting up ros-jazzy-grid-map-visualization (2.2.2-2noble.20260412.051723) ... +#6 221.3 Setting up ros-jazzy-tf2-web-republisher-dbgsym (1.0.0-1noble.20260412.051550) ... +#6 221.4 Setting up ros-jazzy-rqt-bag (1.5.6-1noble.20260412.063147) ... +#6 221.4 Setting up ros-jazzy-dummy-robot-bringup (0.33.10-1noble.20260412.052140) ... +#6 221.4 Setting up ros-jazzy-rqt-srv (1.2.3-1noble.20260412.060417) ... +#6 221.4 Setting up ros-jazzy-ros2bag (0.26.10-2noble.20260412.065702) ... +#6 221.5 Setting up ros-jazzy-rviz-default-plugins (14.1.20-2noble.20260412.054746) ... +#6 221.5 Setting up ros-jazzy-rviz2 (14.1.20-2noble.20260412.070714) ... +#6 221.5 Setting up ros-jazzy-grid-map-rviz-plugin (2.2.2-2noble.20260412.050603) ... +#6 221.5 Setting up ros-jazzy-ros-core (0.11.0-1noble.20260412.053408) ... +#6 221.5 Setting up ros-jazzy-rqt-action (2.2.1-1noble.20260412.060445) ... +#6 221.6 Setting up ros-jazzy-moveit-core (2.12.4-1noble.20260412.053952) ... +#6 221.6 Setting up ros-jazzy-geometry2 (0.36.20-1noble.20260412.060249) ... +#6 221.6 Setting up ros-jazzy-octomap-server (2.3.1-1noble.20260412.061859) ... +#6 221.6 Setting up ros-jazzy-nav2-costmap-2d (1.3.11-1noble.20260412.054629) ... +#6 221.7 Setting up ros-jazzy-moveit-planners-stomp (2.12.4-1noble.20260412.061858) ... +#6 221.7 Setting up ros-jazzy-rosbag2 (0.26.10-2noble.20260412.070736) ... +#6 221.7 Setting up ros-jazzy-rqt-bag-plugins (1.5.6-1noble.20260412.071952) ... +#6 221.7 Setting up ros-jazzy-rqt-common-plugins (1.2.0-4noble.20260412.072437) ... +#6 221.7 Setting up ros-jazzy-moveit-simple-controller-manager (2.12.4-1noble.20260412.061617) ... +#6 221.8 Setting up ros-jazzy-octomap-rviz-plugins (2.1.0-1noble.20260412.063215) ... +#6 221.8 Setting up ros-jazzy-ros-base (0.11.0-1noble.20260412.071950) ... +#6 221.8 Setting up ros-jazzy-chomp-motion-planner (2.12.4-1noble.20260412.063134) ... +#6 221.8 Setting up ros-jazzy-grid-map-costmap-2d (2.2.2-2noble.20260412.060249) ... +#6 221.8 Setting up ros-jazzy-moveit-ros-occupancy-map-monitor (2.12.4-1noble.20260412.060541) ... +#6 221.9 Setting up ros-jazzy-moveit-plugins (2.12.4-1noble.20260412.073600) ... +#6 221.9 Setting up ros-jazzy-grid-map-demos (2.2.2-2noble.20260412.072241) ... +#6 221.9 Setting up ros-jazzy-moveit-planners-chomp (2.12.4-1noble.20260412.063945) ... +#6 222.0 Setting up ros-jazzy-grid-map (2.2.2-2noble.20260412.075203) ... +#6 222.0 Setting up ros-jazzy-desktop (0.11.0-1noble.20260412.072512) ... +#6 222.0 Setting up ros-jazzy-moveit-ros-planning (2.12.4-1noble.20260412.061458) ... +#6 222.0 Setting up ros-jazzy-moveit-ros-robot-interaction (2.12.4-1noble.20260412.065541) ... +#6 222.1 Setting up ros-jazzy-moveit-planners-ompl (2.12.4-1noble.20260412.065232) ... +#6 222.1 Setting up ros-jazzy-moveit-ros-warehouse (2.12.4-1noble.20260412.065555) ... +#6 222.1 Setting up ros-jazzy-moveit-kinematics (2.12.4-1noble.20260412.065216) ... +#6 222.1 Setting up ros-jazzy-moveit-ros-move-group (2.12.4-1noble.20260412.070722) ... +#6 222.2 Setting up ros-jazzy-moveit-ros-benchmarks (2.12.4-1noble.20260412.071926) ... +#6 222.2 Setting up ros-jazzy-pilz-industrial-motion-planner (2.12.4-1noble.20260412.072051) ... +#6 222.2 Setting up ros-jazzy-moveit-planners (2.12.4-1noble.20260412.073607) ... +#6 222.2 Setting up ros-jazzy-moveit-ros-planning-interface (2.12.4-1noble.20260412.072305) ... +#6 222.2 Setting up ros-jazzy-moveit-ros-visualization (2.12.4-1noble.20260412.073037) ... +#6 222.3 Setting up ros-jazzy-moveit-setup-framework (2.12.4-1noble.20260412.075233) ... +#6 222.3 Setting up ros-jazzy-moveit-ros (2.12.4-1noble.20260412.075256) ... +#6 222.3 Setting up ros-jazzy-moveit-setup-srdf-plugins (2.12.4-1noble.20260412.081346) ... +#6 222.3 Setting up ros-jazzy-moveit-setup-core-plugins (2.12.4-1noble.20260412.081346) ... +#6 222.3 Setting up ros-jazzy-moveit-setup-controllers (2.12.4-1noble.20260412.081203) ... +#6 222.4 Setting up ros-jazzy-moveit-setup-app-plugins (2.12.4-1noble.20260412.082330) ... +#6 222.4 Setting up ros-jazzy-moveit-setup-assistant (2.12.4-1noble.20260412.085049) ... +#6 222.4 Setting up ros-jazzy-moveit (2.12.4-1noble.20260412.090945) ... +#6 222.4 Processing triggers for libc-bin (2.39-0ubuntu8.7) ... +#6 222.7 + rm -rf /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble-backports_InRelease /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble-backports_main_binary-amd64_Packages.lz4 /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble-backports_multiverse_binary-amd64_Packages.lz4 /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble-backports_universe_binary-amd64_Packages.lz4 /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble-updates_InRelease /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble-updates_main_binary-amd64_Packages.lz4 /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble-updates_multiverse_binary-amd64_Packages.lz4 /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble-updates_restricted_binary-amd64_Packages.lz4 /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble-updates_universe_binary-amd64_Packages.lz4 /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble_InRelease /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble_main_binary-amd64_Packages.lz4 /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble_multiverse_binary-amd64_Packages.lz4 /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble_restricted_binary-amd64_Packages.lz4 /var/lib/apt/lists/archive.ubuntu.com_ubuntu_dists_noble_universe_binary-amd64_Packages.lz4 /var/lib/apt/lists/auxfiles /var/lib/apt/lists/lock /var/lib/apt/lists/packages.ros.org_ros2_ubuntu_dists_noble_InRelease /var/lib/apt/lists/packages.ros.org_ros2_ubuntu_dists_noble_main_binary-amd64_Packages.lz4 /var/lib/apt/lists/partial /var/lib/apt/lists/security.ubuntu.com_ubuntu_dists_noble-security_InRelease /var/lib/apt/lists/security.ubuntu.com_ubuntu_dists_noble-security_main_binary-amd64_Packages.lz4 /var/lib/apt/lists/security.ubuntu.com_ubuntu_dists_noble-security_multiverse_binary-amd64_Packages.lz4 /var/lib/apt/lists/security.ubuntu.com_ubuntu_dists_noble-security_restricted_binary-amd64_Packages.lz4 /var/lib/apt/lists/security.ubuntu.com_ubuntu_dists_noble-security_universe_binary-amd64_Packages.lz4 +#6 DONE 223.4s + +#7 [ 3/19] RUN /opt/ros/jazzy/lib/mavros/install_geographiclib_datasets.sh +#7 0.970 Installing GeographicLib geoids egm96-5 +#7 5.834 Installing GeographicLib gravity egm96 +#7 7.059 Installing GeographicLib magnetic emm2015 +#7 DONE 13.0s + +#8 [ 4/19] WORKDIR /isaac-sim +#8 DONE 0.1s + +#9 [ 5/19] RUN mkdir -p /isaac-sim/.local/share/ov/pkg/ && ln -s /isaac-sim /isaac-sim/.local/share/ov/pkg/isaac-sim-5.1.0 +#9 DONE 0.2s + +#10 [ 6/19] RUN /isaac-sim/python.sh -m pip install --no-cache-dir --upgrade pip && /isaac-sim/python.sh -m pip install --no-cache-dir git+https://github.com/dronekit/dronekit-python#egg=dronekit && /isaac-sim/python.sh -m pip install --no-cache-dir PyYAML mavproxy tmuxp scipy kconfiglib jinja2 empy==3.3.4 jsonschema pyros-genmsg packaging toml numpy future sgp4 pymap3d +#10 1.613 Requirement already satisfied: pip in ./kit/python/lib/python3.11/site-packages (24.3.1) +#10 16.64 WARNING: Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='pypi.org', port=443): Read timed out. (read timeout=15)")': /simple/pip/ +#10 32.17 WARNING: Retrying (Retry(total=3, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='pypi.org', port=443): Read timed out. (read timeout=15)")': /simple/pip/ +#10 48.20 WARNING: Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='pypi.org', port=443): Read timed out. (read timeout=15)")': /simple/pip/ +#10 48.29 Collecting pip +#10 63.33 WARNING: Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata +#10 78.86 WARNING: Retrying (Retry(total=3, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata +#10 94.88 WARNING: Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata +#10 111.9 WARNING: Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata +#10 130.9 WARNING: Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata +#10 146.0 ERROR: Could not install packages due to an OSError: HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Max retries exceeded with url: /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata (Caused by ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")) +#10 146.0 +#10 151.1 There was an error running python +#10 ERROR: process "/bin/sh -c /isaac-sim/python.sh -m pip install --no-cache-dir --upgrade pip && /isaac-sim/python.sh -m pip install --no-cache-dir git+https://github.com/dronekit/dronekit-python#egg=dronekit && /isaac-sim/python.sh -m pip install --no-cache-dir PyYAML mavproxy tmuxp scipy kconfiglib jinja2 empy==3.3.4 jsonschema pyros-genmsg packaging toml numpy future sgp4 pymap3d" did not complete successfully: exit code: 1 +------ + > [ 6/19] RUN /isaac-sim/python.sh -m pip install --no-cache-dir --upgrade pip && /isaac-sim/python.sh -m pip install --no-cache-dir git+https://github.com/dronekit/dronekit-python#egg=dronekit && /isaac-sim/python.sh -m pip install --no-cache-dir PyYAML mavproxy tmuxp scipy kconfiglib jinja2 empy==3.3.4 jsonschema pyros-genmsg packaging toml numpy future sgp4 pymap3d: +48.20 WARNING: Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='pypi.org', port=443): Read timed out. (read timeout=15)")': /simple/pip/ +48.29 Collecting pip +63.33 WARNING: Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata +78.86 WARNING: Retrying (Retry(total=3, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata +94.88 WARNING: Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata +111.9 WARNING: Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata +130.9 WARNING: Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")': /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata +146.0 ERROR: Could not install packages due to an OSError: HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Max retries exceeded with url: /packages/5d/95/6b5cb3461ea5673ba0995989746db58eb18b91b54dbf331e72f569540946/pip-26.1.2-py3-none-any.whl.metadata (Caused by ReadTimeoutError("HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Read timed out. (read timeout=15)")) +146.0 +151.1 There was an error running python +------ + + 1 warning found (use docker --debug to expand): + - UndefinedVar: Usage of undefined variable '$LD_LIBRARY_PATH' (line 93) +Dockerfile.isaac-ros:107 +-------------------- + 106 | # install python packages + 107 | >>> RUN /isaac-sim/python.sh -m pip install --no-cache-dir --upgrade pip && \ + 108 | >>> /isaac-sim/python.sh -m pip install --no-cache-dir git+https://github.com/dronekit/dronekit-python#egg=dronekit && \ + 109 | >>> /isaac-sim/python.sh -m pip install --no-cache-dir PyYAML mavproxy tmuxp scipy \ + 110 | >>> kconfiglib jinja2 empy==3.3.4 jsonschema pyros-genmsg packaging toml numpy future \ + 111 | >>> sgp4 pymap3d + 112 | +-------------------- +ERROR: failed to build: failed to solve: process "/bin/sh -c /isaac-sim/python.sh -m pip install --no-cache-dir --upgrade pip && /isaac-sim/python.sh -m pip install --no-cache-dir git+https://github.com/dronekit/dronekit-python#egg=dronekit && /isaac-sim/python.sh -m pip install --no-cache-dir PyYAML mavproxy tmuxp scipy kconfiglib jinja2 empy==3.3.4 jsonschema pyros-genmsg packaging toml numpy future sgp4 pymap3d" did not complete successfully: exit code: 1 diff --git a/common/ros_packages/desktop_bringup/rviz/robot.rviz b/common/ros_packages/desktop_bringup/rviz/robot.rviz index e231c869e..bdc448d6f 100644 --- a/common/ros_packages/desktop_bringup/rviz/robot.rviz +++ b/common/ros_packages/desktop_bringup/rviz/robot.rviz @@ -63,6 +63,19 @@ Visualization Manager: Plane Cell Count: 100 Reference Frame: Value: true + - Class: rviz_default_plugins/Marker + Enabled: true + Name: GPS Degradation Quality + Namespaces: + gps_degradation: true + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: gps/degradation_marker + Value: true - Class: rviz_default_plugins/TF Enabled: true Filter (blacklist): "" @@ -254,7 +267,7 @@ Visualization Manager: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: sensors/front_stereo/right/image_rect Value: true - Class: rviz_default_plugins/Image @@ -268,7 +281,7 @@ Visualization Manager: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: sensors/front_stereo/right/depth_ground_truth Value: true - Alpha: 1 @@ -375,7 +388,7 @@ Visualization Manager: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: perception/stereo_image_proc/point_cloud Use Fixed Frame: true Use rainbow: true diff --git a/gcs/docker/Dockerfile.gcs b/gcs/docker/Dockerfile.gcs index 63bccb34d..024159631 100644 --- a/gcs/docker/Dockerfile.gcs +++ b/gcs/docker/Dockerfile.gcs @@ -21,8 +21,17 @@ RUN apt-get -o Acquire::AllowInsecureRepositories=true -o Acquire::AllowDowngrad ros-jazzy-rosbag2-storage-mcap ros-jazzy-plotjuggler \ && rm -rf /var/lib/apt/lists/* -# Install Python dependencies +# setuptools must be <80 for Jazzy: https://github.com/ros2/ros2/issues/1702#issuecomment-3007929996 +# Pin it first so subsequent installs see the right version. +RUN pip3 install --break-system-packages --force-reinstall "setuptools==79.0.1" + +# Install Python dependencies. +# --prefer-binary avoids source compilation failures (lxml, scipy). +# --timeout / --retries guard against transient network issues. RUN pip3 install --break-system-packages \ + --prefer-binary \ + --timeout 120 \ + --retries 5 \ empy \ future \ lxml \ @@ -35,8 +44,6 @@ RUN pip3 install --break-system-packages \ pymavlink \ pyyaml \ requests \ - # setup tools must be <80 for Jazzy https://github.com/ros2/ros2/issues/1702#issuecomment-3007929996 - setuptools==79.0.1 \ six \ toml \ scipy \ diff --git a/gcs/docker/gcs-base-docker-compose.yaml b/gcs/docker/gcs-base-docker-compose.yaml index c8ac5200e..7e05741df 100644 --- a/gcs/docker/gcs-base-docker-compose.yaml +++ b/gcs/docker/gcs-base-docker-compose.yaml @@ -11,7 +11,7 @@ services: - *gcs_image command: > bash -c " - ssh service restart; + service ssh restart; python3 /root/AirStack/gcs/foxglove_extensions/install.py; python3 /root/AirStack/gcs/foxglove_extensions/render_layout.py; tmux new -d -s bringup; @@ -20,14 +20,6 @@ services: fi; sleep infinity" # Interactive shell - deploy: - # let it use the GPU - resources: - reservations: - devices: - - capabilities: [gpu] - count: 1 - driver: nvidia entrypoint: '' environment: - AUTOLAUNCH=${AUTOLAUNCH:-false} @@ -65,4 +57,4 @@ services: - ../../common/fastdds.xml:/root/AirStack/gcs/ros_ws/src/fastdds.xml - ../ros_ws:/root/AirStack/gcs/ros_ws:rw # bags - - ../bags:/bags:rw \ No newline at end of file + - ../bags:/bags:rw diff --git a/robot/ros_ws/flight_monitor.py b/robot/ros_ws/flight_monitor.py new file mode 100644 index 000000000..d9fee48a4 --- /dev/null +++ b/robot/ros_ws/flight_monitor.py @@ -0,0 +1,231 @@ +#!/usr/bin/env python3 +""" +Flight monitor — logs drone position, GPS degradation state, arm state, and +navigation phase to CSV and prints a live formatted console table. + +Subscribes (domain 0, GCS bridge): + /robot_1/gps/degradation_state Float32MultiArray + /robot_1/sensors/gps NavSatFix (raw Pegasus GPS → PX4) + /robot_1/sensors/gps_degraded NavSatFix (OU-corrupted GPS → PX4) + +Subscribes (domain 1, robot): + /robot_1/interface/mavros/state State + /robot_1/interface/mavros/local_position/odom Odometry + /robot_1/interface/mavros/global_position/global NavSatFix + +Run inside robot container: + docker exec -it airstack-robot-desktop-1 bash -lc \\ + 'ROS_DOMAIN_ID=0 python3 /root/AirStack/robot/ros_ws/flight_monitor.py' + +CSV is written to /tmp/flight_.csv +""" +from __future__ import annotations +import csv, math, os, threading, time +from datetime import datetime + +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy +from std_msgs.msg import Float32MultiArray +from sensor_msgs.msg import NavSatFix +from nav_msgs.msg import Odometry +from mavros_msgs.msg import State + +# ── QoS profiles ───────────────────────────────────────────────────────────── +SENSOR_QOS = QoSProfile( + depth=1, + reliability=ReliabilityPolicy.BEST_EFFORT, + durability=DurabilityPolicy.VOLATILE, + history=HistoryPolicy.KEEP_LAST, +) +RELIABLE_QOS = QoSProfile( + depth=10, + reliability=ReliabilityPolicy.RELIABLE, + durability=DurabilityPolicy.VOLATILE, +) + +# ── State name maps ─────────────────────────────────────────────────────────── +GPS_STATE = {0:"OPEN_SKY", 1:"DEGRADED", 2:"MARGINAL", 3:"DENIED", 4:"RECOVERY"} +SYS_STATUS = {0:"UNINIT", 1:"BOOT", 2:"CALIBRATING", 3:"STANDBY", + 4:"ACTIVE", 5:"CRITICAL", 6:"EMERGENCY", 7:"POWEROFF"} +EARTH_R = 6_371_000.0 + +def haversine_m(lat1, lon1, lat2, lon2): + dlat = math.radians(lat2 - lat1) + dlon = math.radians(lon2 - lon1) + mlat = math.radians((lat1 + lat2) / 2) + return math.sqrt((EARTH_R * dlat)**2 + (EARTH_R * math.cos(mlat) * dlon)**2) + + +class FlightMonitor(Node): + def __init__(self, csv_writer): + super().__init__("flight_monitor") + self._w = csv_writer + self._t0 = time.monotonic() + self._lock = threading.Lock() + + # ── live data stores ────────────────────────────────────────────────── + self._state: State | None = None + self._odom: Odometry | None = None + self._gps_raw: NavSatFix | None = None + self._gps_deg: NavSatFix | None = None + self._gps_mav: NavSatFix | None = None + self._deg_arr: list | None = None # Float32MultiArray.data + + # All on domain 0 (GCS bridge passes everything through) + self.create_subscription(Float32MultiArray, + "/robot_1/gps/degradation_state", self._cb_deg_state, RELIABLE_QOS) + self.create_subscription(NavSatFix, + "/robot_1/sensors/gps", self._cb_raw, SENSOR_QOS) + self.create_subscription(NavSatFix, + "/robot_1/sensors/gps_degraded", self._cb_deg, SENSOR_QOS) + self.create_subscription(NavSatFix, + "/robot_1/interface/mavros/global_position/global", + self._cb_mav_gps, SENSOR_QOS) + self.create_subscription(State, + "/robot_1/interface/mavros/state", self._cb_state, RELIABLE_QOS) + self.create_subscription(Odometry, + "/robot_1/interface/mavros/local_position/odom", + self._cb_odom, SENSOR_QOS) + + self.create_timer(1.0, self._print_row) + self.get_logger().info("Flight monitor started. Writing to CSV…") + + # ── callbacks ───────────────────────────────────────────────────────────── + + def _cb_deg_state(self, msg: Float32MultiArray): + with self._lock: + self._deg_arr = list(msg.data) if len(msg.data) >= 9 else None + + def _cb_raw(self, msg: NavSatFix): + with self._lock: self._gps_raw = msg + + def _cb_deg(self, msg: NavSatFix): + with self._lock: self._gps_deg = msg + + def _cb_mav_gps(self, msg: NavSatFix): + with self._lock: self._gps_mav = msg + + def _cb_state(self, msg: State): + with self._lock: self._state = msg + + def _cb_odom(self, msg: Odometry): + with self._lock: self._odom = msg + + # ── periodic log ────────────────────────────────────────────────────────── + + def _print_row(self): + with self._lock: + t = time.monotonic() - self._t0 + st = self._state + od = self._odom + raw = self._gps_raw + deg = self._gps_deg + mav = self._gps_mav + arr = self._deg_arr + + # ── extract values with safe defaults ───────────────────────────────── + armed = st.armed if st else False + mode = st.mode if st else "?" + sys_s = st.system_status if st else 0 + sys_name = SYS_STATUS.get(sys_s, str(sys_s)) + + # Local ENU position (map frame, relative to takeoff) + x = od.pose.pose.position.x if od else 0.0 + y = od.pose.pose.position.y if od else 0.0 + z = od.pose.pose.position.z if od else 0.0 + + # Velocity + vx = od.twist.twist.linear.x if od else 0.0 + vy = od.twist.twist.linear.y if od else 0.0 + vz = od.twist.twist.linear.z if od else 0.0 + speed = math.sqrt(vx**2 + vy**2 + vz**2) + + # GPS degradation + gps_state_id = int(arr[0]) if arr else -1 + gps_state_name = GPS_STATE.get(gps_state_id, "?") if arr else "NO_DATA" + n_los = int(arr[1]) if arr else 0 + hdop = float(arr[2]) if arr else 0.0 + vdop = float(arr[3]) if arr else 0.0 + eph_m = float(arr[4]) if arr else 0.0 + epv_m = float(arr[5]) if arr else 0.0 + dlat = float(arr[6]) if arr else 0.0 + dlon = float(arr[7]) if arr else 0.0 + dalt = float(arr[8]) if arr else 0.0 + + # Horizontal position error injected (raw vs degraded GPS in metres) + horiz_err = 0.0 + if raw and deg and raw.latitude != 0: + horiz_err = haversine_m(raw.latitude, raw.longitude, + deg.latitude, deg.longitude) + vert_err = abs(deg.altitude - raw.altitude) if (deg and raw) else 0.0 + + # PX4 EKF position (MAVROS global → lat/lon) + px4_lat = mav.latitude if mav else 0.0 + px4_lon = mav.longitude if mav else 0.0 + px4_alt = mav.altitude if mav else 0.0 + + # ── console output ──────────────────────────────────────────────────── + arm_str = "ARMED " if armed else "disarmd" + color = { + "OPEN_SKY": "\033[92m", "DEGRADED": "\033[93m", + "MARGINAL": "\033[33m", "DENIED": "\033[91m", + "RECOVERY": "\033[94m", "NO_DATA": "\033[90m", + }.get(gps_state_name, "\033[0m") + reset = "\033[0m" + + print( + f"[{t:7.1f}s] {arm_str} | {mode:<12} | sys={sys_name:<10} | " + f"ENU=({x:6.1f},{y:6.1f},{z:5.1f})m spd={speed:.1f}m/s | " + f"{color}GPS:{gps_state_name:<9}{reset} LOS={n_los:2d} " + f"HDOP={hdop:.2f} EPH={eph_m:.1f}m | " + f"Δhoriz={horiz_err:.2f}m Δalt={dalt:+.2f}m" + ) + + # ── CSV row ─────────────────────────────────────────────────────────── + self._w.writerow([ + f"{t:.2f}", int(armed), mode, sys_s, sys_name, + f"{x:.3f}", f"{y:.3f}", f"{z:.3f}", f"{speed:.3f}", + gps_state_id, gps_state_name, + n_los, f"{hdop:.3f}", f"{vdop:.3f}", + f"{eph_m:.3f}", f"{epv_m:.3f}", + f"{dlat:.8f}", f"{dlon:.8f}", f"{dalt:.4f}", + f"{horiz_err:.4f}", f"{vert_err:.4f}", + f"{px4_lat:.8f}", f"{px4_lon:.8f}", f"{px4_alt:.3f}", + ]) + + +def main(): + rclpy.init() + + stamp = datetime.now().strftime("%Y%m%d_%H%M%S") + csv_path = f"/tmp/flight_{stamp}.csv" + fh = open(csv_path, "w", newline="") + writer = csv.writer(fh) + writer.writerow([ + "t_s", "armed", "mode", "sys_status_id", "sys_status", + "x_m", "y_m", "z_m", "speed_ms", + "gps_state_id", "gps_state", + "n_los", "hdop", "vdop", "eph_m", "epv_m", + "delta_lat", "delta_lon", "delta_alt_m", + "actual_horiz_err_m", "actual_vert_err_m", + "px4_lat", "px4_lon", "px4_alt_m", + ]) + + print(f"\n[flight_monitor] Logging to {csv_path}") + print(f"{'Time':>8} | {'Arm':7} | {'Mode':12} | {'System':10} | {'ENU Position':30} | {'GPS State':35} | {'Error':25}") + print("-" * 130) + + node = FlightMonitor(writer) + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + fh.close() + print(f"\n[flight_monitor] CSV saved → {csv_path}") + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/robot/ros_ws/gps_degradation_eval.py b/robot/ros_ws/gps_degradation_eval.py new file mode 100644 index 000000000..0bdcc4d11 --- /dev/null +++ b/robot/ros_ws/gps_degradation_eval.py @@ -0,0 +1,444 @@ +#!/usr/bin/env python3 +""" +GPS Degradation Evaluation — live comparison of raw vs degraded GPS with +expected vs actual error metrics. + +Subscribes to: + /robot_1/sensors/gps — raw NavSatFix (Pegasus ground-truth position) + /robot_1/sensors/gps_degraded — NavSatFix after OU noise injection + /robot_1/gps/degradation_state — Float32MultiArray [state,n_los,hdop,vdop,eph,epv,dlat,dlon,dalt] + +Metrics computed: + actual_horiz_error — horizontal distance between raw and degraded GPS (metres) + actual_vert_error — |alt_degraded - alt_raw| (metres) + expected_horiz_error— EPH reported by the degradation model (= UERE × HDOP) + error_ratio — actual / expected (1.0 = perfectly calibrated) + +Also saves a CSV log to /tmp/gps_eval_.csv for offline analysis. + +Run inside the robot container: + docker exec -it airstack-robot-desktop-1 bash -lc \\ + 'ROS_DOMAIN_ID=0 python3 /root/AirStack/simulation/isaac-sim/gps_degradation_eval.py' +""" +import collections +import csv +import math +import os +import threading +import time +from datetime import datetime + +import matplotlib +matplotlib.use("TkAgg") +import matplotlib.pyplot as plt +import matplotlib.patches as mpatches +import matplotlib.gridspec as gridspec +import numpy as np + +import rclpy +from rclpy.node import Node +from rclpy.qos import qos_profile_sensor_data +from std_msgs.msg import Float32MultiArray +from sensor_msgs.msg import NavSatFix + +# ── Constants ──────────────────────────────────────────────────────────────── +WINDOW_S = 120 +BUF = 10_000 + +STATE_NAMES = {0: "OPEN_SKY", 1: "DEGRADED", 2: "MARGINAL", 3: "DENIED", 4: "RECOVERY"} +STATE_COLORS = {0: "#2ecc71", 1: "#f1c40f", 2: "#e67e22", 3: "#e74c3c", 4: "#3498db"} + +# Float32MultiArray field indices +I_STATE, I_NLOS, I_HDOP, I_VDOP = 0, 1, 2, 3 +I_EPH, I_EPV, I_DLAT, I_DLON, I_DALT = 4, 5, 6, 7, 8 + +EARTH_R = 6_371_000.0 # metres + + +def haversine_m(lat1, lon1, lat2, lon2): + """Horizontal distance in metres between two geodetic points.""" + dlat = math.radians(lat2 - lat1) + dlon = math.radians(lon2 - lon1) + mlat = math.radians((lat1 + lat2) / 2.0) + north = EARTH_R * dlat + east = EARTH_R * math.cos(mlat) * dlon + return math.sqrt(north * north + east * east) + + +# ── ROS 2 subscriber node ──────────────────────────────────────────────────── + +class EvalNode(Node): + def __init__(self, buf: dict): + super().__init__("gps_degradation_eval_node") + self._buf = buf + self._t0 = time.monotonic() + + # Latest raw / degraded GPS (held until both arrive for the same epoch) + self._raw = None + self._deg = None + self._lock = threading.Lock() + + self.create_subscription( + NavSatFix, "/robot_1/sensors/gps", + self._raw_cb, qos_profile_sensor_data) + self.create_subscription( + NavSatFix, "/robot_1/sensors/gps_degraded", + self._deg_cb, qos_profile_sensor_data) + self.create_subscription( + Float32MultiArray, "/robot_1/gps/degradation_state", + self._state_cb, 10) + + self.get_logger().info( + "GPS eval node listening on /robot_1/sensors/gps, " + "/robot_1/sensors/gps_degraded, /robot_1/gps/degradation_state") + + # ── callbacks ───────────────────────────────────────────────────────────── + + def _raw_cb(self, msg: NavSatFix): + with self._lock: + self._raw = msg + + def _deg_cb(self, msg: NavSatFix): + with self._lock: + self._deg = msg + self._try_fuse() + + def _state_cb(self, msg: Float32MultiArray): + d = msg.data + if len(d) < 9: + return + with self._lock: + self._buf["state_latest"] = d + + def _try_fuse(self): + """Called each time a degraded GPS arrives — fuse with latest raw.""" + with self._lock: + raw = self._raw + deg = self._deg + state = self._buf.get("state_latest") + + if raw is None or deg is None or state is None: + return + + # Skip if raw has no fix + if raw.status.status < 0: + return + + t = time.monotonic() - self._t0 + + # ── Actual errors ──────────────────────────────────────────────────── + horiz_err = haversine_m(raw.latitude, raw.longitude, + deg.latitude, deg.longitude) + vert_err = abs(deg.altitude - raw.altitude) + + # ── Expected errors from model ──────────────────────────────────────── + eph = float(state[I_EPH]) + epv = float(state[I_EPV]) + + # Ratio: how close is actual to what the model predicted + # Clamp denominator to avoid /0 at startup + ratio_h = horiz_err / max(eph, 0.01) + ratio_v = vert_err / max(epv, 0.01) + + gps_state = int(state[I_STATE]) + n_los = float(state[I_NLOS]) + hdop = float(state[I_HDOP]) + vdop = float(state[I_VDOP]) + dlat = float(state[I_DLAT]) + dlon = float(state[I_DLON]) + dalt = float(state[I_DALT]) + + # ── Append to ring buffers ──────────────────────────────────────────── + b = self._buf + b["t"].append(t) + b["state"].append(gps_state) + b["n_los"].append(n_los) + b["hdop"].append(hdop) + b["vdop"].append(vdop) + b["eph"].append(eph) + b["epv"].append(epv) + b["horiz_err"].append(horiz_err) + b["vert_err"].append(vert_err) + b["ratio_h"].append(ratio_h) + b["ratio_v"].append(ratio_v) + b["raw_lat"].append(raw.latitude) + b["raw_lon"].append(raw.longitude) + b["deg_lat"].append(deg.latitude) + b["deg_lon"].append(deg.longitude) + b["dalt"].append(dalt) + + # ── CSV log ─────────────────────────────────────────────────────────── + writer = self._buf.get("csv_writer") + if writer: + writer.writerow([ + f"{t:.3f}", gps_state, STATE_NAMES.get(gps_state, "?"), + n_los, f"{hdop:.3f}", f"{vdop:.3f}", + f"{horiz_err:.4f}", f"{vert_err:.4f}", + f"{eph:.4f}", f"{epv:.4f}", + f"{ratio_h:.4f}", f"{ratio_v:.4f}", + f"{raw.latitude:.8f}", f"{raw.longitude:.8f}", f"{raw.altitude:.3f}", + f"{deg.latitude:.8f}", f"{deg.longitude:.8f}", f"{deg.altitude:.3f}", + f"{dlat:.8f}", f"{dlon:.8f}", f"{dalt:.4f}", + ]) + + +# ── Plot ───────────────────────────────────────────────────────────────────── + +def build_figure(): + fig = plt.figure(figsize=(16, 12)) + fig.patch.set_facecolor("#1a1a2e") + gs = gridspec.GridSpec( + 3, 2, + figure=fig, + hspace=0.42, wspace=0.32, + left=0.07, right=0.97, top=0.91, bottom=0.06, + ) + + axes = { + "state": fig.add_subplot(gs[0, :]), # full-width top + "err": fig.add_subplot(gs[1, 0]), + "ratio": fig.add_subplot(gs[1, 1]), + "dop": fig.add_subplot(gs[2, 0]), + "track": fig.add_subplot(gs[2, 1]), + } + + style = dict(facecolor="#16213e", framealpha=0.9) + for ax in axes.values(): + ax.set_facecolor("#16213e") + ax.tick_params(colors="#cccccc", labelsize=8) + ax.xaxis.label.set_color("#aaaaaa") + ax.yaxis.label.set_color("#aaaaaa") + for spine in ax.spines.values(): + spine.set_edgecolor("#444466") + + return fig, axes + + +def make_lines(axes): + kw = dict(lw=1.5) + lines = {} + + # ── State panel ────────────────────────────────────────────────────────── + ax = axes["state"] + ax.set_ylabel("GPS State", color="#aaaaaa", fontsize=9) + ax.set_yticks([0, 1, 2, 3, 4]) + ax.set_yticklabels( + ["OPEN_SKY", "DEGRADED", "MARGINAL", "DENIED", "RECOVERY"], + fontsize=8, color="#cccccc") + ax.set_ylim(-0.5, 4.5) + lines["state"], = ax.plot([], [], "o-", ms=2, color="#a29bfe", **kw) + + # ── Error panel ─────────────────────────────────────────────────────────── + ax = axes["err"] + ax.set_title("Actual vs Expected Error", color="#eeeeee", fontsize=9) + ax.set_ylabel("Error (m)", color="#aaaaaa", fontsize=9) + ax.set_ylim(0, 15) + lines["horiz_err"], = ax.plot([], [], color="#e74c3c", label="Actual horiz", **kw) + lines["vert_err"], = ax.plot([], [], color="#e74c3c", ls=":", lw=1.1, label="Actual vert") + lines["eph"], = ax.plot([], [], color="#f39c12", ls="--", label="Expected (EPH)") + lines["epv"], = ax.plot([], [], color="#f39c12", ls=":", lw=1.0, label="Expected (EPV)") + ax.legend(fontsize=7, loc="upper left", + facecolor="#1a1a2e", edgecolor="#444466", labelcolor="#cccccc") + + # ── Ratio panel ─────────────────────────────────────────────────────────── + ax = axes["ratio"] + ax.set_title("Calibration: Actual / Expected", color="#eeeeee", fontsize=9) + ax.set_ylabel("Ratio (1.0 = perfect)", color="#aaaaaa", fontsize=9) + ax.set_ylim(0, 4) + ax.axhline(1.0, color="#2ecc71", ls="--", lw=1.0, alpha=0.8, label="Perfect calibration") + ax.axhspan(0.5, 1.5, color="#2ecc71", alpha=0.07) # ±50% band + lines["ratio_h"], = ax.plot([], [], color="#00cec9", label="Horiz ratio", **kw) + lines["ratio_v"], = ax.plot([], [], color="#00cec9", ls=":", lw=1.1, label="Vert ratio") + ax.legend(fontsize=7, loc="upper left", + facecolor="#1a1a2e", edgecolor="#444466", labelcolor="#cccccc") + + # ── DOP panel ───────────────────────────────────────────────────────────── + ax = axes["dop"] + ax.set_title("HDOP / n_LOS", color="#eeeeee", fontsize=9) + ax.set_ylabel("HDOP", color="#aaaaaa", fontsize=9) + ax2 = ax.twinx() + ax2.set_ylabel("n_LOS sats", color="#74b9ff", fontsize=8) + ax2.tick_params(colors="#74b9ff", labelsize=8) + ax2.set_facecolor("#16213e") + lines["hdop"], = ax.plot( [], [], color="#fdcb6e", label="HDOP", **kw) + lines["n_los"], = ax2.plot([], [], color="#74b9ff", label="n_LOS", lw=1.2) + ax.set_ylim(0, 10) + ax2.set_ylim(0, 55) + ax.axhline(5.0, color="#e74c3c", ls="--", lw=0.7, alpha=0.6) + ax.axhline(3.0, color="#e67e22", ls="--", lw=0.7, alpha=0.6) + ax.axhline(1.5, color="#f1c40f", ls="--", lw=0.7, alpha=0.6) + lines["_ax2"] = ax2 # store twin for xlim sync + + # ── Ground-track panel ──────────────────────────────────────────────────── + ax = axes["track"] + ax.set_title("Ground Track (ENU offset from first fix)", color="#eeeeee", fontsize=9) + ax.set_xlabel("East (m)", color="#aaaaaa", fontsize=9) + ax.set_ylabel("North (m)", color="#aaaaaa", fontsize=9) + ax.set_aspect("equal", "datalim") + lines["raw_track"], = ax.plot([], [], color="#2ecc71", lw=1.2, label="Raw GPS") + lines["deg_track"], = ax.plot([], [], color="#e74c3c", lw=1.0, ls="--", label="Degraded GPS") + ax.legend(fontsize=7, loc="upper left", + facecolor="#1a1a2e", edgecolor="#444466", labelcolor="#cccccc") + + return lines + + +def latlon_to_enu(lats, lons, lat0, lon0): + """Convert arrays of lat/lon to local ENU (metres) relative to origin.""" + dlat = np.radians(np.array(lats) - lat0) + dlon = np.radians(np.array(lons) - lon0) + mlat = math.radians(lat0) + north = EARTH_R * dlat + east = EARTH_R * math.cos(mlat) * dlon + return east, north + + +def update_plot(buf, fig, axes, lines, window_s): + if len(buf["t"]) < 2: + return + + t_arr = np.array(buf["t"]) + t_min = max(0.0, t_arr[-1] - window_s) + mask = t_arr >= t_min + t_w = t_arr[mask] + + def w(k): + return np.array(buf[k])[mask] + + states = w("state") + n_los = w("n_los") + hdop = w("hdop") + eph = w("eph") + epv = w("epv") + horiz = w("horiz_err") + vert = w("vert_err") + ratio_h = w("ratio_h") + ratio_v = w("ratio_v") + raw_lats = w("raw_lat") + raw_lons = w("raw_lon") + deg_lats = w("deg_lat") + deg_lons = w("deg_lon") + + # ── State background colouring ──────────────────────────────────────────── + ax_s = axes["state"] + ax_s.collections.clear() + if len(t_w) > 1: + for i in range(len(t_w) - 1): + ax_s.axvspan(t_w[i], t_w[i + 1], + color=STATE_COLORS.get(int(states[i]), "#555555"), + alpha=0.28, lw=0) + lines["state"].set_data(t_w, states) + ax_s.set_xlim(t_w[0], max(t_w[-1], t_w[0] + 10)) + + # ── Error panel ─────────────────────────────────────────────────────────── + lines["horiz_err"].set_data(t_w, horiz) + lines["vert_err"].set_data(t_w, vert) + lines["eph"].set_data(t_w, eph) + lines["epv"].set_data(t_w, epv) + ax = axes["err"] + ax.set_xlim(t_w[0], t_w[-1] + 1) + ax.set_ylim(0, max(max(horiz.max(), eph.max()) * 1.3, 2.0)) + + # ── Ratio panel ─────────────────────────────────────────────────────────── + # Clip extreme spikes for display + rh_disp = np.clip(ratio_h, 0, 6) + rv_disp = np.clip(ratio_v, 0, 6) + lines["ratio_h"].set_data(t_w, rh_disp) + lines["ratio_v"].set_data(t_w, rv_disp) + ax = axes["ratio"] + ax.set_xlim(t_w[0], t_w[-1] + 1) + ax.set_ylim(0, max(rh_disp.max() * 1.2, 2.5)) + + # ── DOP panel ───────────────────────────────────────────────────────────── + lines["hdop"].set_data(t_w, hdop) + lines["n_los"].set_data(t_w, n_los) + ax = axes["dop"] + ax.set_xlim(t_w[0], t_w[-1] + 1) + ax.set_ylim(0, max(hdop.max() * 1.3, 3.0)) + lines["_ax2"].set_xlim(t_w[0], t_w[-1] + 1) + + # ── Ground track ────────────────────────────────────────────────────────── + if len(raw_lats) > 1 and raw_lats[0] != 0: + lat0, lon0 = raw_lats[0], raw_lons[0] + re, rn = latlon_to_enu(raw_lats, raw_lons, lat0, lon0) + de, dn = latlon_to_enu(deg_lats, deg_lons, lat0, lon0) + lines["raw_track"].set_data(re, rn) + lines["deg_track"].set_data(de, dn) + axes["track"].relim() + axes["track"].autoscale_view() + + # ── Super title with live numbers ───────────────────────────────────────── + cur_state = STATE_NAMES.get(int(states[-1]), "?") + col = STATE_COLORS.get(int(states[-1]), "#ffffff") + fig.suptitle( + f"GPS Degradation Evaluation · " + f"State: {cur_state} · " + f"n_LOS: {int(n_los[-1])} · HDOP: {hdop[-1]:.2f} · " + f"Actual Δhoriz: {horiz[-1]:.2f}m · Expected EPH: {eph[-1]:.2f}m · " + f"Ratio: {ratio_h[-1]:.2f}", + fontsize=10, fontweight="bold", color=col, + y=0.97, + ) + + fig.canvas.draw_idle() + + +def main(): + rclpy.init() + + buf = {k: collections.deque(maxlen=BUF) for k in ( + "t", "state", "n_los", "hdop", "vdop", + "eph", "epv", "horiz_err", "vert_err", + "ratio_h", "ratio_v", + "raw_lat", "raw_lon", "deg_lat", "deg_lon", "dalt", + )} + buf["state_latest"] = None + + # ── CSV log ─────────────────────────────────────────────────────────────── + csv_path = f"/tmp/gps_eval_{datetime.now().strftime('%Y%m%d_%H%M%S')}.csv" + csv_fh = open(csv_path, "w", newline="") + writer = csv.writer(csv_fh) + writer.writerow([ + "t_s", "state_id", "state_name", + "n_los", "hdop", "vdop", + "actual_horiz_m", "actual_vert_m", + "expected_eph_m", "expected_epv_m", + "ratio_horiz", "ratio_vert", + "raw_lat", "raw_lon", "raw_alt", + "deg_lat", "deg_lon", "deg_alt", + "delta_lat", "delta_lon", "delta_alt_m", + ]) + buf["csv_writer"] = writer + print(f"[eval] Logging to {csv_path}") + + node = EvalNode(buf) + spin_thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True) + spin_thread.start() + + # ── Matplotlib ──────────────────────────────────────────────────────────── + fig, axes = build_figure() + lines = make_lines(axes) + + # State legend + patches = [mpatches.Patch(color=c, label=n) for n, c in + [("OPEN_SKY","#2ecc71"),("DEGRADED","#f1c40f"), + ("MARGINAL","#e67e22"),("DENIED","#e74c3c"),("RECOVERY","#3498db")]] + fig.legend(handles=patches, ncol=5, loc="lower center", + fontsize=8, bbox_to_anchor=(0.5, 0.0), + facecolor="#1a1a2e", edgecolor="#444466", labelcolor="#eeeeee") + + plt.ion() + plt.show() + + try: + while plt.get_fignums(): + update_plot(buf, fig, axes, lines, WINDOW_S) + plt.pause(0.5) + finally: + csv_fh.close() + print(f"[eval] CSV saved → {csv_path}") + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/robot/ros_ws/gps_degradation_plot.py b/robot/ros_ws/gps_degradation_plot.py new file mode 100644 index 000000000..7a845add2 --- /dev/null +++ b/robot/ros_ws/gps_degradation_plot.py @@ -0,0 +1,199 @@ +#!/usr/bin/env python3 +""" +Live GPS degradation plot — subscribes to /robot_1/gps/degradation_state +and produces a rolling time-series graph. + +Run inside the robot container: + docker exec -it airstack-robot-desktop-1 bash -lc \ + 'ROS_DOMAIN_ID=0 python3 /root/AirStack/simulation/isaac-sim/gps_degradation_plot.py' + +Or on the host (if ROS 2 is sourced): + python3 gps_degradation_plot.py +""" +import sys +import collections +import threading +import time + +import matplotlib +matplotlib.use("TkAgg") # change to "Qt5Agg" if TkAgg not available +import matplotlib.pyplot as plt +import matplotlib.patches as mpatches +import numpy as np + +import rclpy +from rclpy.node import Node +from std_msgs.msg import Float32MultiArray + +# ── Field indices in Float32MultiArray.data ───────────────────────────────── +# [state, n_los, hdop, vdop, eph_m, epv_m, delta_lat, delta_lon, delta_alt] +I_STATE = 0 +I_NLOS = 1 +I_HDOP = 2 +I_VDOP = 3 +I_EPH = 4 +I_EPV = 5 +I_DLAT = 6 +I_DLON = 7 +I_DALT = 8 + +STATE_NAMES = {0: "OPEN_SKY", 1: "DEGRADED", 2: "MARGINAL", 3: "DENIED", 4: "RECOVERY"} +STATE_COLORS = {0: "#2ecc71", 1: "#f1c40f", 2: "#e67e22", 3: "#e74c3c", 4: "#3498db"} + +WINDOW_S = 120 # how many seconds of history to show +TOPIC = "/robot_1/gps/degradation_state" +BUF = 10_000 # max data points + + +class GPSDegradationSubscriber(Node): + def __init__(self, buf: dict): + super().__init__("gps_degradation_plot_node") + self._buf = buf + self._t0 = time.monotonic() + self.create_subscription(Float32MultiArray, TOPIC, self._cb, 10) + self.get_logger().info(f"Listening on {TOPIC}") + + def _cb(self, msg: Float32MultiArray): + d = msg.data + if len(d) < 9: + return + t = time.monotonic() - self._t0 + self._buf["t"].append(t) + self._buf["state"].append(int(d[I_STATE])) + self._buf["n_los"].append(float(d[I_NLOS])) + self._buf["hdop"].append(float(d[I_HDOP])) + self._buf["vdop"].append(float(d[I_VDOP])) + self._buf["eph"].append(float(d[I_EPH])) + self._buf["epv"].append(float(d[I_EPV])) + self._buf["dalt"].append(float(d[I_DALT])) + + +def _spin(node): + rclpy.spin(node) + + +def main(): + rclpy.init() + + buf = {k: collections.deque(maxlen=BUF) + for k in ("t", "state", "n_los", "hdop", "vdop", "eph", "epv", "dalt")} + + node = GPSDegradationSubscriber(buf) + t = threading.Thread(target=_spin, args=(node,), daemon=True) + t.start() + + # ── Figure layout ──────────────────────────────────────────────────────── + fig, axes = plt.subplots(4, 1, figsize=(14, 10), sharex=True) + fig.suptitle("GPS Degradation — Live Monitor", fontsize=13, fontweight="bold") + ax_state, ax_los, ax_dop, ax_err = axes + + # State panel (categorical background colouring) + ax_state.set_ylabel("GPS State", fontsize=9) + ax_state.set_yticks([0, 1, 2, 3, 4]) + ax_state.set_yticklabels(["OPEN_SKY", "DEGRADED", "MARGINAL", "DENIED", "RECOVERY"], fontsize=8) + ax_state.set_ylim(-0.5, 4.5) + (line_state,) = ax_state.plot([], [], "o-", ms=3, lw=1.5, color="#8e44ad") + + # n_LOS panel + ax_los.set_ylabel("Satellites (n_LOS)", fontsize=9) + ax_los.set_ylim(0, 60) + ax_los.axhline(y=4, color="#e74c3c", ls="--", lw=0.8, label="DENIED (≤4)") + ax_los.axhline(y=6, color="#e67e22", ls="--", lw=0.8, label="MARGINAL (≤6)") + ax_los.axhline(y=8, color="#f1c40f", ls="--", lw=0.8, label="DEGRADED (≤8 or HDOP≥1.5)") + ax_los.legend(fontsize=7, loc="upper right") + (line_los,) = ax_los.plot([], [], lw=1.5, color="#2980b9") + + # DOP panel + ax_dop.set_ylabel("DOP", fontsize=9) + ax_dop.set_ylim(0, 10) + ax_dop.axhline(y=5.0, color="#e74c3c", ls="--", lw=0.8, label="DENIED HDOP≥5") + ax_dop.axhline(y=3.0, color="#e67e22", ls="--", lw=0.8, label="MARGINAL HDOP≥3") + ax_dop.axhline(y=1.5, color="#f1c40f", ls="--", lw=0.8, label="DEGRADED HDOP≥1.5") + ax_dop.legend(fontsize=7, loc="upper right") + (line_hdop,) = ax_dop.plot([], [], lw=1.5, color="#e67e22", label="HDOP") + (line_vdop,) = ax_dop.plot([], [], lw=1.0, color="#95a5a6", ls=":", label="VDOP") + ax_dop.legend(fontsize=7, loc="upper right") + + # EPH / position error panel + ax_err.set_ylabel("Error (m)", fontsize=9) + ax_err.set_xlabel("Time (s)", fontsize=9) + ax_err.set_ylim(0, 30) + (line_eph,) = ax_err.plot([], [], lw=1.5, color="#e74c3c", label="EPH (horiz)") + (line_epv,) = ax_err.plot([], [], lw=1.0, color="#c0392b", ls=":", label="EPV (vert)") + (line_dalt,) = ax_err.plot([], [], lw=1.0, color="#8e44ad", ls="--", label="Δalt OU drift") + ax_err.legend(fontsize=7, loc="upper right") + + # State colour legend at bottom + patches = [mpatches.Patch(color=c, label=n) for n, c in + [("OPEN_SKY", "#2ecc71"), ("DEGRADED", "#f1c40f"), + ("MARGINAL", "#e67e22"), ("DENIED", "#e74c3c"), ("RECOVERY", "#3498db")]] + fig.legend(handles=patches, ncol=5, loc="lower center", fontsize=8, + bbox_to_anchor=(0.5, 0.0)) + + plt.tight_layout(rect=[0, 0.04, 1, 1]) + plt.ion() + plt.show() + + # ── Update loop ────────────────────────────────────────────────────────── + while plt.get_fignums(): + if len(buf["t"]) < 2: + plt.pause(0.5) + continue + + t_arr = np.array(buf["t"]) + t_min = max(0.0, t_arr[-1] - WINDOW_S) + mask = t_arr >= t_min + t_w = t_arr[mask] + + def _w(key): + a = np.array(buf[key]) + return a[mask] + + states = _w("state") + n_los = _w("n_los") + hdop = _w("hdop") + vdop = _w("vdop") + eph = _w("eph") + epv = _w("epv") + dalt = _w("dalt") + + # Colour background of state panel by GPS state + ax_state.collections.clear() + if len(t_w) > 1: + for i in range(len(t_w) - 1): + ax_state.axvspan(t_w[i], t_w[i + 1], + color=STATE_COLORS.get(int(states[i]), "#bdc3c7"), + alpha=0.25, lw=0) + + line_state.set_data(t_w, states) + line_los.set_data(t_w, n_los) + line_hdop.set_data(t_w, hdop) + line_vdop.set_data(t_w, vdop) + line_eph.set_data(t_w, eph) + line_epv.set_data(t_w, epv) + line_dalt.set_data(t_w, np.abs(dalt)) + + x_min, x_max = t_w[0], max(t_w[-1], t_w[0] + 10) + for ax in axes: + ax.set_xlim(x_min, x_max) + ax_dop.set_ylim(0, min(max(hdop.max() * 1.3, 6.0), 20.0)) + ax_err.set_ylim(0, min(max(eph.max() * 1.3, 5.0), 60.0)) + + # Live title with current values + cur_state = STATE_NAMES.get(int(states[-1]), "?") + fig.suptitle( + f"GPS Degradation Monitor | " + f"State: {cur_state} n_LOS: {int(n_los[-1])} " + f"HDOP: {hdop[-1]:.2f} EPH: {eph[-1]:.1f}m Δalt: {dalt[-1]:+.2f}m", + fontsize=11, fontweight="bold", + color=STATE_COLORS.get(int(states[-1]), "#2c3e50"), + ) + + fig.canvas.draw_idle() + plt.pause(0.5) + + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/robot/ros_ws/src/autonomy_bringup/onboard_all/config/dds_router.yaml b/robot/ros_ws/src/autonomy_bringup/onboard_all/config/dds_router.yaml index 8a4e1a379..e4ccd65da 100644 --- a/robot/ros_ws/src/autonomy_bringup/onboard_all/config/dds_router.yaml +++ b/robot/ros_ws/src/autonomy_bringup/onboard_all/config/dds_router.yaml @@ -32,6 +32,11 @@ allowlist: - name: "rt/$(env ROBOT_NAME)/sensors/front_stereo/right/depth_ground_truth" - name: "rt/$(env ROBOT_NAME)/perception/stereo_image_proc/point_cloud" + # GPS degradation monitoring from Isaac Sim (GCS domain 0 -> robot domain) + - name: "rt/$(env ROBOT_NAME)/gps/degradation_state" + - name: "rt/$(env ROBOT_NAME)/gps/degradation_marker" + - name: "rt/$(env ROBOT_NAME)/sensors/gps_degraded" + # state information - name: "rt/$(env ROBOT_NAME)/odometry_conversion/odometry" - name: "rt/$(env ROBOT_NAME)/interface/mavros/global_position/global" diff --git a/robot/ros_ws/src/global/world_models/vdb_mapping_ros2 b/robot/ros_ws/src/global/world_models/vdb_mapping_ros2 index 2d6d171c1..1e9174d32 160000 --- a/robot/ros_ws/src/global/world_models/vdb_mapping_ros2 +++ b/robot/ros_ws/src/global/world_models/vdb_mapping_ros2 @@ -1 +1 @@ -Subproject commit 2d6d171c186cfbef8dbe8d17416e4f9618511db6 +Subproject commit 1e9174d325e9d1a5af679341161990448decb8be diff --git a/robot/ros_ws/src/interface/mavros_interface/src/mavros_interface.cpp b/robot/ros_ws/src/interface/mavros_interface/src/mavros_interface.cpp index 04ee93502..94a73b1d0 100644 --- a/robot/ros_ws/src/interface/mavros_interface/src/mavros_interface.cpp +++ b/robot/ros_ws/src/interface/mavros_interface/src/mavros_interface.cpp @@ -36,7 +36,9 @@ #include #include +#include #include +#include #include #include #include @@ -628,15 +630,19 @@ namespace mavros_interface bool arm() override { + // Note: PX4 SITL in Pegasus/Isaac Sim always reports system_status=0 + // (MAV_STATE_UNINIT) in the HEARTBEAT even when fully operational. + // mode=AUTO.LOITER with guided=true is the reliable indicator that + // PX4 is ready. Do not gate on system_status — just send the command. auto request = std::make_shared(); request->value = true; auto result = arming_client_->async_send_request(request); - std::cout << "waiting arm" << std::endl; + RCLCPP_INFO(this->get_logger(), "arm(): sending arm command…"); result.wait(); - std::cout << "done arm" << std::endl; - - return result.get()->success; + bool ok = result.get()->success; + RCLCPP_INFO(this->get_logger(), "arm(): %s", ok ? "ARMED" : "REJECTED by PX4"); + return ok; } bool disarm() override diff --git a/robot/ros_ws/src/local/planners/takeoff_landing_planner/config/takeoff_landing_planner.yaml b/robot/ros_ws/src/local/planners/takeoff_landing_planner/config/takeoff_landing_planner.yaml index 1a7fc8ed7..cbf8aeec7 100644 --- a/robot/ros_ws/src/local/planners/takeoff_landing_planner/config/takeoff_landing_planner.yaml +++ b/robot/ros_ws/src/local/planners/takeoff_landing_planner/config/takeoff_landing_planner.yaml @@ -2,9 +2,9 @@ ros__parameters: takeoff_height: 8.0 high_takeoff_height: 8.0 - takeoff_velocity: 1.0 + takeoff_velocity: 0.5 landing_velocity: 0.3 - takeoff_acceptance_distance: 0.3 + takeoff_acceptance_distance: 0.5 takeoff_acceptance_time: 1.0 landing_stationary_distance: 0.02 landing_acceptance_time: 5.0 diff --git a/robot/ros_ws/src/perception/macvo_ros2/macvo_ros2/macvo b/robot/ros_ws/src/perception/macvo_ros2/macvo_ros2/macvo index 8683b532d..92a191dc6 160000 --- a/robot/ros_ws/src/perception/macvo_ros2/macvo_ros2/macvo +++ b/robot/ros_ws/src/perception/macvo_ros2/macvo_ros2/macvo @@ -1 +1 @@ -Subproject commit 8683b532d6f6e8981f6b1a646fb5f52f02c1ea61 +Subproject commit 92a191dc601ec71c8d1c1a19b55b3a900103595c diff --git a/robot/ros_ws/waypoints_1/metadata.yaml b/robot/ros_ws/waypoints_1/metadata.yaml new file mode 100644 index 000000000..2172216dc --- /dev/null +++ b/robot/ros_ws/waypoints_1/metadata.yaml @@ -0,0 +1,30 @@ +rosbag2_bagfile_information: + version: 9 + storage_identifier: sqlite3 + duration: + nanoseconds: 0 + starting_time: + nanoseconds_since_epoch: 1781116433958925855 + message_count: 1 + topics_with_message_count: + - topic_metadata: + name: waypoints + type: nav_msgs/msg/Path + serialization_format: cdr + offered_qos_profiles: + [] + type_description_hash: "" + message_count: 1 + compression_format: "" + compression_mode: "" + relative_file_paths: + - waypoints_1_new_0.db3 + files: + - path: waypoints_1_new_0.db3 + starting_time: + nanoseconds_since_epoch: 1781116433958925855 + duration: + nanoseconds: 0 + message_count: 2 + custom_data: ~ + ros_distro: jazzy \ No newline at end of file diff --git a/robot/ros_ws/waypoints_1/waypoints_1_0.db3 b/robot/ros_ws/waypoints_1/waypoints_1_0.db3 new file mode 100644 index 000000000..e69de29bb diff --git a/robot/ros_ws/waypoints_1/waypoints_1_new_0.db3 b/robot/ros_ws/waypoints_1/waypoints_1_new_0.db3 new file mode 100644 index 000000000..68b6244cb Binary files /dev/null and b/robot/ros_ws/waypoints_1/waypoints_1_new_0.db3 differ diff --git a/robot/ros_ws/write_canyon_waypoints.py b/robot/ros_ws/write_canyon_waypoints.py new file mode 100644 index 000000000..0c7c8265c --- /dev/null +++ b/robot/ros_ws/write_canyon_waypoints.py @@ -0,0 +1,97 @@ +#!/usr/bin/env python3 +""" +Write GPS-degradation canyon test waypoints to the waypoints_1 ROS2 bag. + +Run inside the robot container: + docker exec airstack-robot-desktop-1 bash -lc \ + 'source /root/AirStack/robot/ros_ws/install/setup.bash && \ + python3 /root/AirStack/robot/ros_ws/write_canyon_waypoints.py' +""" +import sqlite3 +from rclpy.serialization import serialize_message +from nav_msgs.msg import Path +from geometry_msgs.msg import PoseStamped +from builtin_interfaces.msg import Time + +# ── CCity scene geometry after launch transforms ──────────────────────────── +# The city USD is Y-up and authored in centimetres. The Isaac launch applies +# scale=0.01 and rotate_x=90°, so ROS/map coordinates are ENU: +# x ≈ original X * 0.01, y ≈ -original Z * 0.01, z ≈ original Y * 0.01 +# +# Measured transformed scene bounds: +# overall: x=[-36.35, 16.20], y=[-0.89, 21.14], z=[0.00, 3.00] +# building blocks: mostly x=[-35, 6], y=[7.3, 19.5], z=[0.02, 3.00] +# +# Route design: +# Fly the street gaps at y=6.6, 13.5, 16.8 and vertical corridors centered +# near x=-6.7, -13.5, -21.8, -27.0, -33.8. These points avoid measured +# building bounding boxes but keep the drone low enough for realistic +# satellite line-of-sight blockage. + +WAYPOINTS = [ + # Phase 1: enter the city from open south road. + ( 4.0, 6.6, 2.2), + ( -6.7, 6.6, 2.2), + + # Phase 2: first narrow vertical canyon. + ( -6.7, 13.5, 2.2), + (-13.5, 13.5, 2.2), + (-13.5, 6.6, 2.2), + + # Phase 3: deeper west-side canyons between dense building rows. + (-21.8, 6.6, 2.2), + (-21.8, 13.5, 2.2), + (-27.0, 13.5, 2.2), + (-27.0, 6.6, 2.2), + + # Phase 4: far-west block pass, then return through the northern street. + (-33.8, 6.6, 2.2), + (-33.8, 13.5, 2.2), + (-27.0, 16.8, 2.2), + (-21.8, 16.8, 2.2), + (-13.5, 16.8, 2.2), + ( -6.7, 16.8, 2.2), + ( -0.5, 13.5, 2.2), + ( 4.0, 13.5, 2.2), +] + +DB = "/root/AirStack/robot/ros_ws/waypoints_1/waypoints_1_new_0.db3" + + +def build_path(): + path = Path() + path.header.frame_id = "map" + path.header.stamp = Time(sec=0, nanosec=0) + for x, y, z in WAYPOINTS: + ps = PoseStamped() + ps.header = path.header + ps.pose.position.x = float(x) + ps.pose.position.y = float(y) + ps.pose.position.z = float(z) + ps.pose.orientation.w = 1.0 + path.poses.append(ps) + return path + + +def main(): + path = build_path() + data = serialize_message(path) + + conn = sqlite3.connect(DB) + cur = conn.cursor() + cur.execute("DELETE FROM messages") + cur.execute( + "INSERT INTO messages (topic_id, timestamp, data) VALUES (1, 1933129956791, ?)", + (data,), + ) + conn.commit() + conn.close() + + print(f"Written {len(WAYPOINTS)} waypoints to {DB}") + for i, (x, y, z) in enumerate(WAYPOINTS): + tag = "" + print(f" WP{i+1:02d}: x={x:6.1f} y={y:5.1f} z={z:.1f}m") + + +if __name__ == "__main__": + main() diff --git a/simulation/isaac-sim/data/beidou_ops.tle b/simulation/isaac-sim/data/beidou_ops.tle new file mode 100644 index 000000000..c8855e0df --- /dev/null +++ b/simulation/isaac-sim/data/beidou_ops.tle @@ -0,0 +1,162 @@ +BEIDOU-2 IGSO-1 (C06) +1 36828U 10036A 26152.94873624 -.00000053 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26152.44686388 -.00000080 00000+0 00000+0 0 9998 +2 43565 57.1815 342.2090 0001798 261.1771 98.8165 1.70475874 48947 +GSAT0219 (GALILEO 23) +1 43566U 18060C 26152.08119390 -.00000082 00000+0 00000+0 0 9995 +2 43566 57.1776 342.2201 0002466 333.1759 26.8259 1.70476109 48911 +GSAT0220 (GALILEO 24) +1 43567U 18060D 26149.95584502 -.00000087 00000+0 00000+0 0 9994 +2 43567 57.1765 342.2774 0002478 325.6585 34.3438 1.70476128 48869 +GSAT0223 (GALILEO 27) +1 49809U 21116A 26152.45081590 -.00000080 00000+0 00000+0 0 9996 +2 49809 57.1649 342.0998 0001008 179.2401 2.8148 1.70476346 27912 +GSAT0224 (GALILEO 28) +1 49810U 21116B 26152.84978400 -.00000079 00000+0 00000+0 0 9994 +2 49810 57.1667 342.0878 0000821 134.5472 44.9862 1.70476406 27945 +GSAT0225 (GALILEO 29) +1 59598U 24079A 26152.57275095 -.00000001 00000+0 00000+0 0 9994 +2 59598 55.1101 101.5164 0001982 291.1404 71.5895 1.70474354 13059 +GSAT0227 (GALILEO 30) +1 59600U 24079C 26152.16505219 -.00000003 00000+0 00000+0 0 9999 +2 59600 55.1054 101.5262 0001780 38.5347 321.4234 1.70474226 13090 +GSAT0232 (GALILEO 32) +1 61182U 24167A 26152.33460535 .00000036 00000+0 00000+0 0 9990 +2 61182 55.1890 221.7488 0005893 225.7487 93.8248 1.70474614 10605 +GSAT0226 (GALILEO 31) +1 61183U 24167B 26152.29795924 .00000036 00000+0 00000+0 0 9999 +2 61183 55.1877 221.7571 0002535 221.4508 166.9721 1.70474619 10581 +GSAT0233 (GALILEO 33) +1 67160U 25302A 26151.50807814 -.00000004 00000+0 00000+0 0 9993 +2 67160 54.3253 102.6060 0001385 237.6729 122.4766 1.70474448 2843 +GSAT0234 (GALILEO 34) +1 67162U 25302C 26150.34627911 -.00000007 00000+0 00000+0 0 9997 +2 67162 54.3263 102.6382 0003414 302.0807 245.1486 1.70474422 2879 diff --git a/simulation/isaac-sim/data/glonass_ops.tle b/simulation/isaac-sim/data/glonass_ops.tle new file mode 100644 index 000000000..1a400b415 --- /dev/null +++ b/simulation/isaac-sim/data/glonass_ops.tle @@ -0,0 +1,84 @@ +COSMOS 2433 (720) +1 32275U 07052A 26152.43012319 -.00000056 00000+0 00000+0 0 9992 +2 32275 65.5859 316.4630 0001912 186.6021 173.3829 2.13104242144729 +COSMOS 2432 (719) +1 32276U 07052B 26152.47921043 -.00000055 00000+0 00000+0 0 9999 +2 32276 65.6026 316.5890 0007962 335.3326 6.2477 2.13103259144740 +COSMOS 2434 (721) +1 32393U 07065A 26152.22687244 .00000075 00000+0 00000+0 0 9999 +2 32393 64.3166 192.4542 0001059 349.8570 104.1167 2.13101477143437 +COSMOS 2436 (723) +1 32395U 07065C 26152.48376193 .00000073 00000+0 00000+0 0 9995 +2 32395 64.3249 192.5174 0017138 355.3995 68.0347 2.13100308143396 +COSMOS 2456 (730) +1 36111U 09070A 26152.53706269 -.00000033 00000+0 00000+0 0 9997 +2 36111 65.0030 71.5051 0005236 325.3129 164.6820 2.13103742128098 +COSMOS 2457 (733) +1 36112U 09070B 26152.36949904 -.00000035 00000+0 00000+0 0 9996 +2 36112 64.9882 71.3550 0002165 128.3261 0.6710 2.13101224128090 +COSMOS 2460 (732) +1 36402U 10007C 26147.50482167 -.00000063 00000+0 00000+0 0 9994 +2 36402 65.4349 315.1661 0002254 94.4404 264.5388 2.13101719126289 +COSMOS 2476 (744) +1 37867U 11064A 26152.25530625 -.00000033 00000+0 00000+0 0 9992 +2 37867 65.2619 73.4084 0023210 240.4700 301.7034 2.13103858113423 +COSMOS 2477 (745) +1 37868U 11064B 26152.40339044 -.00000032 00000+0 00000+0 0 9991 +2 37868 65.2682 73.4826 0020238 241.8611 234.3037 2.13103016113421 +COSMOS 2475 (743) +1 37869U 11064C 26152.55562069 -.00000030 00000+0 00000+0 0 9991 +2 37869 65.2754 73.4990 0026080 254.2394 293.8980 2.13101912113432 +COSMOS 2485 (747) +1 39155U 13019A 26151.95516299 -.00000035 00000+0 00000+0 0 9995 +2 39155 65.4114 74.1486 0023512 235.4958 124.2835 2.13103328101937 +COSMOS 2492 (754) +1 39620U 14012A 26151.91406110 -.00000059 00000+0 00000+0 0 9998 +2 39620 65.3071 314.4882 0010628 327.4533 32.4663 2.13103432 94891 +COSMOS 2500 (755) +1 40001U 14032A 26152.08402469 -.00000058 00000+0 00000+0 0 9996 +2 40001 65.2426 314.2309 0006799 181.6646 178.3186 2.13106079 93114 +COSMOS 2501 (702K) +1 40315U 14075A 26152.34593022 .00000074 00000+0 00000+0 0 9993 +2 40315 63.6152 190.9204 0022439 212.0230 147.9218 2.13101490 89519 +COSMOS 2514 (751) +1 41330U 16008A 26152.33032016 -.00000056 00000+0 00000+0 0 9990 +2 41330 65.0317 313.5506 0010665 197.0675 162.8817 2.13102797 80284 +COSMOS 2522 (752) +1 42939U 17055A 26152.16819038 .00000075 00000+0 00000+0 0 9997 +2 42939 64.0773 192.4297 0010510 239.6255 120.3542 2.13101993 67637 +COSMOS 2527 (756) +1 43508U 18053A 26152.12975028 -.00000033 00000+0 00000+0 0 9992 +2 43508 65.5695 74.4421 0007441 243.4315 116.4940 2.13102189 61939 +COSMOS 2529 (757) +1 43687U 18086A 26152.22639838 .00000074 00000+0 00000+0 0 9997 +2 43687 64.2939 193.1335 0011721 256.1123 103.8415 2.13102114 58943 +COSMOS 2534 (758) +1 44299U 19030A 26152.75623552 .00000071 00000+0 00000+0 0 9998 +2 44299 64.3675 193.1362 0013130 275.2169 265.7708 2.13102488 54593 +COSMOS 2544 (759) +1 44850U 19088A 26152.07446355 -.00000034 00000+0 00000+0 0 9993 +2 44850 65.5577 74.2677 0013729 260.3922 99.4546 2.13102032 50373 +COSMOS 2545 (760) +1 45358U 20018A 26151.33103356 -.00000063 00000+0 00000+0 0 9993 +2 45358 64.3655 313.0104 0007745 232.2226 127.6915 2.13102625 48308 +COSMOS 2547 (705K) +1 46805U 20075A 26152.45898882 .00000073 00000+0 00000+0 0 9993 +2 46805 64.5982 193.0008 0009130 239.1969 120.7967 2.13100326 43571 +COSMOS 2557 (706K) +1 52984U 22075A 26151.21557931 -.00000064 00000+0 00000+0 0 9991 +2 52984 64.3090 315.0826 0010089 277.5106 82.3609 2.13102242 30359 +COSMOS 2559 (707K) +1 54031U 22130A 26151.97369020 -.00000061 00000+0 00000+0 0 9998 +2 54031 64.2818 315.1401 0012220 176.8765 183.1177 2.13101759 28340 +COSMOS 2564 (761) +1 54377U 22161A 26152.28631418 .00000074 00000+0 00000+0 0 9996 +2 54377 64.7404 193.2396 0011960 223.8717 136.1173 2.13102109 27294 +COSMOS 2569 (703K) +1 57517U 23114A 26152.29864015 -.00000033 00000+0 00000+0 0 9992 +2 57517 65.2936 73.1561 0011276 296.7158 63.1736 2.13103832 21929 +COSMOS 2584 (704K) +1 63130U 25042A 26151.24698447 -.00000044 00000+0 00000+0 0 9992 +2 63130 65.0752 73.3776 0005920 230.3550 129.5914 2.13103967 9683 +COSMOS 2596 (708K) +1 65590U 25206B 26149.68459361 -.00000068 00000+0 00000+0 0 9997 +2 65590 64.6467 315.6290 0011151 314.6394 43.2361 2.13100909 5510 diff --git a/simulation/isaac-sim/data/gps_ops.tle b/simulation/isaac-sim/data/gps_ops.tle new file mode 100644 index 000000000..1a5dfd0e1 --- /dev/null +++ b/simulation/isaac-sim/data/gps_ops.tle @@ -0,0 +1,96 @@ +GPS BIIR-5 (PRN 22) +1 26407U 00040A 26147.59134796 .00000022 00000+0 00000+0 0 9999 +2 26407 54.8543 215.9805 0121308 302.3806 230.5789 2.00557585189534 +GPS BIIR-8 (PRN 16) +1 27663U 03005A 26147.19509756 .00000017 00000+0 00000+0 0 9990 +2 27663 54.8855 215.8029 0147939 53.0251 329.5555 2.00561751170893 +GPS BIIR-11 (PRN 19) +1 28190U 04009A 26147.41071382 -.00000082 00000+0 00000+0 0 9998 +2 28190 54.8477 276.5263 0115206 172.1743 159.7064 2.00555451162523 +GPS BIIR-13 (PRN 02) +1 28474U 04045A 26148.12399921 -.00000094 00000+0 00000+0 0 9997 +2 28474 55.1483 325.7038 0169822 315.9036 235.9644 2.00555108158021 +GPS BIIRM-1 (PRN 17) +1 28874U 05038A 26147.37932212 -.00000080 00000+0 00000+0 0 9991 +2 28874 54.8957 274.0169 0127749 296.0244 40.9901 2.00567173151411 +GPS BIIRM-2 (PRN 31) +1 29486U 06042A 26147.07056722 .00000093 00000+0 00000+0 0 9990 +2 29486 54.7077 152.1771 0106259 53.9498 318.2551 2.00571081143979 +GPS BIIRM-3 (PRN 12) +1 29601U 06052A 26147.47749796 .00000023 00000+0 00000+0 0 9997 +2 29601 54.9366 214.8273 0085564 90.6521 270.3981 2.00557107142993 +GPS BIIRM-4 (PRN 15) +1 32260U 07047A 26147.78227869 -.00000057 00000+0 00000+0 0 9991 +2 32260 54.0808 80.9064 0165936 86.9886 274.8778 2.00556315136406 +GPS BIIRM-5 (PRN 29) +1 32384U 07062A 26147.84669517 -.00000079 00000+0 00000+0 0 9996 +2 32384 55.0486 274.9701 0035340 164.3080 9.2788 2.00558925135107 +GPS BIIRM-6 (PRN 07) +1 32711U 08012A 26147.19685597 .00000091 00000+0 00000+0 0 9993 +2 32711 54.4942 150.7631 0210776 247.5721 110.2082 2.00571922133333 +GPS BIIRM-8 (PRN 05) +1 35752U 09043A 26147.69460721 -.00000105 00000+0 00000+0 0 9998 +2 35752 56.1978 28.2565 0053558 82.3610 288.3452 2.00555469122951 +GPS BIIF-1 (PRN 25) +1 36585U 10022A 26147.58046323 .00000036 00000+0 00000+0 0 9990 +2 36585 54.2720 209.3923 0126337 66.1084 340.1399 2.00561459117183 +GPS BIIF-3 (PRN 24) +1 38833U 12053A 26147.87501702 .00000078 00000+0 00000+0 0 9999 +2 38833 53.5821 144.4312 0179232 65.4768 296.3959 2.00567192 99036 +GPS BIIF-4 (PRN 27) +1 39166U 13023A 26147.74138878 -.00000075 00000+0 00000+0 0 9991 +2 39166 54.5205 269.8063 0141717 50.9299 310.3062 2.00563677 95473 +GPS BIIF-5 (PRN 30) +1 39533U 14008A 26147.24423220 .00000088 00000+0 00000+0 0 9999 +2 39533 53.6510 150.1738 0084180 230.9118 128.3626 2.00558501 89264 +GPS BIIF-6 (PRN 06) +1 39741U 14026A 26147.51963622 -.00000090 00000+0 00000+0 0 9999 +2 39741 56.5083 332.3218 0038390 326.8827 32.8879 2.00562632 88126 +GPS BIIF-7 (PRN 09) +1 40105U 14045A 26148.10967074 -.00000041 00000+0 00000+0 0 9993 +2 40105 55.3408 89.2645 0032525 118.5074 241.7855 2.00557119 85672 +GPS BIIF-8 (PRN 03) +1 40294U 14068A 26146.98410646 -.00000106 00000+0 00000+0 0 9991 +2 40294 56.9735 31.7715 0066462 69.8246 290.9254 2.00575033 84782 +GPS BIIF-9 (PRN 26) +1 40534U 15013A 26148.11832032 .00000049 00000+0 00000+0 0 9998 +2 40534 53.1695 205.0077 0109160 40.0464 320.8356 2.00552564 81424 +GPS BIIF-10 (PRN 08) +1 40730U 15033A 26147.28002439 -.00000076 00000+0 00000+0 0 9996 +2 40730 53.9992 267.9482 0115020 30.1346 330.5075 2.00557313 79574 +GPS BIIF-11 (PRN 10) +1 41019U 15062A 26146.83836244 -.00000106 00000+0 00000+0 0 9992 +2 41019 56.9454 31.6335 0111455 231.2672 127.7673 2.00567097 77408 +GPS BIIF-12 (PRN 32) +1 41328U 16007A 26147.42650294 -.00000033 00000+0 00000+0 0 9999 +2 41328 55.5120 90.2823 0096090 247.3175 111.6320 2.00552742 75424 +GPS BIII-1 (PRN 04) +1 43873U 18109A 26147.31437646 -.00000026 00000+0 00000+0 0 9995 +2 43873 55.6703 93.0096 0038079 198.4622 334.2506 2.00560829 54654 +GPS BIII-2 (PRN 18) +1 44506U 19056A 26147.94599442 -.00000093 00000+0 00000+0 0 9997 +2 44506 55.6423 331.9461 0060928 197.3122 334.5638 2.00569744 49667 +GPS BIII-3 (PRN 23) +1 45854U 20041A 26146.10547824 -.00000108 00000+0 00000+0 0 9991 +2 45854 56.6562 29.7996 0063077 204.8081 17.3989 2.00559306 43594 +GPS BIII-4 (PRN 14) +1 46826U 20078A 26147.56611101 .00000031 00000+0 00000+0 0 9996 +2 46826 53.9822 211.6149 0072576 206.6909 325.8061 2.00565013 41091 +GPS BIII-5 (PRN 11) +1 48859U 21054A 26137.34480044 -.00000068 00000+0 00000+0 0 9995 +2 48859 55.1880 333.6992 0024563 229.1333 308.8673 2.00570737 36130 +GPS BIII-6 (PRN 28) +1 55268U 23009A 26148.14450831 .00000084 00000+0 00000+0 0 9997 +2 55268 55.1203 149.3062 0006198 315.6745 138.5428 2.00572996 24843 +GPS BIII-7 (PRN 01) +1 62339U 24242A 26143.66691069 -.00000087 00000+0 00000+0 0 9990 +2 62339 54.8596 335.1744 0017373 3.8345 179.6490 2.00571082 10768 +GPS BIII-8 (PRN 21) +1 64202U 25116A 26147.40359831 -.00000107 00000+0 00000+0 0 9999 +2 64202 55.2210 31.9663 0008512 336.5821 207.5323 2.00577525 7454 +GPS BIII-9 (PRN 20) +1 67588U 26017A 26145.76206805 -.00000018 00000+0 00000+0 0 9990 +2 67588 55.0748 89.6548 0022675 256.5527 103.1658 2.00571624431165 +GPS BIII-10 (PRN 13) +1 68791U 26087A 26139.48610789 .00000028 00000+0 00000+0 0 9996 +2 68791 54.9639 208.9229 0005154 271.7816 81.6763 2.00570690 255 diff --git a/simulation/isaac-sim/docker/.bashrc b/simulation/isaac-sim/docker/.bashrc index 307b84d70..c9b6acde6 100644 --- a/simulation/isaac-sim/docker/.bashrc +++ b/simulation/isaac-sim/docker/.bashrc @@ -131,7 +131,7 @@ export RMW_IMPLEMENTATION=rmw_fastrtps_cpp export ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET # Use python from Isaac Sim interpreter (Kit Python ~3.10) to avoid conflicts with ROS2 Python (Jazzy Python ~3.12). -export ISAAC_SIM_PYTHONPATH=$(echo "${PYTHONPATH:-}" | tr ':' '\n' | grep -v 'lib/python3.12/site-packages' | paste -sd ':' -):/isaac-sim/exts/isaacsim.ros2.bridge/jazzy/rclpy +export ISAAC_SIM_PYTHONPATH=/opt/gps_packages/sgp4-2.25-py3-none-any:/opt/gps_packages/pymap3d-3.2.0-py3-none-any:/isaac-sim/AirStack/simulation/isaac-sim:$(echo "${PYTHONPATH:-}" | tr ':' '\n' | grep -v 'lib/python3.12/site-packages' | paste -sd ':' -):/isaac-sim/exts/isaacsim.ros2.bridge/jazzy/rclpy # --- Isaac Setup --- alias runapp="/isaac-sim/runapp.sh --path omniverse://airlab-nucleus.andrew.cmu.edu/Library/Assets/Ascent_Aerosystems/Spirit_UAV/spirit_uav_red_yellow.prop.usd" diff --git a/simulation/isaac-sim/docker/Dockerfile.isaac-ros b/simulation/isaac-sim/docker/Dockerfile.isaac-ros index 0dca11fb7..dbed6a7e0 100644 --- a/simulation/isaac-sim/docker/Dockerfile.isaac-ros +++ b/simulation/isaac-sim/docker/Dockerfile.isaac-ros @@ -107,7 +107,8 @@ RUN mkdir -p /isaac-sim/.local/share/ov/pkg/ && \ RUN /isaac-sim/python.sh -m pip install --no-cache-dir --upgrade pip && \ /isaac-sim/python.sh -m pip install --no-cache-dir git+https://github.com/dronekit/dronekit-python#egg=dronekit && \ /isaac-sim/python.sh -m pip install --no-cache-dir PyYAML mavproxy tmuxp scipy \ - kconfiglib jinja2 empy==3.3.4 jsonschema pyros-genmsg packaging toml numpy future + kconfiglib jinja2 empy==3.3.4 jsonschema pyros-genmsg packaging toml numpy future \ + pymap3d sgp4 ARG isaac_dir_name="IsaacSim-ros_workspaces-IsaacSim-${ISAAC_VERSION}" # Install Isaac Sim ROS2 workspace so that we can run the isaacsim ROS package @@ -167,7 +168,7 @@ RUN /isaac-sim/python.sh -m pip install --no-cache-dir lark-parser RUN git clone --depth 1 https://github.com/tmux-plugins/tpm /isaac-sim/.tmux/plugins/tpm # copy FastDDS config -COPY docker/fastdds.xml /isaac-sim/.ros/fastdds.xml +COPY simulation/isaac-sim/docker/fastdds.xml /isaac-sim/.ros/fastdds.xml ENV OMNI_KIT_ALLOW_ROOT=1 ENV PRIVACY_CONSENT=Y ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp @@ -178,4 +179,4 @@ ENV ISAACSIM_PYTHON=/isaac-sim/python.sh # set home folder to /isaac-sim RUN sed -i 's|^root:x:0:0:root:/root:|root:x:0:0:root:/isaac-sim:|' /etc/passwd -WORKDIR /isaac-sim \ No newline at end of file +WORKDIR /isaac-sim diff --git a/simulation/isaac-sim/docker/docker-compose.yaml b/simulation/isaac-sim/docker/docker-compose.yaml index a1b40ae56..516cc4bc7 100644 --- a/simulation/isaac-sim/docker/docker-compose.yaml +++ b/simulation/isaac-sim/docker/docker-compose.yaml @@ -42,6 +42,11 @@ services: - NUM_ROBOTS=${NUM_ROBOTS:-1} - ENABLE_LIDAR=${ENABLE_LIDAR:-false} - ISAAC_SIM_HEADLESS=${ISAAC_SIM_HEADLESS:-false} + - USE_DEGRADED_GPS=${USE_DEGRADED_GPS:-false} + - GPS_DEGRADATION_SCENARIO=${GPS_DEGRADATION_SCENARIO:-urban} + - PUBLISH_RAW_ROS_GPS=${PUBLISH_RAW_ROS_GPS:-false} + - LD_LIBRARY_PATH=/isaac-sim/exts/isaacsim.ros2.bridge/jazzy/lib:/opt/ros/jazzy/lib + - ISAAC_SIM_PYTHONPATH=/opt/gps_packages/sgp4-2.25-py3-none-any:/opt/gps_packages/pymap3d-3.2.0-py3-none-any:/isaac-sim/AirStack/simulation/isaac-sim:/isaac-sim/exts/isaacsim.ros2.bridge/jazzy/rclpy # Pegasus physics tuning — read by pegasus/simulator/params.py - PX4_PHYSICS_HZ=${PX4_PHYSICS_HZ:-100} - ARDUPILOT_PHYSICS_HZ=${ARDUPILOT_PHYSICS_HZ:-800} @@ -78,6 +83,8 @@ services: - ../../../common/.tmux.conf:/isaac-sim/.tmux.conf:rw # airstack code - ../../..:/isaac-sim/AirStack:rw + - ${GPS_PACKAGES_DIR:-/home/ubuntu/Downloads/gps_packages}:/opt/gps_packages:ro + - ${CITY_SCENE_DIR:-/home/ubuntu/Downloads/CCity_Building_Set_1}:/isaac-sim/CCity_Building_Set_1:ro - ../../../.devcontainer/isaac-sim/launch.json:/isaac-sim/AirStack/.vscode/launch.json:rw - ../../../.devcontainer/isaac-sim/tasks.json:/isaac-sim/AirStack/.vscode/tasks.json:rw diff --git a/simulation/isaac-sim/gps_degradation_eval.py b/simulation/isaac-sim/gps_degradation_eval.py new file mode 100644 index 000000000..0bdcc4d11 --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_eval.py @@ -0,0 +1,444 @@ +#!/usr/bin/env python3 +""" +GPS Degradation Evaluation — live comparison of raw vs degraded GPS with +expected vs actual error metrics. + +Subscribes to: + /robot_1/sensors/gps — raw NavSatFix (Pegasus ground-truth position) + /robot_1/sensors/gps_degraded — NavSatFix after OU noise injection + /robot_1/gps/degradation_state — Float32MultiArray [state,n_los,hdop,vdop,eph,epv,dlat,dlon,dalt] + +Metrics computed: + actual_horiz_error — horizontal distance between raw and degraded GPS (metres) + actual_vert_error — |alt_degraded - alt_raw| (metres) + expected_horiz_error— EPH reported by the degradation model (= UERE × HDOP) + error_ratio — actual / expected (1.0 = perfectly calibrated) + +Also saves a CSV log to /tmp/gps_eval_.csv for offline analysis. + +Run inside the robot container: + docker exec -it airstack-robot-desktop-1 bash -lc \\ + 'ROS_DOMAIN_ID=0 python3 /root/AirStack/simulation/isaac-sim/gps_degradation_eval.py' +""" +import collections +import csv +import math +import os +import threading +import time +from datetime import datetime + +import matplotlib +matplotlib.use("TkAgg") +import matplotlib.pyplot as plt +import matplotlib.patches as mpatches +import matplotlib.gridspec as gridspec +import numpy as np + +import rclpy +from rclpy.node import Node +from rclpy.qos import qos_profile_sensor_data +from std_msgs.msg import Float32MultiArray +from sensor_msgs.msg import NavSatFix + +# ── Constants ──────────────────────────────────────────────────────────────── +WINDOW_S = 120 +BUF = 10_000 + +STATE_NAMES = {0: "OPEN_SKY", 1: "DEGRADED", 2: "MARGINAL", 3: "DENIED", 4: "RECOVERY"} +STATE_COLORS = {0: "#2ecc71", 1: "#f1c40f", 2: "#e67e22", 3: "#e74c3c", 4: "#3498db"} + +# Float32MultiArray field indices +I_STATE, I_NLOS, I_HDOP, I_VDOP = 0, 1, 2, 3 +I_EPH, I_EPV, I_DLAT, I_DLON, I_DALT = 4, 5, 6, 7, 8 + +EARTH_R = 6_371_000.0 # metres + + +def haversine_m(lat1, lon1, lat2, lon2): + """Horizontal distance in metres between two geodetic points.""" + dlat = math.radians(lat2 - lat1) + dlon = math.radians(lon2 - lon1) + mlat = math.radians((lat1 + lat2) / 2.0) + north = EARTH_R * dlat + east = EARTH_R * math.cos(mlat) * dlon + return math.sqrt(north * north + east * east) + + +# ── ROS 2 subscriber node ──────────────────────────────────────────────────── + +class EvalNode(Node): + def __init__(self, buf: dict): + super().__init__("gps_degradation_eval_node") + self._buf = buf + self._t0 = time.monotonic() + + # Latest raw / degraded GPS (held until both arrive for the same epoch) + self._raw = None + self._deg = None + self._lock = threading.Lock() + + self.create_subscription( + NavSatFix, "/robot_1/sensors/gps", + self._raw_cb, qos_profile_sensor_data) + self.create_subscription( + NavSatFix, "/robot_1/sensors/gps_degraded", + self._deg_cb, qos_profile_sensor_data) + self.create_subscription( + Float32MultiArray, "/robot_1/gps/degradation_state", + self._state_cb, 10) + + self.get_logger().info( + "GPS eval node listening on /robot_1/sensors/gps, " + "/robot_1/sensors/gps_degraded, /robot_1/gps/degradation_state") + + # ── callbacks ───────────────────────────────────────────────────────────── + + def _raw_cb(self, msg: NavSatFix): + with self._lock: + self._raw = msg + + def _deg_cb(self, msg: NavSatFix): + with self._lock: + self._deg = msg + self._try_fuse() + + def _state_cb(self, msg: Float32MultiArray): + d = msg.data + if len(d) < 9: + return + with self._lock: + self._buf["state_latest"] = d + + def _try_fuse(self): + """Called each time a degraded GPS arrives — fuse with latest raw.""" + with self._lock: + raw = self._raw + deg = self._deg + state = self._buf.get("state_latest") + + if raw is None or deg is None or state is None: + return + + # Skip if raw has no fix + if raw.status.status < 0: + return + + t = time.monotonic() - self._t0 + + # ── Actual errors ──────────────────────────────────────────────────── + horiz_err = haversine_m(raw.latitude, raw.longitude, + deg.latitude, deg.longitude) + vert_err = abs(deg.altitude - raw.altitude) + + # ── Expected errors from model ──────────────────────────────────────── + eph = float(state[I_EPH]) + epv = float(state[I_EPV]) + + # Ratio: how close is actual to what the model predicted + # Clamp denominator to avoid /0 at startup + ratio_h = horiz_err / max(eph, 0.01) + ratio_v = vert_err / max(epv, 0.01) + + gps_state = int(state[I_STATE]) + n_los = float(state[I_NLOS]) + hdop = float(state[I_HDOP]) + vdop = float(state[I_VDOP]) + dlat = float(state[I_DLAT]) + dlon = float(state[I_DLON]) + dalt = float(state[I_DALT]) + + # ── Append to ring buffers ──────────────────────────────────────────── + b = self._buf + b["t"].append(t) + b["state"].append(gps_state) + b["n_los"].append(n_los) + b["hdop"].append(hdop) + b["vdop"].append(vdop) + b["eph"].append(eph) + b["epv"].append(epv) + b["horiz_err"].append(horiz_err) + b["vert_err"].append(vert_err) + b["ratio_h"].append(ratio_h) + b["ratio_v"].append(ratio_v) + b["raw_lat"].append(raw.latitude) + b["raw_lon"].append(raw.longitude) + b["deg_lat"].append(deg.latitude) + b["deg_lon"].append(deg.longitude) + b["dalt"].append(dalt) + + # ── CSV log ─────────────────────────────────────────────────────────── + writer = self._buf.get("csv_writer") + if writer: + writer.writerow([ + f"{t:.3f}", gps_state, STATE_NAMES.get(gps_state, "?"), + n_los, f"{hdop:.3f}", f"{vdop:.3f}", + f"{horiz_err:.4f}", f"{vert_err:.4f}", + f"{eph:.4f}", f"{epv:.4f}", + f"{ratio_h:.4f}", f"{ratio_v:.4f}", + f"{raw.latitude:.8f}", f"{raw.longitude:.8f}", f"{raw.altitude:.3f}", + f"{deg.latitude:.8f}", f"{deg.longitude:.8f}", f"{deg.altitude:.3f}", + f"{dlat:.8f}", f"{dlon:.8f}", f"{dalt:.4f}", + ]) + + +# ── Plot ───────────────────────────────────────────────────────────────────── + +def build_figure(): + fig = plt.figure(figsize=(16, 12)) + fig.patch.set_facecolor("#1a1a2e") + gs = gridspec.GridSpec( + 3, 2, + figure=fig, + hspace=0.42, wspace=0.32, + left=0.07, right=0.97, top=0.91, bottom=0.06, + ) + + axes = { + "state": fig.add_subplot(gs[0, :]), # full-width top + "err": fig.add_subplot(gs[1, 0]), + "ratio": fig.add_subplot(gs[1, 1]), + "dop": fig.add_subplot(gs[2, 0]), + "track": fig.add_subplot(gs[2, 1]), + } + + style = dict(facecolor="#16213e", framealpha=0.9) + for ax in axes.values(): + ax.set_facecolor("#16213e") + ax.tick_params(colors="#cccccc", labelsize=8) + ax.xaxis.label.set_color("#aaaaaa") + ax.yaxis.label.set_color("#aaaaaa") + for spine in ax.spines.values(): + spine.set_edgecolor("#444466") + + return fig, axes + + +def make_lines(axes): + kw = dict(lw=1.5) + lines = {} + + # ── State panel ────────────────────────────────────────────────────────── + ax = axes["state"] + ax.set_ylabel("GPS State", color="#aaaaaa", fontsize=9) + ax.set_yticks([0, 1, 2, 3, 4]) + ax.set_yticklabels( + ["OPEN_SKY", "DEGRADED", "MARGINAL", "DENIED", "RECOVERY"], + fontsize=8, color="#cccccc") + ax.set_ylim(-0.5, 4.5) + lines["state"], = ax.plot([], [], "o-", ms=2, color="#a29bfe", **kw) + + # ── Error panel ─────────────────────────────────────────────────────────── + ax = axes["err"] + ax.set_title("Actual vs Expected Error", color="#eeeeee", fontsize=9) + ax.set_ylabel("Error (m)", color="#aaaaaa", fontsize=9) + ax.set_ylim(0, 15) + lines["horiz_err"], = ax.plot([], [], color="#e74c3c", label="Actual horiz", **kw) + lines["vert_err"], = ax.plot([], [], color="#e74c3c", ls=":", lw=1.1, label="Actual vert") + lines["eph"], = ax.plot([], [], color="#f39c12", ls="--", label="Expected (EPH)") + lines["epv"], = ax.plot([], [], color="#f39c12", ls=":", lw=1.0, label="Expected (EPV)") + ax.legend(fontsize=7, loc="upper left", + facecolor="#1a1a2e", edgecolor="#444466", labelcolor="#cccccc") + + # ── Ratio panel ─────────────────────────────────────────────────────────── + ax = axes["ratio"] + ax.set_title("Calibration: Actual / Expected", color="#eeeeee", fontsize=9) + ax.set_ylabel("Ratio (1.0 = perfect)", color="#aaaaaa", fontsize=9) + ax.set_ylim(0, 4) + ax.axhline(1.0, color="#2ecc71", ls="--", lw=1.0, alpha=0.8, label="Perfect calibration") + ax.axhspan(0.5, 1.5, color="#2ecc71", alpha=0.07) # ±50% band + lines["ratio_h"], = ax.plot([], [], color="#00cec9", label="Horiz ratio", **kw) + lines["ratio_v"], = ax.plot([], [], color="#00cec9", ls=":", lw=1.1, label="Vert ratio") + ax.legend(fontsize=7, loc="upper left", + facecolor="#1a1a2e", edgecolor="#444466", labelcolor="#cccccc") + + # ── DOP panel ───────────────────────────────────────────────────────────── + ax = axes["dop"] + ax.set_title("HDOP / n_LOS", color="#eeeeee", fontsize=9) + ax.set_ylabel("HDOP", color="#aaaaaa", fontsize=9) + ax2 = ax.twinx() + ax2.set_ylabel("n_LOS sats", color="#74b9ff", fontsize=8) + ax2.tick_params(colors="#74b9ff", labelsize=8) + ax2.set_facecolor("#16213e") + lines["hdop"], = ax.plot( [], [], color="#fdcb6e", label="HDOP", **kw) + lines["n_los"], = ax2.plot([], [], color="#74b9ff", label="n_LOS", lw=1.2) + ax.set_ylim(0, 10) + ax2.set_ylim(0, 55) + ax.axhline(5.0, color="#e74c3c", ls="--", lw=0.7, alpha=0.6) + ax.axhline(3.0, color="#e67e22", ls="--", lw=0.7, alpha=0.6) + ax.axhline(1.5, color="#f1c40f", ls="--", lw=0.7, alpha=0.6) + lines["_ax2"] = ax2 # store twin for xlim sync + + # ── Ground-track panel ──────────────────────────────────────────────────── + ax = axes["track"] + ax.set_title("Ground Track (ENU offset from first fix)", color="#eeeeee", fontsize=9) + ax.set_xlabel("East (m)", color="#aaaaaa", fontsize=9) + ax.set_ylabel("North (m)", color="#aaaaaa", fontsize=9) + ax.set_aspect("equal", "datalim") + lines["raw_track"], = ax.plot([], [], color="#2ecc71", lw=1.2, label="Raw GPS") + lines["deg_track"], = ax.plot([], [], color="#e74c3c", lw=1.0, ls="--", label="Degraded GPS") + ax.legend(fontsize=7, loc="upper left", + facecolor="#1a1a2e", edgecolor="#444466", labelcolor="#cccccc") + + return lines + + +def latlon_to_enu(lats, lons, lat0, lon0): + """Convert arrays of lat/lon to local ENU (metres) relative to origin.""" + dlat = np.radians(np.array(lats) - lat0) + dlon = np.radians(np.array(lons) - lon0) + mlat = math.radians(lat0) + north = EARTH_R * dlat + east = EARTH_R * math.cos(mlat) * dlon + return east, north + + +def update_plot(buf, fig, axes, lines, window_s): + if len(buf["t"]) < 2: + return + + t_arr = np.array(buf["t"]) + t_min = max(0.0, t_arr[-1] - window_s) + mask = t_arr >= t_min + t_w = t_arr[mask] + + def w(k): + return np.array(buf[k])[mask] + + states = w("state") + n_los = w("n_los") + hdop = w("hdop") + eph = w("eph") + epv = w("epv") + horiz = w("horiz_err") + vert = w("vert_err") + ratio_h = w("ratio_h") + ratio_v = w("ratio_v") + raw_lats = w("raw_lat") + raw_lons = w("raw_lon") + deg_lats = w("deg_lat") + deg_lons = w("deg_lon") + + # ── State background colouring ──────────────────────────────────────────── + ax_s = axes["state"] + ax_s.collections.clear() + if len(t_w) > 1: + for i in range(len(t_w) - 1): + ax_s.axvspan(t_w[i], t_w[i + 1], + color=STATE_COLORS.get(int(states[i]), "#555555"), + alpha=0.28, lw=0) + lines["state"].set_data(t_w, states) + ax_s.set_xlim(t_w[0], max(t_w[-1], t_w[0] + 10)) + + # ── Error panel ─────────────────────────────────────────────────────────── + lines["horiz_err"].set_data(t_w, horiz) + lines["vert_err"].set_data(t_w, vert) + lines["eph"].set_data(t_w, eph) + lines["epv"].set_data(t_w, epv) + ax = axes["err"] + ax.set_xlim(t_w[0], t_w[-1] + 1) + ax.set_ylim(0, max(max(horiz.max(), eph.max()) * 1.3, 2.0)) + + # ── Ratio panel ─────────────────────────────────────────────────────────── + # Clip extreme spikes for display + rh_disp = np.clip(ratio_h, 0, 6) + rv_disp = np.clip(ratio_v, 0, 6) + lines["ratio_h"].set_data(t_w, rh_disp) + lines["ratio_v"].set_data(t_w, rv_disp) + ax = axes["ratio"] + ax.set_xlim(t_w[0], t_w[-1] + 1) + ax.set_ylim(0, max(rh_disp.max() * 1.2, 2.5)) + + # ── DOP panel ───────────────────────────────────────────────────────────── + lines["hdop"].set_data(t_w, hdop) + lines["n_los"].set_data(t_w, n_los) + ax = axes["dop"] + ax.set_xlim(t_w[0], t_w[-1] + 1) + ax.set_ylim(0, max(hdop.max() * 1.3, 3.0)) + lines["_ax2"].set_xlim(t_w[0], t_w[-1] + 1) + + # ── Ground track ────────────────────────────────────────────────────────── + if len(raw_lats) > 1 and raw_lats[0] != 0: + lat0, lon0 = raw_lats[0], raw_lons[0] + re, rn = latlon_to_enu(raw_lats, raw_lons, lat0, lon0) + de, dn = latlon_to_enu(deg_lats, deg_lons, lat0, lon0) + lines["raw_track"].set_data(re, rn) + lines["deg_track"].set_data(de, dn) + axes["track"].relim() + axes["track"].autoscale_view() + + # ── Super title with live numbers ───────────────────────────────────────── + cur_state = STATE_NAMES.get(int(states[-1]), "?") + col = STATE_COLORS.get(int(states[-1]), "#ffffff") + fig.suptitle( + f"GPS Degradation Evaluation · " + f"State: {cur_state} · " + f"n_LOS: {int(n_los[-1])} · HDOP: {hdop[-1]:.2f} · " + f"Actual Δhoriz: {horiz[-1]:.2f}m · Expected EPH: {eph[-1]:.2f}m · " + f"Ratio: {ratio_h[-1]:.2f}", + fontsize=10, fontweight="bold", color=col, + y=0.97, + ) + + fig.canvas.draw_idle() + + +def main(): + rclpy.init() + + buf = {k: collections.deque(maxlen=BUF) for k in ( + "t", "state", "n_los", "hdop", "vdop", + "eph", "epv", "horiz_err", "vert_err", + "ratio_h", "ratio_v", + "raw_lat", "raw_lon", "deg_lat", "deg_lon", "dalt", + )} + buf["state_latest"] = None + + # ── CSV log ─────────────────────────────────────────────────────────────── + csv_path = f"/tmp/gps_eval_{datetime.now().strftime('%Y%m%d_%H%M%S')}.csv" + csv_fh = open(csv_path, "w", newline="") + writer = csv.writer(csv_fh) + writer.writerow([ + "t_s", "state_id", "state_name", + "n_los", "hdop", "vdop", + "actual_horiz_m", "actual_vert_m", + "expected_eph_m", "expected_epv_m", + "ratio_horiz", "ratio_vert", + "raw_lat", "raw_lon", "raw_alt", + "deg_lat", "deg_lon", "deg_alt", + "delta_lat", "delta_lon", "delta_alt_m", + ]) + buf["csv_writer"] = writer + print(f"[eval] Logging to {csv_path}") + + node = EvalNode(buf) + spin_thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True) + spin_thread.start() + + # ── Matplotlib ──────────────────────────────────────────────────────────── + fig, axes = build_figure() + lines = make_lines(axes) + + # State legend + patches = [mpatches.Patch(color=c, label=n) for n, c in + [("OPEN_SKY","#2ecc71"),("DEGRADED","#f1c40f"), + ("MARGINAL","#e67e22"),("DENIED","#e74c3c"),("RECOVERY","#3498db")]] + fig.legend(handles=patches, ncol=5, loc="lower center", + fontsize=8, bbox_to_anchor=(0.5, 0.0), + facecolor="#1a1a2e", edgecolor="#444466", labelcolor="#eeeeee") + + plt.ion() + plt.show() + + try: + while plt.get_fignums(): + update_plot(buf, fig, axes, lines, WINDOW_S) + plt.pause(0.5) + finally: + csv_fh.close() + print(f"[eval] CSV saved → {csv_path}") + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/simulation/isaac-sim/gps_degradation_plot.py b/simulation/isaac-sim/gps_degradation_plot.py new file mode 100644 index 000000000..7a845add2 --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_plot.py @@ -0,0 +1,199 @@ +#!/usr/bin/env python3 +""" +Live GPS degradation plot — subscribes to /robot_1/gps/degradation_state +and produces a rolling time-series graph. + +Run inside the robot container: + docker exec -it airstack-robot-desktop-1 bash -lc \ + 'ROS_DOMAIN_ID=0 python3 /root/AirStack/simulation/isaac-sim/gps_degradation_plot.py' + +Or on the host (if ROS 2 is sourced): + python3 gps_degradation_plot.py +""" +import sys +import collections +import threading +import time + +import matplotlib +matplotlib.use("TkAgg") # change to "Qt5Agg" if TkAgg not available +import matplotlib.pyplot as plt +import matplotlib.patches as mpatches +import numpy as np + +import rclpy +from rclpy.node import Node +from std_msgs.msg import Float32MultiArray + +# ── Field indices in Float32MultiArray.data ───────────────────────────────── +# [state, n_los, hdop, vdop, eph_m, epv_m, delta_lat, delta_lon, delta_alt] +I_STATE = 0 +I_NLOS = 1 +I_HDOP = 2 +I_VDOP = 3 +I_EPH = 4 +I_EPV = 5 +I_DLAT = 6 +I_DLON = 7 +I_DALT = 8 + +STATE_NAMES = {0: "OPEN_SKY", 1: "DEGRADED", 2: "MARGINAL", 3: "DENIED", 4: "RECOVERY"} +STATE_COLORS = {0: "#2ecc71", 1: "#f1c40f", 2: "#e67e22", 3: "#e74c3c", 4: "#3498db"} + +WINDOW_S = 120 # how many seconds of history to show +TOPIC = "/robot_1/gps/degradation_state" +BUF = 10_000 # max data points + + +class GPSDegradationSubscriber(Node): + def __init__(self, buf: dict): + super().__init__("gps_degradation_plot_node") + self._buf = buf + self._t0 = time.monotonic() + self.create_subscription(Float32MultiArray, TOPIC, self._cb, 10) + self.get_logger().info(f"Listening on {TOPIC}") + + def _cb(self, msg: Float32MultiArray): + d = msg.data + if len(d) < 9: + return + t = time.monotonic() - self._t0 + self._buf["t"].append(t) + self._buf["state"].append(int(d[I_STATE])) + self._buf["n_los"].append(float(d[I_NLOS])) + self._buf["hdop"].append(float(d[I_HDOP])) + self._buf["vdop"].append(float(d[I_VDOP])) + self._buf["eph"].append(float(d[I_EPH])) + self._buf["epv"].append(float(d[I_EPV])) + self._buf["dalt"].append(float(d[I_DALT])) + + +def _spin(node): + rclpy.spin(node) + + +def main(): + rclpy.init() + + buf = {k: collections.deque(maxlen=BUF) + for k in ("t", "state", "n_los", "hdop", "vdop", "eph", "epv", "dalt")} + + node = GPSDegradationSubscriber(buf) + t = threading.Thread(target=_spin, args=(node,), daemon=True) + t.start() + + # ── Figure layout ──────────────────────────────────────────────────────── + fig, axes = plt.subplots(4, 1, figsize=(14, 10), sharex=True) + fig.suptitle("GPS Degradation — Live Monitor", fontsize=13, fontweight="bold") + ax_state, ax_los, ax_dop, ax_err = axes + + # State panel (categorical background colouring) + ax_state.set_ylabel("GPS State", fontsize=9) + ax_state.set_yticks([0, 1, 2, 3, 4]) + ax_state.set_yticklabels(["OPEN_SKY", "DEGRADED", "MARGINAL", "DENIED", "RECOVERY"], fontsize=8) + ax_state.set_ylim(-0.5, 4.5) + (line_state,) = ax_state.plot([], [], "o-", ms=3, lw=1.5, color="#8e44ad") + + # n_LOS panel + ax_los.set_ylabel("Satellites (n_LOS)", fontsize=9) + ax_los.set_ylim(0, 60) + ax_los.axhline(y=4, color="#e74c3c", ls="--", lw=0.8, label="DENIED (≤4)") + ax_los.axhline(y=6, color="#e67e22", ls="--", lw=0.8, label="MARGINAL (≤6)") + ax_los.axhline(y=8, color="#f1c40f", ls="--", lw=0.8, label="DEGRADED (≤8 or HDOP≥1.5)") + ax_los.legend(fontsize=7, loc="upper right") + (line_los,) = ax_los.plot([], [], lw=1.5, color="#2980b9") + + # DOP panel + ax_dop.set_ylabel("DOP", fontsize=9) + ax_dop.set_ylim(0, 10) + ax_dop.axhline(y=5.0, color="#e74c3c", ls="--", lw=0.8, label="DENIED HDOP≥5") + ax_dop.axhline(y=3.0, color="#e67e22", ls="--", lw=0.8, label="MARGINAL HDOP≥3") + ax_dop.axhline(y=1.5, color="#f1c40f", ls="--", lw=0.8, label="DEGRADED HDOP≥1.5") + ax_dop.legend(fontsize=7, loc="upper right") + (line_hdop,) = ax_dop.plot([], [], lw=1.5, color="#e67e22", label="HDOP") + (line_vdop,) = ax_dop.plot([], [], lw=1.0, color="#95a5a6", ls=":", label="VDOP") + ax_dop.legend(fontsize=7, loc="upper right") + + # EPH / position error panel + ax_err.set_ylabel("Error (m)", fontsize=9) + ax_err.set_xlabel("Time (s)", fontsize=9) + ax_err.set_ylim(0, 30) + (line_eph,) = ax_err.plot([], [], lw=1.5, color="#e74c3c", label="EPH (horiz)") + (line_epv,) = ax_err.plot([], [], lw=1.0, color="#c0392b", ls=":", label="EPV (vert)") + (line_dalt,) = ax_err.plot([], [], lw=1.0, color="#8e44ad", ls="--", label="Δalt OU drift") + ax_err.legend(fontsize=7, loc="upper right") + + # State colour legend at bottom + patches = [mpatches.Patch(color=c, label=n) for n, c in + [("OPEN_SKY", "#2ecc71"), ("DEGRADED", "#f1c40f"), + ("MARGINAL", "#e67e22"), ("DENIED", "#e74c3c"), ("RECOVERY", "#3498db")]] + fig.legend(handles=patches, ncol=5, loc="lower center", fontsize=8, + bbox_to_anchor=(0.5, 0.0)) + + plt.tight_layout(rect=[0, 0.04, 1, 1]) + plt.ion() + plt.show() + + # ── Update loop ────────────────────────────────────────────────────────── + while plt.get_fignums(): + if len(buf["t"]) < 2: + plt.pause(0.5) + continue + + t_arr = np.array(buf["t"]) + t_min = max(0.0, t_arr[-1] - WINDOW_S) + mask = t_arr >= t_min + t_w = t_arr[mask] + + def _w(key): + a = np.array(buf[key]) + return a[mask] + + states = _w("state") + n_los = _w("n_los") + hdop = _w("hdop") + vdop = _w("vdop") + eph = _w("eph") + epv = _w("epv") + dalt = _w("dalt") + + # Colour background of state panel by GPS state + ax_state.collections.clear() + if len(t_w) > 1: + for i in range(len(t_w) - 1): + ax_state.axvspan(t_w[i], t_w[i + 1], + color=STATE_COLORS.get(int(states[i]), "#bdc3c7"), + alpha=0.25, lw=0) + + line_state.set_data(t_w, states) + line_los.set_data(t_w, n_los) + line_hdop.set_data(t_w, hdop) + line_vdop.set_data(t_w, vdop) + line_eph.set_data(t_w, eph) + line_epv.set_data(t_w, epv) + line_dalt.set_data(t_w, np.abs(dalt)) + + x_min, x_max = t_w[0], max(t_w[-1], t_w[0] + 10) + for ax in axes: + ax.set_xlim(x_min, x_max) + ax_dop.set_ylim(0, min(max(hdop.max() * 1.3, 6.0), 20.0)) + ax_err.set_ylim(0, min(max(eph.max() * 1.3, 5.0), 60.0)) + + # Live title with current values + cur_state = STATE_NAMES.get(int(states[-1]), "?") + fig.suptitle( + f"GPS Degradation Monitor | " + f"State: {cur_state} n_LOS: {int(n_los[-1])} " + f"HDOP: {hdop[-1]:.2f} EPH: {eph[-1]:.1f}m Δalt: {dalt[-1]:+.2f}m", + fontsize=11, fontweight="bold", + color=STATE_COLORS.get(int(states[-1]), "#2c3e50"), + ) + + fig.canvas.draw_idle() + plt.pause(0.5) + + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/simulation/isaac-sim/gps_degradation_staging/__init__.py b/simulation/isaac-sim/gps_degradation_staging/__init__.py new file mode 100644 index 000000000..e56cdd32a --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/__init__.py @@ -0,0 +1,13 @@ +from .model import GpsDegradationModel +from .config import GpsDegradationConfig +from .constellation import ConstellationModel, SatelliteView +from .state_machine import GpsState, DegradationOutput + +__all__ = [ + "GpsDegradationModel", + "GpsDegradationConfig", + "ConstellationModel", + "SatelliteView", + "GpsState", + "DegradationOutput", +] diff --git a/simulation/isaac-sim/gps_degradation_staging/config.py b/simulation/isaac-sim/gps_degradation_staging/config.py new file mode 100644 index 000000000..1ca9eddb9 --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/config.py @@ -0,0 +1,92 @@ +"""GPS degradation pipeline configuration.""" +from __future__ import annotations +import datetime +from dataclasses import dataclass, field +from typing import Dict, Optional + + +@dataclass +class GpsDegradationConfig: + # GPS update rate — gates pipeline at N simulation steps (100 Hz physics → 5 Hz GPS) + gps_update_every_n_steps: int = 20 + + # How often to recompute the full visible-satellite list + constellation_refresh_steps: int = 6000 # every 60 s at 100 Hz + + # Elevation mask — satellites below this angle are ignored + gps_elevation_mask_deg: float = 5.0 + + # PhysX raycasting limits + raycast_max_distance_m: float = 50_000.0 + raycast_min_hit_distance_m: float = 0.5 # ignore self-hits closer than this + + # Accuracy reported to PX4 before DOP amplification. + # Civilian L1 multi-constellation effective UERE (RSS of satellite clock, + # ephemeris, ionosphere w/ broadcast correction, troposphere, multipath, + # receiver noise) = 2–4 m. Mid-range 2.5 m used here. + # Source: GPS SPS Performance Standard (NAVCEN), NovAtel GNSS Error Sources. + uere_accuracy_m: float = 2.5 + + # Shadow fading sigma (dB) per scenario + shadow_fading_sigma_db: Dict[str, float] = field(default_factory=lambda: { + "open_sky": 1.5, + "suburban": 3.5, + "urban": 6.0, + "dense_urban": 9.0, + }) + cn0_floor_dbhz: float = 30.0 # tracking threshold + cn0_zenith_dbhz: float = 45.0 # C/N0 at zenith + + # Ornstein-Uhlenbeck correlated drift (atmospheric delay + slowly-changing NLOS bias). + # + # Physical model: GPS total error = OU drift (correlated, slow) + multipath scatter (fast). + # The OU process captures only the correlated component (~40–60% of total error). + # EPH = uere_accuracy_m * HDOP captures the full uncertainty reported to PX4 EKF. + # + # Correlation time (tau): + # Urban multipath (moving drone): 25–60 s [RTCA DO-229 MOPS: 25 s standard; + # DLR airborne study 2024: median 14 s] + # Atmospheric (ionosphere/tropo): 5–30 min [use for open-sky / suburban scenarios] + # Default 60 s covers both: dominant multipath regime for urban, upper-end for atmos. + # + # Steady-state RMS = ou_base_xy * max(HDOP,1) * sqrt(tau/2): + # HDOP=1.0 (OPEN_SKY) : 0.27 * sqrt(30) = 1.48 m [lit: 1–4 m] ✓ + # HDOP=3.0 (MARGINAL) : 0.27*3 * sqrt(30) = 4.44 m [lit: 5–15 m] ✓ (correlated portion) + # HDOP=5.0 (DENIED) : 0.27*5 * sqrt(30) = 7.39 m [lit: 10–30 m] ✓ (correlated portion) + ou_correlation_time_s: float = 60.0 + ou_base_xy_noise_m_sqrts: float = 0.27 # σ in m/√s at HDOP=1; gives 1.48 m SS-RMS + ou_base_z_noise_m_sqrts: float = 0.40 # σ in m/√s at VDOP=1; vertical ~1.5x horizontal + + # State-machine hysteresis thresholds: (enter_threshold, exit_threshold) + state_thresholds: Dict = field(default_factory=lambda: { + "denied_nsats": (3, 4), + "marginal_nsats": (5, 6), + "denied_hdop": (5.0, 4.5), + "marginal_hdop": (3.0, 2.5), + }) + + # Recovery and position/accuracy ramp limiting + recovery_steps: int = 25 + max_position_step_m: float = 0.3 + max_eph_step_m: float = 0.5 + + # Jamming / forced DENIED override + jamming_fix_type: int = 0 + jamming_satellites: int = 0 + jamming_eph_cm: int = 9999 + jamming_epv_cm: int = 9999 + + # Scenario name — selects shadow_fading_sigma_db entry + scenario: str = "urban" + + # Path to GPS TLE file; empty string → auto-detect data/gps_ops.tle relative to package + tle_file_path: str = "" + + # UTC epoch for TLE propagation; None → use system clock at model creation + sim_epoch_utc: Optional[datetime.datetime] = None + + @classmethod + def from_dict(cls, values: dict) -> "GpsDegradationConfig": + """Build from Pegasus sensor config while ignoring parent GPS keys.""" + names = cls.__dataclass_fields__ + return cls(**{key: value for key, value in values.items() if key in names}) diff --git a/simulation/isaac-sim/gps_degradation_staging/constellation.py b/simulation/isaac-sim/gps_degradation_staging/constellation.py new file mode 100644 index 000000000..5c6f4a40f --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/constellation.py @@ -0,0 +1,224 @@ +""" +constellation.py + +Loads real GNSS satellite TLE data from files and computes satellite positions +(azimuth, elevation, ENU unit vector) as seen from the drone. + +Uses sgp4 + pymap3d with TLE data files in data/ (offline at runtime). + +Download the TLE file once: + wget "https://celestrak.org/NORAD/elements/gp.php?GROUP=gps-ops&FORMAT=tle" \ + -O simulation/isaac-sim/data/gps_ops.tle +""" + +import math +from dataclasses import dataclass +from datetime import datetime, timezone, timedelta +from pathlib import Path +from typing import List, Optional + +import numpy as np + +# ── optional deps ────────────────────────────────────────────────────────── +_SGP4_OK = False +_PM_OK = False +try: + from sgp4.api import Satrec, jday + _SGP4_OK = True +except ImportError: + pass + +try: + import pymap3d as pm + _PM_OK = True +except ImportError: + pass + +# Jan 1 2025 00:00 UTC — fixed reference so sim_time_s is reproducible +_REFERENCE_UTC = datetime(2025, 1, 1, 0, 0, 0, tzinfo=timezone.utc) + +_DEFAULT_TLE = Path(__file__).parent.parent / "data" / "gps_ops.tle" + + +# ── data class ───────────────────────────────────────────────────────────── + +@dataclass +class SatelliteView: + sat_id: int # index in TLE file (0-based) + name: str # satellite name, e.g. "GPS BIIR-2 (PRN 13)" + elevation_deg: float # angle above horizon; 0 = horizon, 90 = zenith + azimuth_deg: float # compass direction; 0 = North, 90 = East + enu_unit: np.ndarray # unit vector [East, North, Up] toward satellite + # used as PhysX raycast direction and DOP row + + +# ── TLE constellation ────────────────────────────────────────────────────── + +class _TLEConstellation: + """Propagates real GNSS orbits from a TLE file using sgp4.""" + + def __init__(self, tle_path: Path): + self._satellites = self._parse(tle_path) + + def _parse(self, path: Path) -> list: + lines = [l.strip() for l in path.read_text().splitlines() if l.strip()] + sats = [] + # TLE file is in groups of 3: name, line1 (starts '1'), line2 (starts '2') + for i in range(0, len(lines) - 2, 3): + name, line1, line2 = lines[i], lines[i + 1], lines[i + 2] + if line1.startswith('1') and line2.startswith('2'): + sats.append((name, Satrec.twoline2rv(line1, line2))) + return sats + + def __len__(self): + return len(self._satellites) + + def get_visible( + self, + lat_deg: float, + lon_deg: float, + alt_m: float, + elevation_mask_deg: float, + now: datetime, + ) -> List[SatelliteView]: + # Julian date (two-part for precision) + jd, fr = jday( + now.year, now.month, now.day, + now.hour, now.minute, now.second + now.microsecond / 1e6, + ) + + # GMST (Greenwich Mean Sidereal Time) for TEME → ECEF rotation. + # Formula from the IAU — accurate to ~0.1 arcsec over several centuries. + # t_days: days since J2000.0 epoch (noon Jan 1 2000 UTC) + t_days = (jd + fr) - 2451545.0 + gmst = (6.697374558 + 2400.0130654 * (t_days / 36525.0)) * math.pi / 12.0 + gmst = gmst % (2 * math.pi) + cos_g, sin_g = math.cos(gmst), math.sin(gmst) + + visible = [] + for sat_id, (name, sat) in enumerate(self._satellites): + e, r, _ = sat.sgp4(jd, fr) + if e != 0: + continue # propagation error (decayed sat, bad TLE, etc.) + + # r is in km → metres + rx, ry, rz = r[0] * 1e3, r[1] * 1e3, r[2] * 1e3 + + # TEME → ECEF: rotate by GMST around Z axis + # [ cos g sin g 0 ] + # [-sin g cos g 0 ] + # [ 0 0 1 ] + ex = cos_g * rx + sin_g * ry + ey = -sin_g * rx + cos_g * ry + ez = rz + + # ECEF → azimuth/elevation from drone position + try: + az, el, _ = pm.ecef2aer(ex, ey, ez, lat_deg, lon_deg, alt_m) + except Exception: + continue + + if float(el) < elevation_mask_deg: + continue + + visible.append(_make_view(sat_id, name, float(az), float(el))) + return visible + + +# ── helpers ──────────────────────────────────────────────────────────────── + +def _make_view(sat_id: int, name: str, az: float, el: float) -> SatelliteView: + el_r = math.radians(el) + az_r = math.radians(az) + c = math.cos(el_r) + return SatelliteView( + sat_id=sat_id, + name=name, + elevation_deg=el, + azimuth_deg=az, + enu_unit=np.array([c * math.sin(az_r), c * math.cos(az_r), math.sin(el_r)]), + ) + + +# ── public class ─────────────────────────────────────────────────────────── + +class ConstellationModel: + """ + Computes GNSS satellite visibility from drone position. + + Uses real TLE data (sgp4 + pymap3d). Missing dependencies, invalid TLE + data, and empty propagation results are errors rather than silent + synthetic-constellation fallbacks. + + Usage: + model = ConstellationModel("data/gps_ops.tle") + sats = model.get_visible_satellites(lat=40.44, lon=-79.94, alt=100.0) + for s in sats: + print(s.elevation_deg, s.azimuth_deg) + """ + + # Satellites below this elevation are too close to the horizon — too + # much atmospheric delay. Standard GPS mask is 5–15°. + ELEVATION_MASK_DEG = 5.0 + + def __init__(self, tle_file_path: str = ""): + self._tle: Optional[_TLEConstellation] = None + self._using_tle = False + + path = Path(tle_file_path) if tle_file_path else _DEFAULT_TLE + + if not (_SGP4_OK and _PM_OK): + missing = [n for n, ok in [("sgp4", _SGP4_OK), ("pymap3d", _PM_OK)] if not ok] + raise RuntimeError(f"{', '.join(missing)} not installed") + paths = [ + ("GPS", path), + ("GLONASS", path.with_name("glonass_ops.tle")), + ("Galileo", path.with_name("galileo_ops.tle")), + ("BeiDou", path.with_name("beidou_ops.tle")), + ] + for name, tle_path in paths: + if not tle_path.exists(): + print(f"[ConstellationModel] Warning: TLE file not found: {tle_path}") + continue + constellation = _TLEConstellation(tle_path) + if self._tle is None: + self._tle = constellation + else: + self._tle._satellites.extend(constellation._satellites) + print(f"[ConstellationModel] Loaded {len(constellation)} {name} satellites from {tle_path}") + if self._tle is None or len(self._tle) == 0: + raise ValueError("No valid GNSS satellites found in TLE files") + self._using_tle = True + print(f"[ConstellationModel] Loaded {len(self._tle)} total GNSS satellites") + + @property + def using_tle(self) -> bool: + return self._using_tle + + def get_visible_satellites( + self, + lat_deg: float, + lon_deg: float, + alt_m: float, + sim_time_s: Optional[float] = None, + ) -> List[SatelliteView]: + """ + Return all satellites above the elevation mask. + + Args: + lat_deg: drone latitude in degrees + lon_deg: drone longitude in degrees + alt_m: drone altitude above sea level (metres) + sim_time_s: seconds since Jan 1 2025 00:00 UTC. + Pass Isaac Sim's world.current_time here. + None → uses wall-clock UTC (non-reproducible). + """ + if sim_time_s is None: + now = datetime.now(timezone.utc) + else: + now = _REFERENCE_UTC + timedelta(seconds=float(sim_time_s)) + + sats = self._tle.get_visible(lat_deg, lon_deg, alt_m, self.ELEVATION_MASK_DEG, now) + if not sats: + raise RuntimeError("TLE propagation produced zero visible GNSS satellites") + return sats diff --git a/simulation/isaac-sim/gps_degradation_staging/degraded_gps.py b/simulation/isaac-sim/gps_degradation_staging/degraded_gps.py new file mode 100644 index 000000000..7eef9319b --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/degraded_gps.py @@ -0,0 +1,40 @@ +"""Pegasus GPS sensor adapter for the Tier 2 degradation pipeline.""" +from __future__ import annotations + +from pegasus.simulator.logic.sensors.gps import GPS + +from .runtime_output import get_latest_output + + +class DegradedGPS(GPS): + """GPS sensor whose PX4 HIL_GPS output reflects satellite visibility.""" + + def __init__(self, config=None): + config = dict(config or {}) + config.setdefault("update_rate", 5.0) + config.update({ + "gps_xy_random_walk": 0.0, + "gps_z_random_walk": 0.0, + "gps_xy_noise_density": 0.0, + "gps_z_noise_density": 0.0, + }) + super().__init__(config) + + def update(self, state, dt: float): + data = super().update(state, dt) + if data is None: + return None + + output = get_latest_output() + if output is None: + return data + + data["latitude"] += output.delta_lat + data["longitude"] += output.delta_lon + data["altitude"] += output.delta_alt + data["eph"] = min(int(output.eph_m * 100.0), 65535) + data["epv"] = min(int(output.epv_m * 100.0), 65535) + data["fix_type"] = output.fix_type + data["sattelites_visible"] = output.n_los + self._state = data + return data diff --git a/simulation/isaac-sim/gps_degradation_staging/dop.py b/simulation/isaac-sim/gps_degradation_staging/dop.py new file mode 100644 index 000000000..e77f10d27 --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/dop.py @@ -0,0 +1,44 @@ +""" +dop.py + +GPS DOP (Dilution of Precision) from the satellite geometry matrix. + +Q = (AᵀA)⁻¹ where A rows are [East, North, Up, 1] unit vectors of LOS sats. +HDOP = sqrt(Q[0,0] + Q[1,1]) +VDOP = sqrt(Q[2,2]) +PDOP = sqrt(Q[0,0] + Q[1,1] + Q[2,2]) + +Returns (99, 99, 99) when fewer than 4 LOS satellites are available. +""" +from __future__ import annotations + +import math +from typing import List, Tuple + +import numpy as np + + +class DopCalculator: + def compute(self, sv_signals: list) -> Tuple[float, float, float]: + """Return (hdop, vdop, pdop). Uses only LOS satellites.""" + los = [s for s in sv_signals if s.is_los] + if len(los) < 4: + return 99.0, 99.0, 99.0 + + rows = [] + for s in los: + az = math.radians(s.azimuth_deg) + el = math.radians(s.elevation_deg) + c = math.cos(el) + rows.append([c * math.sin(az), c * math.cos(az), math.sin(el), 1.0]) + + A = np.array(rows, dtype=float) + try: + Q = np.linalg.inv(A.T @ A) + except np.linalg.LinAlgError: + return 99.0, 99.0, 99.0 + + hdop = math.sqrt(max(Q[0, 0] + Q[1, 1], 0.0)) + vdop = math.sqrt(max(Q[2, 2], 0.0)) + pdop = math.sqrt(max(Q[0, 0] + Q[1, 1] + Q[2, 2], 0.0)) + return float(hdop), float(vdop), float(pdop) diff --git a/simulation/isaac-sim/gps_degradation_staging/model.py b/simulation/isaac-sim/gps_degradation_staging/model.py new file mode 100644 index 000000000..636ce2afc --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/model.py @@ -0,0 +1,132 @@ +"""GPS degradation pipeline — orchestrates all subsystems.""" +from __future__ import annotations + +import math +import random +from typing import Optional, Tuple + +import numpy as np + +from .config import GpsDegradationConfig +from .constellation import ConstellationModel +from .visibility import VisibilityChecker +from .signal_model import SignalQualityModel +from .dop import DopCalculator +from .state_machine import DegradationStateMachine, DegradationOutput, GpsState +from .ros2_publisher import Ros2StatePublisher + +# Satellite positions change ~2°/min. At 30s refresh the geometry shifts <1°, +# which is orders of magnitude too small to matter for building-scale raycasting. +_CONSTELLATION_REFRESH_S = 30.0 + + +class GpsDegradationModel: + def __init__( + self, + cfg: Optional[GpsDegradationConfig] = None, + ros2_node=None, + robot_id: int = 1, + seed: Optional[int] = None, + include_ou_drift: bool = True, + ): + self._cfg = cfg or GpsDegradationConfig() + self._rng = random.Random(seed) + self._np_rng = np.random.default_rng(seed) + self._include_ou_drift = include_ou_drift + + self._constellation = ConstellationModel(self._cfg.tle_file_path) + self._visibility = VisibilityChecker(self._cfg) + self._signal_model = SignalQualityModel(self._cfg, self._rng) + self._dop = DopCalculator() + self._state_machine = DegradationStateMachine(self._cfg) + self._state_pub = Ros2StatePublisher(ros2_node, robot_id) + + # OU process — save baseline noise ONCE; never scale from already-scaled value + self._base_xy = self._cfg.ou_base_xy_noise_m_sqrts + self._base_z = self._cfg.ou_base_z_noise_m_sqrts + self._theta = 1.0 / self._cfg.ou_correlation_time_s + self._ou_dt = self._cfg.gps_update_every_n_steps / 100.0 + self._ou_enu = np.zeros(3) + + self._sats: list = [] + self._last_output = DegradationOutput() + self._last_constellation_update = -_CONSTELLATION_REFRESH_S # force first refresh + + def step( + self, + sim_time_s: float, + step_count: int, + lat_deg: float, + lon_deg: float, + alt_m: float, + world_pos: Tuple[float, float, float], + jamming: bool = False, + ) -> DegradationOutput: + if step_count % self._cfg.gps_update_every_n_steps != 0 and self._sats: + return self._last_output + + # Jamming override — bypass pipeline entirely + if jamming: + out = DegradationOutput( + state=GpsState.DENIED, + n_los=self._cfg.jamming_satellites, + hdop=99.0, vdop=99.0, + eph_m=self._cfg.jamming_eph_cm / 100.0, + epv_m=self._cfg.jamming_epv_cm / 100.0, + lat_deg=lat_deg, lon_deg=lon_deg, alt_m=alt_m, + ) + self._last_output = out + self._state_pub.publish(out) + return out + + # Time-based constellation refresh (every 30 s of simulation time) + if (sim_time_s - self._last_constellation_update) >= _CONSTELLATION_REFRESH_S or not self._sats: + self._sats = self._constellation.get_visible_satellites( + lat_deg, lon_deg, alt_m, sim_time_s=sim_time_s + ) + self._last_constellation_update = sim_time_s + + # ── Pipeline ────────────────────────────────────────────────────────── + + # 1. LOS/NLOS via PhysX raycasting (sat.enu_unit → ray direction) + sv_vis = self._visibility.check(self._sats, world_pos) + + # 2. C/N0 and shadow fading → filter below tracking floor + sv_sigs = self._signal_model.compute(sv_vis) + + # 3. DOP from LOS-only geometry matrix + hdop, vdop, _ = self._dop.compute(sv_sigs) + n_los = sum(1 for s in sv_sigs if s.is_los) + + # 4. Exact discrete-time OU drift (slow, atmosphere/clock-driven) + # x(t+dt) = x(t)·exp(-θ·dt) + σ·√((1-exp(-2θ·dt))/(2θ))·N(0,1) + theta = self._theta + dt = self._ou_dt + sig_xy = self._base_xy * max(hdop, 1.0) # scale by DOP + sig_z = self._base_z * max(vdop, 1.0) + decay = math.exp(-theta * dt) + diffuse = math.sqrt((1.0 - decay * decay) / (2.0 * theta)) + noise = self._np_rng.standard_normal(3) + if self._include_ou_drift: + self._ou_enu[0] = self._ou_enu[0] * decay + sig_xy * diffuse * noise[0] + self._ou_enu[1] = self._ou_enu[1] * decay + sig_xy * diffuse * noise[1] + self._ou_enu[2] = self._ou_enu[2] * decay + sig_z * diffuse * noise[2] + + # 5. OU drift is the sole position error injection mechanism + east = float(self._ou_enu[0]) + north = float(self._ou_enu[1]) + up = float(self._ou_enu[2]) + + # 6. State machine with hysteresis + ramp-rate limiting + out = self._state_machine.update(n_los, hdop, vdop, east, north, up, lat_deg, lon_deg) + self._last_output = out + self._state_pub.publish(out) + return out + + @property + def state(self) -> GpsState: + return self._last_output.state + + @property + def last_output(self) -> DegradationOutput: + return self._last_output diff --git a/simulation/isaac-sim/gps_degradation_staging/ros2_publisher.py b/simulation/isaac-sim/gps_degradation_staging/ros2_publisher.py new file mode 100644 index 000000000..ff6cd6d26 --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/ros2_publisher.py @@ -0,0 +1,39 @@ +"""ROS 2 publisher for GPS degradation state (Float32MultiArray, 9 fields).""" +from __future__ import annotations + + +class Ros2StatePublisher: + # Field order matches what subscribers expect + _FIELDS = ["state", "n_los", "hdop", "vdop", "eph_m", "epv_m", + "delta_lat", "delta_lon", "delta_alt"] + + def __init__(self, ros2_node, robot_id: int = 1): + self._pub = None + if ros2_node is not None: + try: + from std_msgs.msg import Float32MultiArray + topic = f"/robot_{robot_id}/gps/degradation_state" + self._pub = ros2_node.create_publisher(Float32MultiArray, topic, 10) + except Exception as exc: + print(f"[Ros2StatePublisher] publisher setup failed: {exc}") + + def publish(self, output) -> None: + if self._pub is None: + return + try: + from std_msgs.msg import Float32MultiArray + msg = Float32MultiArray() + msg.data = [ + float(output.state), + float(output.n_los), + float(output.hdop), + float(output.vdop), + float(output.eph_m), + float(output.epv_m), + float(output.delta_lat), + float(output.delta_lon), + float(output.delta_alt), + ] + self._pub.publish(msg) + except Exception as exc: + print(f"[Ros2StatePublisher] publish error: {exc}") diff --git a/simulation/isaac-sim/gps_degradation_staging/runtime_output.py b/simulation/isaac-sim/gps_degradation_staging/runtime_output.py new file mode 100644 index 000000000..6e79c0fe3 --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/runtime_output.py @@ -0,0 +1,18 @@ +"""Latest after-step GPS degradation result shared with the Pegasus GPS sensor.""" +from __future__ import annotations + +from typing import Optional + +from .state_machine import DegradationOutput + + +_latest_output: Optional[DegradationOutput] = None + + +def set_latest_output(output: DegradationOutput) -> None: + global _latest_output + _latest_output = output + + +def get_latest_output() -> Optional[DegradationOutput]: + return _latest_output diff --git a/simulation/isaac-sim/gps_degradation_staging/signal_model.py b/simulation/isaac-sim/gps_degradation_staging/signal_model.py new file mode 100644 index 000000000..140463f96 --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/signal_model.py @@ -0,0 +1,75 @@ +""" +signal_model.py + +Elevation-dependent C/N0 and correlated shadow fading model. + +C/N0 formula (correct sign): + cn0 = cn0_zenith + 10·log10(sin(elevation)) + → lower elevation → lower C/N0 (physically correct) + +Shadow fading is correlated within 30° azimuth sectors to model +building clusters rather than per-satellite independent noise. +""" +from __future__ import annotations + +import math +import random +from dataclasses import dataclass +from typing import List, TYPE_CHECKING + +if TYPE_CHECKING: + from .visibility import SatVisibility + from .config import GpsDegradationConfig + + +@dataclass +class SatelliteSignal: + """Satellite after signal quality filtering — input to DOP.""" + elevation_deg: float + azimuth_deg: float + is_los: bool + cn0_dbhz: float + + +class SignalQualityModel: + def __init__(self, cfg: "GpsDegradationConfig", rng=None): + self._cfg = cfg + self._rng = rng or random.Random() + # 30° azimuth sector → correlated fading value (dB) + self._sector_fading: dict = {} + + def compute(self, sv_visibilities: List["SatVisibility"]) -> List[SatelliteSignal]: + cfg = self._cfg + sigma_db = cfg.shadow_fading_sigma_db.get(cfg.scenario, 3.5) + result = [] + + for sv in sv_visibilities: + if not sv.is_los: + continue + + # C/N0: zenith reference, correct sign → lower at low elevation + cn0 = cfg.cn0_zenith_dbhz + 10.0 * math.log10( + max(math.sin(math.radians(sv.sat.elevation_deg)), 0.05) + ) + + # Correlated fading per 30° azimuth sector + sector = int(sv.sat.azimuth_deg / 30.0) % 12 + if sector not in self._sector_fading: + self._sector_fading[sector] = self._rng.gauss(0.0, sigma_db) + cn0 += self._sector_fading[sector] + + if cn0 < cfg.cn0_floor_dbhz: + continue # below receiver tracking threshold + + result.append(SatelliteSignal( + elevation_deg=sv.sat.elevation_deg, + azimuth_deg=sv.sat.azimuth_deg, + is_los=sv.is_los, + cn0_dbhz=cn0, + )) + + # Evict oldest sector entry to allow slow fading evolution over time + if len(self._sector_fading) > 12: + del self._sector_fading[next(iter(self._sector_fading))] + + return result diff --git a/simulation/isaac-sim/gps_degradation_staging/state_machine.py b/simulation/isaac-sim/gps_degradation_staging/state_machine.py new file mode 100644 index 000000000..d0977ac1d --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/state_machine.py @@ -0,0 +1,157 @@ +"""GPS degradation state machine with hysteresis and ramp-rate limiting.""" +from __future__ import annotations +import math +from dataclasses import dataclass +from enum import IntEnum + + +class GpsState(IntEnum): + OPEN_SKY = 0 + DEGRADED = 1 + MARGINAL = 2 + DENIED = 3 + RECOVERY = 4 + + +@dataclass +class DegradationOutput: + state: GpsState = GpsState.OPEN_SKY + n_los: int = 0 + hdop: float = 1.0 + vdop: float = 1.0 + eph_m: float = 1.5 + epv_m: float = 2.5 + lat_deg: float = 0.0 + lon_deg: float = 0.0 + alt_m: float = 0.0 + delta_lat: float = 0.0 + delta_lon: float = 0.0 + delta_alt: float = 0.0 + + @property + def fix_type(self) -> int: + return { + GpsState.OPEN_SKY: 3, + GpsState.DEGRADED: 3, + GpsState.MARGINAL: 2, + GpsState.DENIED: 0, + GpsState.RECOVERY: 1, + }[self.state] + + +class DegradationStateMachine: + # Base eph/epv per state (before DOP scaling) + _EPH = {GpsState.OPEN_SKY: 1.5, GpsState.DEGRADED: 4.0, + GpsState.MARGINAL: 12.0, GpsState.DENIED: 99.0, GpsState.RECOVERY: 6.0} + _EPV = {GpsState.OPEN_SKY: 2.5, GpsState.DEGRADED: 7.0, + GpsState.MARGINAL: 20.0, GpsState.DENIED: 99.0, GpsState.RECOVERY: 10.0} + + def __init__(self, cfg): + self._cfg = cfg + self._state = GpsState.OPEN_SKY + self._eph = 1.5 + self._epv = 2.5 + self._recovery_count = 0 + # Ramp-limited delta position (degrees lat/lon, meters alt) + self._dlat = 0.0 + self._dlon = 0.0 + self._dalt = 0.0 + + def update( + self, + n_los: int, + hdop: float, + vdop: float, + total_east: float, + total_north: float, + total_up: float, + base_lat: float, + base_lon: float, + ) -> DegradationOutput: + self._state = self._next_state(n_los, hdop) + + # PX4 HIL_GPS reports uncertainty in centimetres. Position uncertainty + # grows linearly with DOP times the receiver's baseline UERE. + eph_tgt = self._cfg.uere_accuracy_m * max(hdop, 1.0) + epv_tgt = self._cfg.uere_accuracy_m * max(vdop, 1.0) + + # Ramp-rate limit accuracy estimates + s = self._cfg.max_eph_step_m + self._eph += max(-s, min(s, eph_tgt - self._eph)) + self._epv += max(-s, min(s, epv_tgt - self._epv)) + + # ENU offset → geodetic delta + R = 6_371_000.0 + cos_lat = math.cos(math.radians(base_lat)) + if self._state == GpsState.DENIED: + dlat_tgt = dlon_tgt = dalt_tgt = 0.0 + else: + dlat_tgt = math.degrees(total_north / R) + dlon_tgt = math.degrees(total_east / (R * cos_lat + 1e-9)) + dalt_tgt = total_up + + # Ramp-rate limit position delta (convert max_position_step_m to degrees) + max_deg = math.degrees(self._cfg.max_position_step_m / R) + max_alt = self._cfg.max_position_step_m + self._dlat += max(-max_deg, min(max_deg, dlat_tgt - self._dlat)) + self._dlon += max(-max_deg, min(max_deg, dlon_tgt - self._dlon)) + self._dalt += max(-max_alt, min(max_alt, dalt_tgt - self._dalt)) + + return DegradationOutput( + state=self._state, + n_los=n_los, + hdop=hdop, + vdop=vdop, + eph_m=self._eph, + epv_m=self._epv, + lat_deg=base_lat + self._dlat, + lon_deg=base_lon + self._dlon, + alt_m=self._dalt, # delta alt (added to raw alt by publisher) + delta_lat=self._dlat, + delta_lon=self._dlon, + delta_alt=self._dalt, + ) + + def _next_state(self, n_los: int, hdop: float) -> GpsState: + thr = self._cfg.state_thresholds + cur = self._state + + d_n_enter, d_n_exit = thr.get("denied_nsats", (4, 5)) + d_h_enter, d_h_exit = thr.get("denied_hdop", (5.0, 4.5)) + m_n_enter, m_n_exit = thr.get("marginal_nsats", (6, 7)) + m_h_enter, m_h_exit = thr.get("marginal_hdop", (3.0, 2.5)) + + # Enter DENIED + if n_los <= d_n_enter or hdop >= d_h_enter: + self._recovery_count = 0 + return GpsState.DENIED + + # Exit DENIED via RECOVERY + if cur == GpsState.DENIED: + if n_los >= d_n_exit and hdop <= d_h_exit: + self._recovery_count += 1 + if self._recovery_count >= self._cfg.recovery_steps: + self._recovery_count = 0 + return GpsState.RECOVERY + else: + self._recovery_count = 0 + return GpsState.DENIED + + # Exit RECOVERY + if cur == GpsState.RECOVERY: + if n_los >= m_n_exit and hdop <= m_h_exit: + return GpsState.OPEN_SKY + return GpsState.RECOVERY + + # Enter/exit MARGINAL + if n_los <= m_n_enter or hdop >= m_h_enter: + return GpsState.MARGINAL + if cur == GpsState.MARGINAL: + if n_los >= m_n_exit and hdop <= m_h_exit: + return GpsState.DEGRADED + return GpsState.MARGINAL + + # DEGRADED vs OPEN_SKY + if n_los < 8 or hdop >= 1.5: + return GpsState.DEGRADED + return GpsState.OPEN_SKY diff --git a/simulation/isaac-sim/gps_degradation_staging/visibility.py b/simulation/isaac-sim/gps_degradation_staging/visibility.py new file mode 100644 index 000000000..067cf760b --- /dev/null +++ b/simulation/isaac-sim/gps_degradation_staging/visibility.py @@ -0,0 +1,72 @@ +""" +visibility.py + +Per-satellite LOS/NLOS check using PhysX raycasting. + +Each satellite's ENU unit vector (from constellation.py) is fired as a ray +from the drone position. A hit means the signal is NLOS; no hit means LOS. + +Must be called from the Isaac Sim physics thread (after world.step()). +Falls back to all-LOS when PhysX is unavailable (testing/standalone use). +""" +from __future__ import annotations +from dataclasses import dataclass +from typing import List, TYPE_CHECKING + +if TYPE_CHECKING: + from .constellation import SatelliteView + from .config import GpsDegradationConfig + + +@dataclass +class SatVisibility: + """Constellation satellite + visibility classification.""" + sat: "SatelliteView" # position data including enu_unit + is_los: bool # True = direct line-of-sight + + +def _get_physx(): + try: + from omni.physx import get_physx_scene_query_interface + return get_physx_scene_query_interface() + except Exception: + return None + + +class VisibilityChecker: + def __init__(self, cfg: "GpsDegradationConfig"): + self._cfg = cfg + + def check( + self, + sats: List["SatelliteView"], + world_pos, # (x, y, z) in Isaac Sim world coords — Z-up, metres + ) -> List[SatVisibility]: + physx = _get_physx() + return [self._classify(physx, sat, world_pos) for sat in sats] + + def _classify(self, physx, sat, world_pos) -> SatVisibility: + if physx is None: + # No Isaac Sim physics — assume all LOS (testing/standalone) + return SatVisibility(sat=sat, is_los=True) + + cfg = self._cfg + origin = (float(world_pos[0]), float(world_pos[1]), float(world_pos[2])) + + # sat.enu_unit is [East, North, Up]; Isaac Sim Z-up maps directly + direction = ( + float(sat.enu_unit[0]), # East → X + float(sat.enu_unit[1]), # North → Y + float(sat.enu_unit[2]), # Up → Z + ) + + hit = physx.raycast_closest(origin, direction, cfg.raycast_max_distance_m) + if not hit or not hit.get("hit", False): + return SatVisibility(sat=sat, is_los=True) + + hit_dist = float(hit.get("distance", cfg.raycast_max_distance_m)) + if hit_dist < cfg.raycast_min_hit_distance_m: + # Self-hit on the drone body — treat as clear sky + return SatVisibility(sat=sat, is_los=True) + + return SatVisibility(sat=sat, is_los=False) diff --git a/simulation/isaac-sim/launch_scripts/example_one_px4_pegasus_degraded_gps_launch_script.py b/simulation/isaac-sim/launch_scripts/example_one_px4_pegasus_degraded_gps_launch_script.py new file mode 100644 index 000000000..070dde965 --- /dev/null +++ b/simulation/isaac-sim/launch_scripts/example_one_px4_pegasus_degraded_gps_launch_script.py @@ -0,0 +1,463 @@ +#!/usr/bin/env python +""" +Single-drone PX4 Pegasus launch with realistic GPS degradation. + +Extends example_one_px4_pegasus_launch_script.py with: + - Urban canyon walls applying UsdPhysics.CollisionAPI for PhysX raycasting + - GPSDegradationNode running in the Isaac Sim physics loop + - Optional jamming zone (sphere) that forces DENIED state + - Publishes /robot_1/sensors/gps_degraded and /robot_1/gps/degradation_state +""" + +import carb +from isaacsim import SimulationApp + +# SimulationApp MUST be created before any omni.* imports +simulation_app = SimulationApp({"headless": False}) + +import os +import sys +import time +import math + +import omni.kit.app +import omni.timeline +import omni.usd +from pxr import UsdPhysics, UsdGeom, Gf + +from omni.isaac.core.world import World +from pegasus.simulator.params import SIMULATION_ENVIRONMENTS +from pegasus.simulator.logic.interface.pegasus_interface import PegasusInterface +from pegasus.simulator.ogn.api.spawn_multirotor import spawn_px4_multirotor_node +from pegasus.simulator.ogn.api.spawn_zed_camera import add_zed_stereo_camera_subgraph +from pegasus.simulator.ogn.api.spawn_rtx_lidar import add_rtx_lidar_subgraph + +import rclpy + +sys.path.insert(0, os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "utils"))) +from scene_prep import scale_stage_prim, add_dome_light + +sys.path.insert(0, os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), ".."))) +from gps_degradation_node import GPSDegradationNode +from gps_degradation_staging import GpsDegradationConfig + +# ----------------------------- CONFIGURATION -------------------------------- + +ENV_URL = "file:///isaac-sim/CCity_Building_Set_1/scene.usdc" +STAGE_SCALE = 0.01 # City USD is in cm (1 unit=1cm). scale=0.01 converts to metres. + # 2000-unit building → 20m world. Drone wingspan 0.55m → ratio ~36:1 (correct). +STAGE_ROTATE_X_DEG = 90.0 +DRONE_USD = "~/.local/share/ov/data/documents/Kit/shared/exts/pegasus.simulator/pegasus/simulator/assets/Robots/Iris/iris.usd" +ADD_SYNTHETIC_URBAN_CANYON = False + +GPS_DEGRADATION_CONFIG = GpsDegradationConfig( + scenario="urban", + gps_update_every_n_steps=20, # 5 Hz GPS from 100 Hz physics + # ou_* and uere_* intentionally use config.py defaults — see comments there. + # tau=60s matches urban multipath correlation (RTCA DO-229: 25s; upper urban: 60s). + # ou_base_xy=0.27 gives 1.48m SS-RMS at HDOP=1; 7.4m at HDOP=5 (correlated component). + # uere=2.5m gives EPH 2.5m (open sky) → 12.5m (DENIED), matching literature. + cn0_zenith_dbhz=45.0, + cn0_floor_dbhz=30.0, +) + +# Jamming zone: sphere in world coordinates. Set radius=0 to disable. +JAMMING_CENTER_M = (0.0, 0.0, 8.0) # centre of canyon, mid-altitude +JAMMING_RADIUS_M = 0.0 # keep 0 unless forcing DENIED + +# ---------------------------------------------------------------------------- + + +def _apply_collision(stage, path: str): + prim = stage.GetPrimAtPath(path) + if prim.IsValid() and not prim.HasAPI(UsdPhysics.CollisionAPI): + UsdPhysics.CollisionAPI.Apply(prim) + + +def _add_building_box_colliders(stage, stage_prim) -> int: + """Create world-space box colliders from building bounding boxes. + + WHY NOT add_colliders (triangle mesh): + PhysX silently drops triangle-mesh collision shapes when the parent prim + carries a non-unit scale transform (our /World/stage has scale=0.01). + The shapes are never cooked, so every satellite raycast misses. + + FIX — box colliders: + A Cube prim with UsdPhysics.CollisionAPI supports arbitrary parent scales + and cooks instantly. We compute each building mesh's WORLD-SPACE bounding + box (which already includes the 0.01 scale + 90° rotation), then place a + matching box at that location. Boxes are accurate enough for satellite + line-of-sight raycasting. + """ + from pxr import Usd + + # BBoxCache evaluates geometry in world space — includes the 0.01 scale. + cache = UsdGeom.BBoxCache( + Usd.TimeCode.Default(), [UsdGeom.Tokens.default_], useExtentsHint=False + ) + + box_root_path = "/World/_GPSBoxColliders" + if not stage.GetPrimAtPath(box_root_path).IsValid(): + stage.DefinePrim(box_root_path, "Xform") + + MIN_HEIGHT_M = 2.0 # skip ground / road meshes; only buildings > 2 m + MAX_BOXES = 250 # 250 boxes cook in <1 s; enough to cover a dense block + count = 0 + + stage_path_str = str(stage_prim.GetPath()) + + for prim in stage.Traverse(): + if count >= MAX_BOXES: + break + if not prim.IsA(UsdGeom.Mesh): + continue + if not str(prim.GetPath()).startswith(stage_path_str): + continue + + try: + bb = cache.ComputeWorldBound(prim) + rng = bb.GetRange() + if rng.IsEmpty(): + continue + + mn, mx = rng.GetMin(), rng.GetMax() + height = float(mx[2] - mn[2]) + if height < MIN_HEIGHT_M: + continue + + cx = float((mn[0] + mx[0]) / 2) + cy = float((mn[1] + mx[1]) / 2) + cz = float((mn[2] + mx[2]) / 2) + hx = float((mx[0] - mn[0]) / 2) # half-extents + hy = float((mx[1] - mn[1]) / 2) + hz = float((mx[2] - mn[2]) / 2) + + box_path = f"{box_root_path}/b{count}" + box_prim = stage.DefinePrim(box_path, "Cube") + UsdGeom.XformCommonAPI(box_prim).SetTranslate(Gf.Vec3d(cx, cy, cz)) + UsdGeom.XformCommonAPI(box_prim).SetScale(Gf.Vec3f(hx, hy, hz)) + UsdPhysics.CollisionAPI.Apply(box_prim) + # Make boxes invisible — collision only, no rendering + UsdGeom.Imageable(box_prim).MakeInvisible() + count += 1 + + except Exception: + continue + + return count + + +def _add_urban_canyon(stage): + """Two tall walls flanking the take-off pad to create a GPS canyon. + + Walls at x=±8m create a 16m-wide canyon that blocks ~79% of the eastern + and western sky hemisphere (arctan((50-8)/8) ≈ 79° elevation cutoff). + With 4 GNSS constellations (~50 visible sats), this reduces n_los enough + to reliably trigger DEGRADED and MARGINAL states during traversal. + """ + walls = [ + ("/World/CanyonWall_L", ( 8.0, 0.0, 25.0), (1.5, 40.0, 25.0)), + ("/World/CanyonWall_R", (-8.0, 0.0, 25.0), (1.5, 40.0, 25.0)), + ] + for path, pos, half_scale in walls: + prim = stage.DefinePrim(path, "Cube") + UsdGeom.XformCommonAPI(prim).SetTranslate(Gf.Vec3d(*pos)) + UsdGeom.XformCommonAPI(prim).SetScale(Gf.Vec3f(*half_scale)) + _apply_collision(stage, path) + + +def _wait_for_stage(stage, timeout_s: float = 30.0) -> bool: + for _ in range(int(timeout_s / 0.1)): + omni.kit.app.get_app().update() + stage_prim = stage.GetPrimAtPath("/World/stage") + if stage_prim.IsValid() and stage_prim.IsLoaded(): + return True + time.sleep(0.1) + return False + + +def _count_meshes(prim) -> int: + count = 1 if prim.IsA(UsdGeom.Mesh) else 0 + for child in prim.GetChildren(): + count += _count_meshes(child) + return count + + +def _find_city_floor_z(stage) -> float: + """Return the minimum world-space Z of all box colliders under /World/_GPSBoxColliders. + + These boxes were placed using world-space bounding boxes AFTER the 0.01 scale + and 90-degree X rotation, so their minimum Z is the city's actual floor height + in the simulation coordinate system. Falls back to 0.0 if no boxes exist yet. + """ + from pxr import Usd + cache = UsdGeom.BBoxCache( + Usd.TimeCode.Default(), [UsdGeom.Tokens.default_], useExtentsHint=False + ) + root = stage.GetPrimAtPath("/World/_GPSBoxColliders") + if not root.IsValid(): + return 0.0 + + min_z = float("inf") + for prim in stage.Traverse(): + path = str(prim.GetPath()) + if not path.startswith("/World/_GPSBoxColliders"): + continue + try: + rng = cache.ComputeWorldBound(prim).GetRange() + if not rng.IsEmpty(): + min_z = min(min_z, float(rng.GetMin()[2])) + except Exception: + continue + + return max(min_z, 0.0) if min_z != float("inf") else 0.0 + + +class PegasusAppDegradedGPS: + def __init__(self): + # Kill any leftover PX4 SITL process before starting. If the Python + # script is restarted without killing the container, PX4 keeps running + # with its old sim_time. The Pegasus frontend resets sim_time to 0, + # causing a backward time-jump that permanently stalls PX4's EKF in + # MAV_STATE_UNINIT — arming is then impossible until PX4 is restarted. + import subprocess + kill_result = subprocess.run(["pkill", "-9", "-f", "px4_sitl_default"], + capture_output=True) + if kill_result.returncode == 0: + carb.log_warn("[gps_scene] Killed stale PX4 process — fresh start") + time.sleep(2.0) # let PX4 fully exit before Pegasus re-spawns it + + carb.log_warn(f"[gps_scene] Starting city GPS launch with environment: {ENV_URL}") + if ENV_URL.startswith("file://"): + env_path = ENV_URL.removeprefix("file://") + if not os.path.isfile(env_path): + raise FileNotFoundError( + f"[gps_scene] City USD is missing inside the container: {env_path}" + ) + carb.log_warn( + f"[gps_scene] Found city USD inside container: {env_path} " + f"({os.path.getsize(env_path)} bytes)" + ) + + self.timeline = omni.timeline.get_timeline_interface() + self.pg = PegasusInterface() + self.pg._world = World(**self.pg._world_settings) + self.world = self.pg.world + self.timeline.stop() + + # Enable required extensions + ext_mgr = omni.kit.app.get_app().get_extension_manager() + for ext in [ + "omni.graph.core", "omni.graph.action", "omni.graph.action_nodes", + "isaacsim.core.nodes", "omni.graph.scriptnode", "pegasus.simulator", + ]: + if not ext_mgr.is_extension_enabled(ext): + ext_mgr.set_extension_enabled_immediate(ext, True) + + self.pg.load_environment(ENV_URL) + stage = omni.usd.get_context().get_stage() + if stage is None: + raise RuntimeError("Stage failed to load") + + if not _wait_for_stage(stage): + world = stage.GetPrimAtPath("/World") + children = [str(child.GetPath()) for child in world.GetChildren()] if world.IsValid() else [] + raise RuntimeError( + f"[gps_scene] Timed out waiting for /World/stage after loading {ENV_URL}. " + f"/World children: {children}" + ) + + stage_prim = stage.GetPrimAtPath("/World/stage") + if stage_prim.IsValid(): + mesh_count = _count_meshes(stage_prim) + carb.log_warn(f"[gps_scene] Loaded /World/stage with {mesh_count} mesh prims") + scale_stage_prim(stage, "/World/stage", STAGE_SCALE) + UsdGeom.Xformable(stage_prim).AddRotateXOp().Set(STAGE_ROTATE_X_DEG) + + # Pump the app so the scale/rotation transform is committed before + # we compute world-space bounding boxes for the box colliders. + for _ in range(20): + omni.kit.app.get_app().update() + + box_count = _add_building_box_colliders(stage, stage_prim) + + # Let PhysX cook the new box shapes before simulation starts. + for _ in range(30): + omni.kit.app.get_app().update() + + carb.log_warn( + f"[gps_scene] Prepared {box_count} world-space box colliders " + f"for PhysX raycasting (from {mesh_count} meshes, " + f"scale={STAGE_SCALE}, rotate_x_deg={STAGE_ROTATE_X_DEG})" + ) + else: + raise RuntimeError("[gps_scene] /World/stage is missing after environment load") + + add_dome_light(stage) + + # Log city floor for reference only — do not use it to offset spawn Z. + # The default ground plane is at Z=0; the drone spawns 0.5 m above it. + city_floor_z = _find_city_floor_z(stage) + carb.log_warn(f"[gps_scene] Detected city floor Z = {city_floor_z:.3f} m " + f"(for reference — drone always spawns at Z=0.5 m above ground plane)") + + self.world.scene.add_default_ground_plane() + + if ADD_SYNTHETIC_URBAN_CANYON: + carb.log_warn("[gps_scene] Adding synthetic urban canyon walls") + _add_urban_canyon(stage) + else: + carb.log_warn("[gps_scene] Synthetic urban canyon walls disabled") + + # Spawn drone above the city floor, level (identity quaternion = Z-up upright) + graph_handle = spawn_px4_multirotor_node( + pegasus_node_name="PX4Multirotor", + drone_prim="/World/base_link", + robot_name="robot_1", + vehicle_id=1, + domain_id=1, + usd_file=DRONE_USD, + init_pos=[0.0, 0.0, 0.5], + init_orient=[0.0, 0.0, 0.0, 1.0], + ) + add_zed_stereo_camera_subgraph( + parent_graph_handle=graph_handle, + drone_prim="/World/base_link", + robot_name="robot_1", + camera_name="ZEDCamera", + camera_offset=[0.2, 0.0, -0.05], + camera_rotation_offset=[0.0, 0.0, 0.0], + ) + lidar_enabled = os.environ.get("ENABLE_LIDAR", "false").lower() == "true" + if lidar_enabled: + carb.log_warn("[gps_scene] ENABLE_LIDAR=true: adding RTX lidar graph") + add_rtx_lidar_subgraph( + parent_graph_handle=graph_handle, + drone_prim="/World/base_link", + robot_name="robot_1", + lidar_config="ouster_os1", + lidar_topic_name="point_cloud_raw", + lidar_offset=[0.0, 0.0, 0.025], + lidar_rotation_offset=[0.0, 0.0, 0.0], + min_range=0.75, + ) + else: + carb.log_warn("[gps_scene] ENABLE_LIDAR=false: skipping RTX lidar graph") + + # GPS degradation node + if not rclpy.ok(): + rclpy.init() + self._gps_node = GPSDegradationNode( + vehicle_id=1, + cfg=GPS_DEGRADATION_CONFIG, + fallback_origin_lat=self.pg.latitude, + fallback_origin_lon=self.pg.longitude, + fallback_origin_alt=self.pg.altitude, + ) + carb.log_warn( + f"[gps_scene] GPS degradation ready: jamming_radius_m={JAMMING_RADIUS_M}, " + "quality_topic=/robot_1/gps/degradation_state, " + f"origin=({self.pg.latitude}, {self.pg.longitude}, {self.pg.altitude})" + ) + + self.play_on_start = os.environ.get("PLAY_SIM_ON_START", "true").lower() == "true" + carb.log_warn(f"[gps_scene] PLAY_SIM_ON_START={self.play_on_start}") + + def _check_jamming(self, world_pos) -> bool: + if JAMMING_RADIUS_M <= 0.0: + return False + dx = world_pos[0] - JAMMING_CENTER_M[0] + dy = world_pos[1] - JAMMING_CENTER_M[1] + dz = world_pos[2] - JAMMING_CENTER_M[2] + return math.sqrt(dx * dx + dy * dy + dz * dz) < JAMMING_RADIUS_M + + def _get_drone_world_pos(self): + """Read the live vehicle rigid-body transform from the USD stage.""" + try: + stage = omni.usd.get_context().get_stage() + prim = stage.GetPrimAtPath("/World/base_link/body") + if not prim.IsValid(): + return (0.0, 0.0, 0.0) + xform = UsdGeom.Xformable(prim) + mat = xform.ComputeLocalToWorldTransform(0) + t = mat.ExtractTranslation() + return (float(t[0]), float(t[1]), float(t[2])) + except Exception: + return (0.0, 0.0, 0.0) + + def _log_scene_geometry_debug(self, stage): + """One-shot: print building bounding boxes and drone position to verify scale.""" + carb.log_warn("[geo_debug] ── Scene geometry diagnostic ──────────────────") + carb.log_warn(f"[geo_debug] STAGE_SCALE={STAGE_SCALE} ROTATE_X={STAGE_ROTATE_X_DEG}°") + + # Drone world position + drone_pos = self._get_drone_world_pos() + carb.log_warn(f"[geo_debug] Drone world pos (stage units): {drone_pos}") + + # Sample up to 5 mesh prims and log their world bbox Z range + count = 0 + for prim in stage.Traverse(): + if not prim.IsA(UsdGeom.Mesh): + continue + try: + bbox = UsdGeom.BBoxCache(0, [UsdGeom.Tokens.default_]).ComputeWorldBound(prim) + rng = bbox.GetRange() + carb.log_warn( + f"[geo_debug] Mesh {str(prim.GetPath())[:60]} " + f"Z=[{rng.GetMin()[2]:.2f}, {rng.GetMax()[2]:.2f}] " + f"XY=[{rng.GetMin()[0]:.1f}..{rng.GetMax()[0]:.1f}, " + f"{rng.GetMin()[1]:.1f}..{rng.GetMax()[1]:.1f}]" + ) + count += 1 + except Exception as e: + carb.log_warn(f"[geo_debug] bbox error for {prim.GetPath()}: {e}") + if count >= 5: + break + carb.log_warn(f"[geo_debug] ── end (sampled {count} meshes) ─────────────") + + def run(self): + if self.play_on_start: + self.timeline.play() + + app = omni.kit.app.get_app() + _geo_debug_logged = False + + while simulation_app.is_running(): + world = World.instance() + if world is not None and hasattr(world, "_scene"): + world.step(render=True) + if world is not self.world: + self.world = world + self.pg._world = world + else: + app.update() + continue + + sim_time_s = float(world.current_time) + world_pos = self._get_drone_world_pos() + + # Log geometry debug once, 2s into sim, so physics has settled + if not _geo_debug_logged and sim_time_s > 2.0: + stage = omni.usd.get_context().get_stage() + self._log_scene_geometry_debug(stage) + _geo_debug_logged = True + + jamming = self._check_jamming(world_pos) + + self._gps_node.set_world_pos(*world_pos) + self._gps_node.set_jamming(jamming) + self._gps_node.physics_step(sim_time_s) + rclpy.spin_once(self._gps_node, timeout_sec=0.0) + + carb.log_warn("Closing simulation.") + self.timeline.stop() + rclpy.shutdown() + simulation_app.close() + + +def main(): + PegasusAppDegradedGPS().run() + + +if __name__ == "__main__": + main() diff --git a/simulation/isaac-sim/launch_scripts/gps_degradation_node.py b/simulation/isaac-sim/launch_scripts/gps_degradation_node.py new file mode 100644 index 000000000..ede2d3064 --- /dev/null +++ b/simulation/isaac-sim/launch_scripts/gps_degradation_node.py @@ -0,0 +1,248 @@ +"""GPS degradation ROS 2 node — wraps GpsDegradationModel for Isaac Sim integration. + +Usage in Isaac Sim main loop: + while simulation_app.is_running(): + world.step(render=False) + gps_node.set_world_pos(x, y, z) + gps_node.physics_step(world.current_time) + rclpy.spin_once(gps_node, timeout_sec=0.0) +""" +from __future__ import annotations +import math +import os +import sys + +_LAUNCH_DIR = os.path.dirname(os.path.realpath(__file__)) +_SIM_DIR = os.path.normpath(os.path.join(_LAUNCH_DIR, "..")) +if _SIM_DIR not in sys.path: + sys.path.insert(0, _SIM_DIR) + +import builtin_interfaces.msg +import rclpy +from rclpy.node import Node +from rclpy.qos import qos_profile_sensor_data +from sensor_msgs.msg import NavSatFix, NavSatStatus +from geometry_msgs.msg import TwistStamped +from visualization_msgs.msg import Marker + +from gps_degradation_staging import GpsDegradationModel, GpsDegradationConfig, GpsState +from gps_degradation_staging.runtime_output import set_latest_output + + +class GPSDegradationNode(Node): + def __init__( + self, + vehicle_id: int = 1, + scenario: str = "urban", + cfg: GpsDegradationConfig = None, + fallback_origin_lat: float | None = None, + fallback_origin_lon: float | None = None, + fallback_origin_alt: float = 0.0, + ): + super().__init__(f"gps_degradation_{vehicle_id}") + self._vehicle_id = vehicle_id + + if cfg is None: + cfg = GpsDegradationConfig(scenario=scenario) + + # Pipeline — passes self as ros2_node so state publisher auto-creates + self._model = GpsDegradationModel(cfg=cfg, ros2_node=self, robot_id=vehicle_id) + + self._pub_gps = self.create_publisher( + NavSatFix, + f"/robot_{vehicle_id}/sensors/gps_degraded", + 10, + ) + self._pub_twist = self.create_publisher( + TwistStamped, + f"/robot_{vehicle_id}/sensors/gps_twist_degraded", + 10, + ) + self._pub_marker = self.create_publisher( + Marker, + f"/robot_{vehicle_id}/gps/degradation_marker", + 10, + ) + + self._latest_gps: NavSatFix | None = None + self._latest_twist: TwistStamped | None = None + self._world_pos = (0.0, 0.0, 0.0) + self._jamming = False + self._step_count = 0 + self._fallback_origin = ( + fallback_origin_lat, + fallback_origin_lon, + float(fallback_origin_alt), + ) + self._warned_no_raw_gps = False + + self.create_subscription( + NavSatFix, + f"/robot_{vehicle_id}/sensors/gps", + self._gps_cb, + qos_profile_sensor_data, + ) + self.create_subscription( + TwistStamped, + f"/robot_{vehicle_id}/sensors/gps_twist", + self._twist_cb, + qos_profile_sensor_data, + ) + + self.get_logger().info( + f"GPS degradation node: vehicle={vehicle_id} scenario={scenario} " + f"constellation={'TLE' if self._model._constellation.using_tle else 'unavailable'}" + ) + + # ------------------------------------------------------------------ + # Callbacks — just cache latest messages + # ------------------------------------------------------------------ + + def _gps_cb(self, msg: NavSatFix): + self._latest_gps = msg + + def _twist_cb(self, msg: TwistStamped): + self._latest_twist = msg + + # ------------------------------------------------------------------ + # Called from Isaac Sim main loop + # ------------------------------------------------------------------ + + def set_world_pos(self, x: float, y: float, z: float): + """Update drone world position (meters, Isaac Sim Z-up coords).""" + self._world_pos = (x, y, z) + + def set_jamming(self, active: bool): + self._jamming = active + + def physics_step(self, sim_time_s: float): + """Drive pipeline. MUST be called from Isaac Sim loop after world.step().""" + self._step_count += 1 + self._log_step_count = getattr(self, "_log_step_count", 0) + 1 + if self._latest_gps is None: + origin_lat, origin_lon, origin_alt = self._fallback_origin + if origin_lat is None or origin_lon is None: + return + if not self._warned_no_raw_gps: + self.get_logger().warn( + "No raw ROS GPS publisher detected; using Pegasus world " + "origin + Isaac world position for degradation-state monitoring." + ) + self._warned_no_raw_gps = True + lat_deg, lon_deg, alt_m = _world_to_geodetic( + self._world_pos, + float(origin_lat), + float(origin_lon), + float(origin_alt), + ) + else: + gps = self._latest_gps + lat_deg = gps.latitude + lon_deg = gps.longitude + alt_m = gps.altitude + + output = self._model.step( + sim_time_s=sim_time_s, + step_count=self._step_count, + lat_deg=lat_deg, + lon_deg=lon_deg, + alt_m=alt_m, + world_pos=self._world_pos, + jamming=self._jamming, + ) + set_latest_output(output) + + if self._log_step_count % 100 == 0: + self.get_logger().info( + f"[GPS t={sim_time_s:.1f}s] " + f"state={output.state.name} LOS={output.n_los} " + f"HDOP={output.hdop:.2f} VDOP={output.vdop:.2f} " + f"EPH={output.eph_m:.2f}m EPV={output.epv_m:.2f}m " + f"dAlt={output.delta_alt:+.2f}m " + f"pos=({self._world_pos[0]:.1f},{self._world_pos[1]:.1f},{self._world_pos[2]:.1f})" + ) + + self._publish_gps(output, sim_time_s, raw_alt_m=alt_m) + self._publish_twist(output, sim_time_s) + self._publish_marker(output, sim_time_s) + + # ------------------------------------------------------------------ + # Publishers + # ------------------------------------------------------------------ + + def _publish_gps(self, output, sim_time_s: float, raw_alt_m: float = 0.0): + msg = NavSatFix() + msg.header.stamp = _ros_stamp(sim_time_s) + msg.header.frame_id = "gps" + msg.status.service = NavSatStatus.SERVICE_GPS + + if output.state == GpsState.DENIED: + msg.status.status = NavSatStatus.STATUS_NO_FIX + msg.latitude = msg.longitude = msg.altitude = 0.0 + msg.position_covariance_type = NavSatFix.COVARIANCE_TYPE_UNKNOWN + else: + msg.status.status = NavSatStatus.STATUS_FIX + msg.latitude = output.lat_deg + msg.longitude = output.lon_deg + msg.altitude = raw_alt_m + output.delta_alt + eph2 = output.eph_m ** 2 + epv2 = output.epv_m ** 2 + msg.position_covariance = [eph2, 0.0, 0.0, 0.0, eph2, 0.0, 0.0, 0.0, epv2] + msg.position_covariance_type = NavSatFix.COVARIANCE_TYPE_DIAGONAL_KNOWN + + self._pub_gps.publish(msg) + + def _publish_twist(self, output, sim_time_s: float): + if self._latest_twist is None: + return + msg = TwistStamped() + msg.header.stamp = _ros_stamp(sim_time_s) + msg.header.frame_id = "gps" + msg.twist = self._latest_twist.twist # velocity passthrough + self._pub_twist.publish(msg) + + def _publish_marker(self, output, sim_time_s: float): + marker = Marker() + marker.header.stamp = _ros_stamp(sim_time_s) + marker.header.frame_id = "map" + marker.ns = "gps_degradation" + marker.id = 0 + marker.type = Marker.TEXT_VIEW_FACING + marker.action = Marker.ADD + marker.pose.position.x = float(self._world_pos[0]) + marker.pose.position.y = float(self._world_pos[1]) + marker.pose.position.z = float(self._world_pos[2]) + 0.8 + marker.pose.orientation.w = 1.0 + marker.scale.z = 0.16 + marker.color.a = 1.0 + marker.color.r, marker.color.g, marker.color.b = { + GpsState.OPEN_SKY: (0.2, 1.0, 0.2), + GpsState.DEGRADED: (1.0, 0.8, 0.1), + GpsState.MARGINAL: (1.0, 0.4, 0.0), + GpsState.DENIED: (1.0, 0.1, 0.1), + GpsState.RECOVERY: (0.2, 0.8, 1.0), + }[output.state] + marker.text = ( + f"GPS {output.state.name} | LOS {output.n_los} | " + f"HDOP {output.hdop:.2f} VDOP {output.vdop:.2f}\n" + f"EPH {output.eph_m:.2f}m EPV {output.epv_m:.2f}m | " + f"OU dAlt {output.delta_alt:+.2f}m" + ) + self._pub_marker.publish(marker) + + +def _ros_stamp(sim_time_s: float) -> builtin_interfaces.msg.Time: + t = builtin_interfaces.msg.Time() + t.sec = int(sim_time_s) + t.nanosec = int((sim_time_s - int(sim_time_s)) * 1e9) + return t + + +def _world_to_geodetic(world_pos, origin_lat_deg: float, origin_lon_deg: float, origin_alt_m: float): + """Approximate Pegasus ENU world coordinates as geodetic coordinates.""" + east_m, north_m, up_m = world_pos + earth_radius_m = 6_371_000.0 + lat_rad = math.radians(origin_lat_deg) + dlat = math.degrees(float(north_m) / earth_radius_m) + dlon = math.degrees(float(east_m) / (earth_radius_m * math.cos(lat_rad) + 1e-9)) + return origin_lat_deg + dlat, origin_lon_deg + dlon, origin_alt_m + float(up_m) diff --git a/simulation/isaac-sim/launch_scripts/outdoor_urban_canyon_launch.py b/simulation/isaac-sim/launch_scripts/outdoor_urban_canyon_launch.py new file mode 100644 index 000000000..a10ee3f00 --- /dev/null +++ b/simulation/isaac-sim/launch_scripts/outdoor_urban_canyon_launch.py @@ -0,0 +1,121 @@ +"""Isaac Sim urban-canyon scene for GPS degradation testing. + +Launch: + ISAACSIM_PYTHON launch_scripts/outdoor_urban_canyon_launch.py [--scenario urban] + +Buildings and ground are registered with UsdPhysics.CollisionAPI so PhysX raycasting +can detect them for LOS/NLOS classification. +""" +# SimulationApp MUST be created before any omni.* imports +from isaacsim import SimulationApp +simulation_app = SimulationApp({"headless": True}) + +import argparse +import os +import sys + +import omni.usd +from pxr import UsdGeom, UsdPhysics, Gf +import rclpy + +_LAUNCH_DIR = os.path.dirname(os.path.realpath(__file__)) +sys.path.insert(0, os.path.normpath(os.path.join(_LAUNCH_DIR, ".."))) + +from gps_degradation_node import GPSDegradationNode +from gps_degradation_staging import GpsDegradationConfig + + +# (x, y, half-width, half-depth, half-height) in meters — approximate urban block +_BUILDINGS = [ + ( 30.0, 0.0, 10.0, 20.0, 30.0), + (-30.0, 0.0, 10.0, 20.0, 25.0), + ( 0.0, 40.0, 20.0, 10.0, 35.0), + ( 0.0, -40.0, 20.0, 10.0, 22.5), +] + + +def _apply_collision(stage, path: str): + prim = stage.GetPrimAtPath(path) + if prim.IsValid() and not prim.HasAPI(UsdPhysics.CollisionAPI): + UsdPhysics.CollisionAPI.Apply(prim) + + +class UrbanCanyonApp: + def __init__(self, robot_id: int = 1, scenario: str = "urban"): + self._robot_id = robot_id + self._scenario = scenario + self._world = None + self._gps_node = None + + def _build_scene(self): + from omni.isaac.core import World + self._world = World(stage_units_in_meters=1.0) + stage = omni.usd.get_context().get_stage() + + # Ground plane + ground = stage.DefinePrim("/World/Ground", "Cube") + UsdGeom.XformCommonAPI(ground).SetTranslate(Gf.Vec3d(0.0, 0.0, -0.5)) + UsdGeom.XformCommonAPI(ground).SetScale(Gf.Vec3f(200.0, 200.0, 1.0)) + _apply_collision(stage, "/World/Ground") + + # Buildings + for i, (bx, by, hw, hd, hh) in enumerate(_BUILDINGS): + path = f"/World/Building_{i}" + prim = stage.DefinePrim(path, "Cube") + UsdGeom.XformCommonAPI(prim).SetTranslate(Gf.Vec3d(bx, by, hh)) + UsdGeom.XformCommonAPI(prim).SetScale(Gf.Vec3f(hw, hd, hh)) + _apply_collision(stage, path) + + # Physics scene required for raycasting + UsdPhysics.Scene.Define(stage, "/World/PhysicsScene") + self._world.reset() + + def _setup_ros(self): + if not rclpy.ok(): + rclpy.init() + cfg = GpsDegradationConfig(scenario=self._scenario) + self._gps_node = GPSDegradationNode( + vehicle_id=self._robot_id, + scenario=self._scenario, + cfg=cfg, + ) + + def run(self): + self._build_scene() + self._setup_ros() + + from omni.timeline import get_timeline_interface + get_timeline_interface().play() + + print(f"[UrbanCanyonApp] robot={self._robot_id} scenario={self._scenario}") + step = 0 + while simulation_app.is_running(): + self._world.step(render=False) + t = float(self._world.current_time) + + # In a real drone scenario, read prim transform here + self._gps_node.set_world_pos(0.0, 0.0, 10.0) + self._gps_node.physics_step(t) + rclpy.spin_once(self._gps_node, timeout_sec=0.0) + + step += 1 + if step % 500 == 0: + o = self._gps_node._model.last_output + print( + f" t={t:7.1f}s {o.state.name:<10} " + f"n_los={o.n_los:2d} hdop={o.hdop:.2f} " + f"eph={o.eph_m:.2f}m epv={o.epv_m:.2f}m " + f"Δalt={o.delta_alt:+.2f}m" + ) + + rclpy.shutdown() + simulation_app.close() + + +if __name__ == "__main__": + ap = argparse.ArgumentParser() + ap.add_argument("--robot-id", type=int, default=1) + ap.add_argument("--scenario", default="urban", + choices=["open_sky", "suburban", "urban", "dense_urban"]) + args = ap.parse_args() + UrbanCanyonApp(robot_id=args.robot_id, scenario=args.scenario).run() diff --git a/simulation/isaac-sim/test_constellation.py b/simulation/isaac-sim/test_constellation.py new file mode 100644 index 000000000..da465d99c --- /dev/null +++ b/simulation/isaac-sim/test_constellation.py @@ -0,0 +1,38 @@ +""" +Quick test: does the constellation load and produce sensible results? +Run with: ISAACSIM_PYTHON test_constellation.py + or: python3 test_constellation.py (if sgp4/pymap3d installed system-wide) +""" +import sys +import os +sys.path.insert(0, os.path.dirname(os.path.abspath(__file__))) + +from gps_degradation_staging.constellation import ConstellationModel + +# Load the TLE file (path relative to simulation/isaac-sim/) +model = ConstellationModel("data/gps_ops.tle") + +# Pittsburgh coordinates (AirStack's test location) +LAT = 40.4422 +LON = -79.9430 +ALT = 100.0 # 100 metres altitude + +# Get visible satellites (sim_time_s=0 → Jan 1 2025 00:00 UTC) +sats = model.get_visible_satellites(LAT, LON, ALT, sim_time_s=0.0) + +print(f"\nVisible satellites from Pittsburgh at {ALT}m altitude:") +print(f"Total: {len(sats)} satellites above {model.ELEVATION_MASK_DEG}° elevation\n") +print(f"{'Name':<32} {'Elevation':>10} {'Azimuth':>10}") +print("-" * 55) +for s in sorted(sats, key=lambda x: -x.elevation_deg): + print(f"{s.name:<32} {s.elevation_deg:>9.1f}° {s.azimuth_deg:>9.1f}°") + +if sats: + print(f"\nExample ENU unit vector for first (highest) satellite:") + s0 = sorted(sats, key=lambda x: -x.elevation_deg)[0] + print(f" {s0.name}: {s0.enu_unit}") + print(f" (East={s0.enu_unit[0]:.4f}, North={s0.enu_unit[1]:.4f}, Up={s0.enu_unit[2]:.4f})") + print(f"\nExpect visible GNSS satellites. If 0, check sgp4/pymap3d and TLE files.") +else: + print("\nWARNING: 0 satellites visible — check packages and TLE file path.") + sys.exit(1) diff --git a/simulation/isaac-sim/test_gps_degradation.py b/simulation/isaac-sim/test_gps_degradation.py new file mode 100644 index 000000000..302a10452 --- /dev/null +++ b/simulation/isaac-sim/test_gps_degradation.py @@ -0,0 +1,79 @@ +"""Focused offline checks for the Tier 2 GPS degradation pipeline.""" +from __future__ import annotations + +from pathlib import Path + +import numpy as np + +from gps_degradation_staging.config import GpsDegradationConfig +from gps_degradation_staging.constellation import ConstellationModel, SatelliteView +from gps_degradation_staging.dop import DopCalculator +from gps_degradation_staging.signal_model import SatelliteSignal +from gps_degradation_staging.state_machine import DegradationStateMachine, GpsState +import gps_degradation_staging.visibility as visibility + + +def _sat(azimuth_deg: float, elevation_deg: float) -> SatelliteView: + az = np.radians(azimuth_deg) + el = np.radians(elevation_deg) + c = np.cos(el) + return SatelliteView( + sat_id=0, + name="test", + azimuth_deg=azimuth_deg, + elevation_deg=elevation_deg, + enu_unit=np.array([c * np.sin(az), c * np.cos(az), np.sin(el)]), + ) + + +def test_tle_constellation() -> None: + tle = Path(__file__).parent / "data" / "gps_ops.tle" + model = ConstellationModel(str(tle)) + sats = model.get_visible_satellites(40.4422, -79.9430, 100.0, sim_time_s=0.0) + assert model.using_tle + assert sats + + +def test_dop_and_state() -> None: + signals = [ + SatelliteSignal(s.elevation_deg, s.azimuth_deg, True, 40.0) + for s in [_sat(0, 60), _sat(90, 45), _sat(180, 55), _sat(270, 40), _sat(35, 25)] + ] + hdop, vdop, _ = DopCalculator().compute(signals) + assert 0.0 < hdop < 99.0 + assert 0.0 < vdop < 99.0 + + machine = DegradationStateMachine(GpsDegradationConfig()) + denied = machine.update(3, 99.0, 99.0, 0.0, 0.0, 0.0, 40.0, -79.0) + assert denied.state == GpsState.DENIED + assert denied.fix_type == 0 + + +def test_nlos_classification() -> None: + class Physx: + def __init__(self): + self.calls = 0 + + def raycast_closest(self, origin, direction, max_distance): + self.calls += 1 + return {"hit": True, "distance": 10.0} + + cfg = GpsDegradationConfig() + original = visibility._get_physx + physx = Physx() + visibility._get_physx = lambda: physx + try: + result = visibility.VisibilityChecker(cfg).check([_sat(45, 45)], (0.0, 0.0, 5.0)) + finally: + visibility._get_physx = original + + assert len(result) == 1 + assert not result[0].is_los + assert physx.calls == 1 + + +if __name__ == "__main__": + test_tle_constellation() + test_dop_and_state() + test_nlos_classification() + print("GPS degradation checks passed")