From 4eeb952cda6d5c37a990f6dee047a2aab2f520aa Mon Sep 17 00:00:00 2001
From: Jonathan Noyola <noyolajonathan@gmail.com>
Date: Sat, 7 Dec 2019 18:02:31 -0800
Subject: [PATCH] Fix gazebo_ros_pkgs build (#4)

* add back connext and opensplice packages, since they're expected to be present even if they're not used
* fixed gazebo lib/include paths (the fix was already specified in the instructions, but mistakenly missed)
* add `_SILENCE_EXPERIMENTAL_FILESYSTEM_DEPRECATION_WARNING` flag
---
 ...ion_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...n_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...utorials__rosidl_typesupport_connext_c.dll |   3 +
 ...orials__rosidl_typesupport_connext_cpp.dll |   3 +
 ...rials__rosidl_typesupport_opensplice_c.dll |   3 +
 ...als__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...lib_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...b_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...terfaces__rosidl_typesupport_connext_c.dll |   3 +
 ...rfaces__rosidl_typesupport_connext_cpp.dll |   3 +
 ...faces__rosidl_typesupport_opensplice_c.dll |   3 +
 ...ces__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...terfaces__rosidl_typesupport_connext_c.dll |   3 +
 ...rfaces__rosidl_typesupport_connext_cpp.dll |   3 +
 ...faces__rosidl_typesupport_opensplice_c.dll |   3 +
 ...ces__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...tic_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...c_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...terfaces__rosidl_typesupport_connext_c.dll |   3 +
 ...rfaces__rosidl_typesupport_connext_cpp.dll |   3 +
 ...faces__rosidl_typesupport_opensplice_c.dll |   3 +
 ...ces__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...try_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...y_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...cle_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...e_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...ing_demo__rosidl_typesupport_connext_c.dll |   3 +
 ...g_demo__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._demo__rosidl_typesupport_opensplice_c.dll |   3 +
 ...emo__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...map_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...p_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...nav_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...v_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...lum_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...m_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...terfaces__rosidl_typesupport_connext_c.dll |   3 +
 ...rfaces__rosidl_typesupport_connext_cpp.dll |   3 +
 ...faces__rosidl_typesupport_opensplice_c.dll |   3 +
 ...ces__rosidl_typesupport_opensplice_cpp.dll |   3 +
 WindowFrame/bin/rmw_connext_cpp.dll           |   3 +
 WindowFrame/bin/rmw_connext_shared_cpp.dll    |   3 +
 WindowFrame/bin/rmw_opensplice_cpp.dll        |   3 +
 ...aph_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...h_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 .../bin/rosidl_typesupport_connext_c.dll      |   3 +
 .../bin/rosidl_typesupport_connext_cpp.dll    |   3 +
 .../bin/rosidl_typesupport_opensplice_c.dll   |   3 +
 .../bin/rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...sor_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...r_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...ape_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...e_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...std_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...d_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...std_srvs__rosidl_typesupport_connext_c.dll |   3 +
 ...d_srvs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._srvs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...rvs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...reo_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...o_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...est_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...t_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...tf2_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...2_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...ory_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...y_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...ier_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...r_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 ...ion_msgs__rosidl_typesupport_connext_c.dll |   3 +
 ...n_msgs__rosidl_typesupport_connext_cpp.dll |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.dll |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.dll |   3 +
 WindowFrame/colcon_defaults.txt               |   2 +-
 ...ion_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...n_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...utorials__rosidl_typesupport_connext_c.lib |   3 +
 ...orials__rosidl_typesupport_connext_cpp.lib |   3 +
 ...rials__rosidl_typesupport_opensplice_c.lib |   3 +
 ...als__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...lib_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...b_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...terfaces__rosidl_typesupport_connext_c.lib |   3 +
 ...rfaces__rosidl_typesupport_connext_cpp.lib |   3 +
 ...faces__rosidl_typesupport_opensplice_c.lib |   3 +
 ...ces__rosidl_typesupport_opensplice_cpp.lib |   3 +
 .../lib/cmake/gazebo/gazebo-config.cmake      |  32 ++---
 .../ignition-cmake0-config.cmake              |   2 +-
 .../ignition-math4-config.cmake               |   2 +-
 .../ignition-msgs1-config.cmake               |   2 +-
 .../ignition-transport4-config.cmake          |   2 +-
 .../lib/cmake/sdformat/SDFormatConfig.cmake   |  10 +-
 ...terfaces__rosidl_typesupport_connext_c.lib |   3 +
 ...rfaces__rosidl_typesupport_connext_cpp.lib |   3 +
 ...faces__rosidl_typesupport_opensplice_c.lib |   3 +
 ...ces__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...tic_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...c_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...terfaces__rosidl_typesupport_connext_c.lib |   3 +
 ...rfaces__rosidl_typesupport_connext_cpp.lib |   3 +
 ...faces__rosidl_typesupport_opensplice_c.lib |   3 +
 ...ces__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...try_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...y_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...cle_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...e_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...ing_demo__rosidl_typesupport_connext_c.lib |   3 +
 ...g_demo__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._demo__rosidl_typesupport_opensplice_c.lib |   3 +
 ...emo__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...map_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...p_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...nav_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...v_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...lum_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...m_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...terfaces__rosidl_typesupport_connext_c.lib |   3 +
 ...rfaces__rosidl_typesupport_connext_cpp.lib |   3 +
 ...faces__rosidl_typesupport_opensplice_c.lib |   3 +
 ...ces__rosidl_typesupport_opensplice_cpp.lib |   3 +
 WindowFrame/lib/rmw_connext_cpp.lib           |   3 +
 WindowFrame/lib/rmw_connext_shared_cpp.lib    |   3 +
 WindowFrame/lib/rmw_opensplice_cpp.lib        |   3 +
 ...aph_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...h_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 .../lib/rosidl_typesupport_connext_c.lib      |   3 +
 .../rosidl_typesupport_connext_c              |  33 +++++
 .../lib/rosidl_typesupport_connext_cpp.lib    |   3 +
 .../rosidl_typesupport_connext_cpp            |  45 +++++++
 .../lib/rosidl_typesupport_opensplice_c.lib   |   3 +
 .../rosidl_typesupport_opensplice_c           |  34 +++++
 .../lib/rosidl_typesupport_opensplice_cpp.lib |   3 +
 .../rosidl_typesupport_opensplice_cpp         |  55 ++++++++
 ...sor_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...r_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...ape_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...e_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...n_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...n_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 15360 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 15360 bytes
 ...orials_s__rosidl_typesupport_connext_c.lib |   3 +
 ...orials_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 19968 bytes
 ...als_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...als_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 19968 bytes
 ...b_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...b_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 12800 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 12800 bytes
 ...rfaces_s__rosidl_typesupport_connext_c.lib |   3 +
 ...rfaces_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 12288 bytes
 ...ces_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...ces_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 12288 bytes
 ...rfaces_s__rosidl_typesupport_connext_c.lib |   3 +
 ...rfaces_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 17920 bytes
 ...ces_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...ces_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 17920 bytes
 ...c_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...c_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 17920 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 17920 bytes
 ...rfaces_s__rosidl_typesupport_connext_c.lib |   3 +
 ...rfaces_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 22528 bytes
 ...ces_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...ces_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 22528 bytes
 ...y_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...y_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 40448 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 40448 bytes
 ...e_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...e_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 24576 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 25088 bytes
 ...g_demo_s__rosidl_typesupport_connext_c.lib |   3 +
 ...g_demo_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 12288 bytes
 ...emo_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...emo_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 12288 bytes
 ...p_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...p_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 29184 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 29184 bytes
 ...v_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...v_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 21504 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 21504 bytes
 ...m_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...m_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 12800 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 12800 bytes
 ...rfaces_s__rosidl_typesupport_connext_c.lib |   3 +
 ...rfaces_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 39424 bytes
 ...ces_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...ces_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 39424 bytes
 ...h_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...h_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 10752 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 10752 bytes
 .../rosidl_typesupport_connext_c/__init__.py  |  26 ++++
 .../__init__.py                               | 127 ++++++++++++++++++
 .../__init__.py                               |  24 ++++
 .../__init__.py                               | 124 +++++++++++++++++
 .../rosidl_generator_dds_idl_extension.py     |  37 +++++
 ...r_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...r_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 40448 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 40448 bytes
 ...e_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...e_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 13824 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 13824 bytes
 ...d_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...d_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 40448 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 40448 bytes
 ...d_srvs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...d_srvs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 16896 bytes
 ...rvs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...rvs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 16896 bytes
 ...o_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...o_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 11264 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 11264 bytes
 ...t_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...t_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 47616 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 47616 bytes
 ...2_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...2_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 25088 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 25088 bytes
 ...y_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...y_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 14336 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 14336 bytes
 ...r_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...r_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 11264 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 11264 bytes
 ...n_msgs_s__rosidl_typesupport_connext_c.lib |   3 +
 ...n_msgs_s__rosidl_typesupport_connext_c.pyd | Bin 0 -> 20992 bytes
 ...sgs_s__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs_s__rosidl_typesupport_opensplice_c.pyd | Bin 0 -> 20992 bytes
 ...std_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...d_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...std_srvs__rosidl_typesupport_connext_c.lib |   3 +
 ...d_srvs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._srvs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...rvs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...reo_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...o_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...est_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...t_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...tf2_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...2_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...ory_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...y_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...ier_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...r_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 ...ion_msgs__rosidl_typesupport_connext_c.lib |   3 +
 ...n_msgs__rosidl_typesupport_connext_cpp.lib |   3 +
 ..._msgs__rosidl_typesupport_opensplice_c.lib |   3 +
 ...sgs__rosidl_typesupport_opensplice_cpp.lib |   3 +
 construction/README.md                        |   4 +-
 331 files changed, 1324 insertions(+), 29 deletions(-)
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diff --git a/WindowFrame/bin/visualization_msgs__rosidl_typesupport_opensplice_c.dll b/WindowFrame/bin/visualization_msgs__rosidl_typesupport_opensplice_c.dll
new file mode 100644
index 00000000..2f5ec096
--- /dev/null
+++ b/WindowFrame/bin/visualization_msgs__rosidl_typesupport_opensplice_c.dll
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e2508ff4b484ef2a5a67482fcf5db0a04c3ca2f13f5915de8b5efcab17703d
+size 671232
diff --git a/WindowFrame/bin/visualization_msgs__rosidl_typesupport_opensplice_cpp.dll b/WindowFrame/bin/visualization_msgs__rosidl_typesupport_opensplice_cpp.dll
new file mode 100644
index 00000000..971a07d1
--- /dev/null
+++ b/WindowFrame/bin/visualization_msgs__rosidl_typesupport_opensplice_cpp.dll
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c4d81f1dbdfaba4c9a19c378e3dde43fb7ea1d9c774230c08991f40580a6339
+size 708608
diff --git a/WindowFrame/colcon_defaults.txt b/WindowFrame/colcon_defaults.txt
index 21468f31..8d98d2f2 100644
--- a/WindowFrame/colcon_defaults.txt
+++ b/WindowFrame/colcon_defaults.txt
@@ -5,7 +5,7 @@
             "-Ax64",
             "-DBUILD_TESTING=OFF",
             "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON",
-            "-DCMAKE_CXX_FLAGS='/EHsc -DBOOST_ALL_DYN_LINK -DFREEIMAGE_LIB -DNOMINMAX -DTIXML_USE_STL -D_USE_MATH_DEFINES -DWIN32_LEAN_AND_MEAN'"
+            "-DCMAKE_CXX_FLAGS='/EHsc -DBOOST_ALL_DYN_LINK -DFREEIMAGE_LIB -DNOMINMAX -DTIXML_USE_STL -D_USE_MATH_DEFINES -DWIN32_LEAN_AND_MEAN -D_SILENCE_EXPERIMENTAL_FILESYSTEM_DEPRECATION_WARNING'"
         ]
     }
 }
diff --git a/WindowFrame/lib/action_msgs__rosidl_typesupport_connext_c.lib b/WindowFrame/lib/action_msgs__rosidl_typesupport_connext_c.lib
new file mode 100644
index 00000000..4b09e663
--- /dev/null
+++ b/WindowFrame/lib/action_msgs__rosidl_typesupport_connext_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4f8b3fc38cbe9ba261a647412c6d19edcd9b9fbd00ba9937a54095aa9aa87fb
+size 872860
diff --git a/WindowFrame/lib/action_msgs__rosidl_typesupport_connext_cpp.lib b/WindowFrame/lib/action_msgs__rosidl_typesupport_connext_cpp.lib
new file mode 100644
index 00000000..ab903b1c
--- /dev/null
+++ b/WindowFrame/lib/action_msgs__rosidl_typesupport_connext_cpp.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:049a841e036c0f3f408a07e041a32d64ac264f4d99f3c1872fff9fa73c9d4f9a
+size 897862
diff --git a/WindowFrame/lib/action_msgs__rosidl_typesupport_opensplice_c.lib b/WindowFrame/lib/action_msgs__rosidl_typesupport_opensplice_c.lib
new file mode 100644
index 00000000..db8b0944
--- /dev/null
+++ b/WindowFrame/lib/action_msgs__rosidl_typesupport_opensplice_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f948403d75148bfea890d6b572240eb1052d2911db2f5bce79e8a675b773577
+size 872440
diff --git a/WindowFrame/lib/action_msgs__rosidl_typesupport_opensplice_cpp.lib b/WindowFrame/lib/action_msgs__rosidl_typesupport_opensplice_cpp.lib
new file mode 100644
index 00000000..45a9c226
--- /dev/null
+++ b/WindowFrame/lib/action_msgs__rosidl_typesupport_opensplice_cpp.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e7c7459202e11dac68be829d7fdfa1d2544189a6e6b3fb53732954f82534ab3
+size 890422
diff --git a/WindowFrame/lib/action_tutorials__rosidl_typesupport_connext_c.lib b/WindowFrame/lib/action_tutorials__rosidl_typesupport_connext_c.lib
new file mode 100644
index 00000000..ae9b1c28
--- /dev/null
+++ b/WindowFrame/lib/action_tutorials__rosidl_typesupport_connext_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e50f23bf3155dcd6d3cea4fdc4b612efa089265502d39ddcb29e40521743afe0
+size 1614906
diff --git a/WindowFrame/lib/action_tutorials__rosidl_typesupport_connext_cpp.lib b/WindowFrame/lib/action_tutorials__rosidl_typesupport_connext_cpp.lib
new file mode 100644
index 00000000..5ddcd0ef
--- /dev/null
+++ b/WindowFrame/lib/action_tutorials__rosidl_typesupport_connext_cpp.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c9ccd3b42d3d83f1ebb29b1e72b0673ead156843366372d1ae2ead3b27ce50a
+size 1663388
diff --git a/WindowFrame/lib/action_tutorials__rosidl_typesupport_opensplice_c.lib b/WindowFrame/lib/action_tutorials__rosidl_typesupport_opensplice_c.lib
new file mode 100644
index 00000000..708cb2af
--- /dev/null
+++ b/WindowFrame/lib/action_tutorials__rosidl_typesupport_opensplice_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d233bc1b111380ae9d2021f4b9fb77e5471901a81571cd64aae39f55a28f903
+size 1758532
diff --git a/WindowFrame/lib/action_tutorials__rosidl_typesupport_opensplice_cpp.lib b/WindowFrame/lib/action_tutorials__rosidl_typesupport_opensplice_cpp.lib
new file mode 100644
index 00000000..b6f674f2
--- /dev/null
+++ b/WindowFrame/lib/action_tutorials__rosidl_typesupport_opensplice_cpp.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bbc54c2c1256f31b8ffcd629dcadd9f248c9cd41deb5980bddea2a9b6f07c2e
+size 1756014
diff --git a/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_connext_c.lib b/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_connext_c.lib
new file mode 100644
index 00000000..0a635026
--- /dev/null
+++ b/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_connext_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83da95780ec6eb96bbbefeadeaaef663ba06f7256af947eae03f1e35d1f9f1bd
+size 516646
diff --git a/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_connext_cpp.lib b/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_connext_cpp.lib
new file mode 100644
index 00000000..7b9c8283
--- /dev/null
+++ b/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_connext_cpp.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e65cad9b4f06d3fbbc1190c8e2241b72476721d83ecc9a6a7ff9e5e0bff879e4
+size 526450
diff --git a/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_opensplice_c.lib b/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_opensplice_c.lib
new file mode 100644
index 00000000..0d064288
--- /dev/null
+++ b/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_opensplice_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ae37e2d15de80ce0fa03ce786888faca0822194682e6f03d7bed91dd224b397
+size 357680
diff --git a/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_opensplice_cpp.lib b/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_opensplice_cpp.lib
new file mode 100644
index 00000000..ff84f9c6
--- /dev/null
+++ b/WindowFrame/lib/actionlib_msgs__rosidl_typesupport_opensplice_cpp.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1f11489434d5d8ef2aa100ebb02059ccd6a5e48468c9e554a8a10fedb325fb3
+size 376392
diff --git a/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_connext_c.lib b/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_connext_c.lib
new file mode 100644
index 00000000..1bd486f6
--- /dev/null
+++ b/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_connext_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4de013e4be89ec1823079d751d8b19b817e1b4a4b733007c23b016f7897f6b7
+size 340566
diff --git a/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_connext_cpp.lib b/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_connext_cpp.lib
new file mode 100644
index 00000000..89420b56
--- /dev/null
+++ b/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_connext_cpp.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b5d1bffcc6c924076ba48b47363f4dc0612bb89a61a2103bc8c9ef0e142f421
+size 347038
diff --git a/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_opensplice_c.lib b/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_opensplice_c.lib
new file mode 100644
index 00000000..ce21d4f4
--- /dev/null
+++ b/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_opensplice_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d77db958f04e167118b7b30f884bba62286df5a48a1e7dfeeae0002f2dc45eed
+size 234652
diff --git a/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_opensplice_cpp.lib b/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_opensplice_cpp.lib
new file mode 100644
index 00000000..7a124085
--- /dev/null
+++ b/WindowFrame/lib/builtin_interfaces__rosidl_typesupport_opensplice_cpp.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e52c625b46cfa363b66f5de90a4e2adfc62f1763229bd3f7efe83b1227dbaf78
+size 247072
diff --git a/WindowFrame/lib/cmake/gazebo/gazebo-config.cmake b/WindowFrame/lib/cmake/gazebo/gazebo-config.cmake
index 77530aae..e4e60a44 100644
--- a/WindowFrame/lib/cmake/gazebo/gazebo-config.cmake
+++ b/WindowFrame/lib/cmake/gazebo/gazebo-config.cmake
@@ -5,14 +5,14 @@ set(GAZEBO_CONFIG_INCLUDED TRUE)
 set(GAZEBO_VERSION 10.1)
 set(GAZEBO_MAJOR_VERSION 10)
 
-set(GAZEBO_PLUGIN_PATH "D:/Robotics/gazebo/gazebo/build/install/Release/lib/gazebo-10/plugins")
+set(GAZEBO_PLUGIN_PATH "${CMAKE_CURRENT_LIST_DIR}/../../../lib/gazebo-10/plugins")
 
 # The media path contains the location on disk where images,
 # materials scripts, shaders, and other related resources are stored.
-set(GAZEBO_MEDIA_PATH "D:/Robotics/gazebo/gazebo/build/install/Release/share/gazebo-10/media")
+set(GAZEBO_MEDIA_PATH "${CMAKE_CURRENT_LIST_DIR}/../../../share/gazebo-10/media")
 
 # The model path contains the location on disk where models are stored.
-set(GAZEBO_MODEL_PATH "D:/Robotics/gazebo/gazebo/build/install/Release/share/gazebo-10/models")
+set(GAZEBO_MODEL_PATH "${CMAKE_CURRENT_LIST_DIR}/../../../share/gazebo-10/models")
 
 # Set whether Gazebo was built with Bullet support
 set (GAZEBO_HAS_BULLET FALSE)
@@ -72,23 +72,23 @@ include (FindPkgConfig)
 # target_link_libraries(your_package GAZEBO_PROTO_LIBRARIES)
 #
 set(GAZEBO_PROTO_PATH
-  "D:/Robotics/gazebo/gazebo/build/install/Release/include/gazebo-10/gazebo/msgs/proto")
+  "${CMAKE_CURRENT_LIST_DIR}/../../../include/gazebo-10/gazebo/msgs/proto")
 find_library(gazebo_proto_msgs_lib gazebo_msgs
-  PATHS "D:/Robotics/gazebo/gazebo/build/install/Release/lib" NO_DEFAULT_PATH)
+  PATHS "${CMAKE_CURRENT_LIST_DIR}/../../../lib" NO_DEFAULT_PATH)
 list(APPEND GAZEBO_PROTO_LIBRARIES ${gazebo_proto_msgs_lib})
 list(APPEND GAZEBO_PROTO_INCLUDE_DIRS
-  "D:/Robotics/gazebo/gazebo/build/install/Release/include/gazebo-10/gazebo/msgs")
+  "${CMAKE_CURRENT_LIST_DIR}/../../../include/gazebo-10/gazebo/msgs")
 # End GAZEBO_PROTO_PATH, GAZEBO_PROTO_INCLUDE_DIRS, and
 # GAZEBO_PROTO_LIBRARIES
 
-list(APPEND GAZEBO_INCLUDE_DIRS D:/Robotics/gazebo/gazebo/build/install/Release/include)
-list(APPEND GAZEBO_INCLUDE_DIRS D:/Robotics/gazebo/gazebo/build/install/Release/include/gazebo-10)
+list(APPEND GAZEBO_INCLUDE_DIRS ${CMAKE_CURRENT_LIST_DIR}/../../../include)
+list(APPEND GAZEBO_INCLUDE_DIRS ${CMAKE_CURRENT_LIST_DIR}/../../../include/gazebo-10)
 
-list(APPEND GAZEBO_LIBRARY_DIRS D:/Robotics/gazebo/gazebo/build/install/Release/lib)
-list(APPEND GAZEBO_LIBRARY_DIRS D:/Robotics/gazebo/gazebo/build/install/Release/lib/gazebo-10/plugins)
+list(APPEND GAZEBO_LIBRARY_DIRS ${CMAKE_CURRENT_LIST_DIR}/../../../lib)
+list(APPEND GAZEBO_LIBRARY_DIRS ${CMAKE_CURRENT_LIST_DIR}/../../../lib/gazebo-10/plugins)
 
-list(APPEND GAZEBO_CFLAGS -ID:/Robotics/gazebo/gazebo/build/install/Release/include)
-list(APPEND GAZEBO_CFLAGS -ID:/Robotics/gazebo/gazebo/build/install/Release/include/gazebo-10)
+list(APPEND GAZEBO_CFLAGS -I${CMAKE_CURRENT_LIST_DIR}/../../../include)
+list(APPEND GAZEBO_CFLAGS -I${CMAKE_CURRENT_LIST_DIR}/../../../include/gazebo-10)
 
 if (GAZEBO_HAS_BULLET)
   if (PKG_CONFIG_FOUND)
@@ -139,7 +139,7 @@ endif ()
 foreach(lib gazebo;gazebo_client;gazebo_gui;gazebo_sensors;gazebo_rendering;gazebo_physics;gazebo_ode;gazebo_transport;gazebo_msgs;gazebo_util;gazebo_common;gazebo_gimpact;gazebo_opcode;gazebo_opende_ou;gazebo_ccd)
   set(onelib "${lib}-NOTFOUND")
   find_library(onelib ${lib}
-    PATHS "D:/Robotics/gazebo/gazebo/build/install/Release/lib"
+    PATHS "${CMAKE_CURRENT_LIST_DIR}/../../../lib"
     NO_DEFAULT_PATH
     )
   if(NOT onelib)
@@ -218,9 +218,9 @@ if (GAZEBO_HAS_IGNITION_FUEL_TOOLS)
   list(APPEND GAZEBO_LIBRARIES ${IGNITION-FUEL_TOOLS_LIBRARIES})
 endif()
 
-list(APPEND GAZEBO_LDFLAGS -Wl,-rpath,D:/Robotics/gazebo/gazebo/build/install/Release/lib/gazebo-10/plugins)
-list(APPEND GAZEBO_LDFLAGS -LD:/Robotics/gazebo/gazebo/build/install/Release/lib)
-list(APPEND GAZEBO_LDFLAGS -LD:/Robotics/gazebo/gazebo/build/install/Release/lib/gazebo-10/plugins)
+list(APPEND GAZEBO_LDFLAGS -Wl,-rpath,${CMAKE_CURRENT_LIST_DIR}/../../../lib/gazebo-10/plugins)
+list(APPEND GAZEBO_LDFLAGS -L${CMAKE_CURRENT_LIST_DIR}/../../../lib)
+list(APPEND GAZEBO_LDFLAGS -L${CMAKE_CURRENT_LIST_DIR}/../../../lib/gazebo-10/plugins)
 
 # ==============
 # ADDED MANUALLY
diff --git a/WindowFrame/lib/cmake/ignition-cmake0/ignition-cmake0-config.cmake b/WindowFrame/lib/cmake/ignition-cmake0/ignition-cmake0-config.cmake
index 4e342555..a13d90e0 100644
--- a/WindowFrame/lib/cmake/ignition-cmake0/ignition-cmake0-config.cmake
+++ b/WindowFrame/lib/cmake/ignition-cmake0/ignition-cmake0-config.cmake
@@ -46,6 +46,6 @@ if( NOT IGNITION_CMAKE_VERSION_MAJOR
   # include the master IgnCMake module
   include(IgnCMake)
 
-  set(IGNITION_CMAKE_DOXYGEN_DIR "D:/Robotics/gazebo/ign-cmake/build/install/Release/share/ignition/ignition-cmake0/doxygen")
+  set(IGNITION_CMAKE_DOXYGEN_DIR "${CMAKE_CURRENT_LIST_DIR}/../../../share/ignition/ignition-cmake0/doxygen")
 
 endif()
diff --git a/WindowFrame/lib/cmake/ignition-math4/ignition-math4-config.cmake b/WindowFrame/lib/cmake/ignition-math4/ignition-math4-config.cmake
index 7c65fba0..e810afc3 100644
--- a/WindowFrame/lib/cmake/ignition-math4/ignition-math4-config.cmake
+++ b/WindowFrame/lib/cmake/ignition-math4/ignition-math4-config.cmake
@@ -95,7 +95,7 @@ find_dependency(ignition-cmake0)
 # has no external dependencies).
 
 # Specify the doxygen tag file
-set(IGNITION-MATH_DOXYGEN_TAGFILE "D:/Robotics/gazebo/ign-math/build/install/Release/share/ignition/ignition-math4_0/ignition-math4.tag.xml")
+set(IGNITION-MATH_DOXYGEN_TAGFILE "${CMAKE_CURRENT_LIST_DIR}/../../../share/ignition/ignition-math4_0/ignition-math4.tag.xml")
 
 # Specify the API url. This is where the doxygen tag file will resolve URLS to.
 set(IGNITION-MATH_API_URL "https://ignitionrobotics.org/api/math/4.0")
diff --git a/WindowFrame/lib/cmake/ignition-msgs1/ignition-msgs1-config.cmake b/WindowFrame/lib/cmake/ignition-msgs1/ignition-msgs1-config.cmake
index 0844d4c3..357c9412 100644
--- a/WindowFrame/lib/cmake/ignition-msgs1/ignition-msgs1-config.cmake
+++ b/WindowFrame/lib/cmake/ignition-msgs1/ignition-msgs1-config.cmake
@@ -97,7 +97,7 @@ find_dependency(IgnProtobuf 3)
 find_dependency(ignition-math4)
 
 # Specify the doxygen tag file
-set(IGNITION-MSGS_DOXYGEN_TAGFILE "D:/Robotics/gazebo/ign-msgs/build/install/Release/share/ignition/ignition-msgs1_0/ignition-msgs1.tag.xml")
+set(IGNITION-MSGS_DOXYGEN_TAGFILE "${CMAKE_CURRENT_LIST_DIR}/../../../share/ignition/ignition-msgs1_0/ignition-msgs1.tag.xml")
 
 # Specify the API url. This is where the doxygen tag file will resolve URLS to.
 set(IGNITION-MSGS_API_URL "https://ignitionrobotics.org/api/msgs/1.0")
diff --git a/WindowFrame/lib/cmake/ignition-transport4/ignition-transport4-config.cmake b/WindowFrame/lib/cmake/ignition-transport4/ignition-transport4-config.cmake
index 856741d4..45a9a28b 100644
--- a/WindowFrame/lib/cmake/ignition-transport4/ignition-transport4-config.cmake
+++ b/WindowFrame/lib/cmake/ignition-transport4/ignition-transport4-config.cmake
@@ -99,7 +99,7 @@ find_dependency(CPPZMQ)
 find_dependency(ignition-msgs1)
 
 # Specify the doxygen tag file
-set(IGNITION-TRANSPORT_DOXYGEN_TAGFILE "D:/Robotics/gazebo/ign-transport/build/install/Release/share/ignition/ignition-transport4_0/ignition-transport4.tag.xml")
+set(IGNITION-TRANSPORT_DOXYGEN_TAGFILE "${CMAKE_CURRENT_LIST_DIR}/../../../share/ignition/ignition-transport4_0/ignition-transport4.tag.xml")
 
 # Specify the API url. This is where the doxygen tag file will resolve URLS to.
 set(IGNITION-TRANSPORT_API_URL "https://ignitionrobotics.org/api/transport/4.0")
diff --git a/WindowFrame/lib/cmake/sdformat/SDFormatConfig.cmake b/WindowFrame/lib/cmake/sdformat/SDFormatConfig.cmake
index 3ef4a4db..4ccaf429 100644
--- a/WindowFrame/lib/cmake/sdformat/SDFormatConfig.cmake
+++ b/WindowFrame/lib/cmake/sdformat/SDFormatConfig.cmake
@@ -3,19 +3,19 @@ if (SDFormat_CONFIG_INCLUDED)
 endif()
 set(SDFormat_CONFIG_INCLUDED TRUE)
 
-list(APPEND SDFormat_INCLUDE_DIRS "D:/Robotics/gazebo/sdformat/build/install/Release/include/sdformat-6.2")
+list(APPEND SDFormat_INCLUDE_DIRS "${CMAKE_CURRENT_LIST_DIR}/../../../include/sdformat-6.2")
 
-list(APPEND SDFormat_CFLAGS "-ID:/Robotics/gazebo/sdformat/build/install/Release/include/sdformat-6.2")
+list(APPEND SDFormat_CFLAGS "-I${CMAKE_CURRENT_LIST_DIR}/../../../include/sdformat-6.2")
 if (NOT WIN32)
   list(APPEND SDFormat_CXX_FLAGS "${SDFormat_CFLAGS} -std=c++11")
 endif()
 
-list(APPEND SDFormat_LIBRARY_DIRS "D:/Robotics/gazebo/sdformat/build/install/Release/lib")
+list(APPEND SDFormat_LIBRARY_DIRS "${CMAKE_CURRENT_LIST_DIR}/../../../lib")
 
 foreach(lib sdformat)
   set(onelib "${lib}-NOTFOUND")
   find_library(onelib ${lib}
-    PATHS "D:/Robotics/gazebo/sdformat/build/install/Release/lib"
+    PATHS "${CMAKE_CURRENT_LIST_DIR}/../../../lib"
     NO_DEFAULT_PATH
     )
   if(NOT onelib)
@@ -32,4 +32,4 @@ list(APPEND SDFormat_LIBRARY_DIRS ${IGNITION-MATH_LIBRARY_DIRS})
 find_package(Boost)
 list(APPEND SDFormat_INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
 
-list(APPEND SDFormat_LDFLAGS "-LD:/Robotics/gazebo/sdformat/build/install/Release/lib")
+list(APPEND SDFormat_LDFLAGS "-L${CMAKE_CURRENT_LIST_DIR}/../../../lib")
diff --git a/WindowFrame/lib/composition_interfaces__rosidl_typesupport_connext_c.lib b/WindowFrame/lib/composition_interfaces__rosidl_typesupport_connext_c.lib
new file mode 100644
index 00000000..1a327e62
--- /dev/null
+++ b/WindowFrame/lib/composition_interfaces__rosidl_typesupport_connext_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:904a67a713256ab24edd8fe1d24d66330be23618dfa7f9d2c3644db2dbbf4cd7
+size 1185632
diff --git a/WindowFrame/lib/composition_interfaces__rosidl_typesupport_connext_cpp.lib b/WindowFrame/lib/composition_interfaces__rosidl_typesupport_connext_cpp.lib
new file mode 100644
index 00000000..e988fd4c
--- /dev/null
+++ b/WindowFrame/lib/composition_interfaces__rosidl_typesupport_connext_cpp.lib
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diff --git a/WindowFrame/lib/rosgraph_msgs__rosidl_typesupport_connext_cpp.lib b/WindowFrame/lib/rosgraph_msgs__rosidl_typesupport_connext_cpp.lib
new file mode 100644
index 00000000..25d1d749
--- /dev/null
+++ b/WindowFrame/lib/rosgraph_msgs__rosidl_typesupport_connext_cpp.lib
@@ -0,0 +1,3 @@
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diff --git a/WindowFrame/lib/rosgraph_msgs__rosidl_typesupport_opensplice_c.lib b/WindowFrame/lib/rosgraph_msgs__rosidl_typesupport_opensplice_c.lib
new file mode 100644
index 00000000..3274e847
--- /dev/null
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diff --git a/WindowFrame/lib/rosgraph_msgs__rosidl_typesupport_opensplice_cpp.lib b/WindowFrame/lib/rosgraph_msgs__rosidl_typesupport_opensplice_cpp.lib
new file mode 100644
index 00000000..c52b8b75
--- /dev/null
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diff --git a/WindowFrame/lib/rosidl_typesupport_connext_c.lib b/WindowFrame/lib/rosidl_typesupport_connext_c.lib
new file mode 100644
index 00000000..01ff5f8f
--- /dev/null
+++ b/WindowFrame/lib/rosidl_typesupport_connext_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c9aad02a3b00db5e368b5c418ae929bf61684678a378f1d670a90a398482360
+size 3420
diff --git a/WindowFrame/lib/rosidl_typesupport_connext_c/rosidl_typesupport_connext_c b/WindowFrame/lib/rosidl_typesupport_connext_c/rosidl_typesupport_connext_c
new file mode 100644
index 00000000..2f568731
--- /dev/null
+++ b/WindowFrame/lib/rosidl_typesupport_connext_c/rosidl_typesupport_connext_c
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+
+import argparse
+import os
+import sys
+
+from rosidl_typesupport_connext_c import generate_typesupport_connext_c
+
+
+def is_valid_file(parser, file_name):
+    if not os.path.exists(file_name):
+        parser.error("File does not exist: '{0}'".format(file_name))
+    file_name_abs = os.path.abspath(file_name)
+    if not os.path.isfile(file_name_abs):
+        parser.error("Path exists but is not a file: '{0}'".format(file_name_abs))
+    return file_name
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate the C interfaces for Connext.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--generator-arguments-file',
+        required=True,
+        help='The location of the file containing the generator arguments')
+    args = parser.parse_args(argv)
+
+    return generate_typesupport_connext_c(args.generator_arguments_file)
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/WindowFrame/lib/rosidl_typesupport_connext_cpp.lib b/WindowFrame/lib/rosidl_typesupport_connext_cpp.lib
new file mode 100644
index 00000000..2a3f4263
--- /dev/null
+++ b/WindowFrame/lib/rosidl_typesupport_connext_cpp.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1d6cc168ff7e23fcec901e28b4683c5753d1eaa39da8764bf4b06e6607ef74d
+size 3868
diff --git a/WindowFrame/lib/rosidl_typesupport_connext_cpp/rosidl_typesupport_connext_cpp b/WindowFrame/lib/rosidl_typesupport_connext_cpp/rosidl_typesupport_connext_cpp
new file mode 100644
index 00000000..f2ae4df9
--- /dev/null
+++ b/WindowFrame/lib/rosidl_typesupport_connext_cpp/rosidl_typesupport_connext_cpp
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+
+import argparse
+import sys
+
+from rosidl_cmake import read_generator_arguments
+from rosidl_typesupport_connext_cpp import generate_cpp
+from rosidl_typesupport_connext_cpp import generate_dds_connext_cpp
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate the C++ interfaces for Connext.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--generator-arguments-file',
+        required=True,
+        help='The location of the file containing the generator arguments')
+    parser.add_argument(
+        '--dds-interface-base-path',
+        required=True,
+        help='The base location of the DDS interface files')
+    parser.add_argument(
+        '--idl-pp',
+        required=True,
+        help='The location of the IDL preprocessor')
+    args = parser.parse_args(argv)
+
+    generator_args = read_generator_arguments(args.generator_arguments_file)
+
+    rc = generate_cpp(args.generator_arguments_file)
+    if rc:
+        return rc
+    return generate_dds_connext_cpp(
+        generator_args['package_name'],
+        generator_args.get('additional_files', []),
+        args.dds_interface_base_path,
+        generator_args.get('ros_interface_dependencies', []),
+        generator_args['output_dir'],
+        args.idl_pp
+    )
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/WindowFrame/lib/rosidl_typesupport_opensplice_c.lib b/WindowFrame/lib/rosidl_typesupport_opensplice_c.lib
new file mode 100644
index 00000000..ed8363a4
--- /dev/null
+++ b/WindowFrame/lib/rosidl_typesupport_opensplice_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db7a57806c4a5b6d1915a4b2f993c41492ae7e86e386093a4136a922856d90d
+size 2166
diff --git a/WindowFrame/lib/rosidl_typesupport_opensplice_c/rosidl_typesupport_opensplice_c b/WindowFrame/lib/rosidl_typesupport_opensplice_c/rosidl_typesupport_opensplice_c
new file mode 100644
index 00000000..2f06f928
--- /dev/null
+++ b/WindowFrame/lib/rosidl_typesupport_opensplice_c/rosidl_typesupport_opensplice_c
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+
+import argparse
+import os
+import sys
+
+from rosidl_cmake import read_generator_arguments
+from rosidl_typesupport_opensplice_c import generate_typesupport_opensplice_c
+
+
+def is_valid_file(parser, file_name):
+    if not os.path.exists(file_name):
+        parser.error("File does not exist: '{0}'".format(file_name))
+    file_name_abs = os.path.abspath(file_name)
+    if not os.path.isfile(file_name_abs):
+        parser.error("Path exists but is not a file: '{0}'".format(file_name_abs))
+    return file_name
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate the C interfaces for OpenSplice.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--generator-arguments-file',
+        required=True,
+        help='The location of the file containing the generator arguments')
+    args = parser.parse_args(argv)
+
+    return generate_typesupport_opensplice_c(args.generator_arguments_file)
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/WindowFrame/lib/rosidl_typesupport_opensplice_cpp.lib b/WindowFrame/lib/rosidl_typesupport_opensplice_cpp.lib
new file mode 100644
index 00000000..c85deaa8
--- /dev/null
+++ b/WindowFrame/lib/rosidl_typesupport_opensplice_cpp.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1057d515e240a0d0672e5d9df4908a38e8f8ba4b2a38d50a655d1fe07a8b64a7
+size 7830
diff --git a/WindowFrame/lib/rosidl_typesupport_opensplice_cpp/rosidl_typesupport_opensplice_cpp b/WindowFrame/lib/rosidl_typesupport_opensplice_cpp/rosidl_typesupport_opensplice_cpp
new file mode 100644
index 00000000..8a988c26
--- /dev/null
+++ b/WindowFrame/lib/rosidl_typesupport_opensplice_cpp/rosidl_typesupport_opensplice_cpp
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+
+import argparse
+import os
+import sys
+
+from rosidl_cmake import read_generator_arguments
+from rosidl_typesupport_opensplice_cpp import generate_dds_opensplice_cpp
+from rosidl_typesupport_opensplice_cpp import generate_typesupport_opensplice_cpp
+
+
+def is_valid_file(parser, file_name):
+    if not os.path.exists(file_name):
+        parser.error("File does not exist: '{0}'".format(file_name))
+    file_name_abs = os.path.abspath(file_name)
+    if not os.path.isfile(file_name_abs):
+        parser.error("Path exists but is not a file: '{0}'".format(file_name_abs))
+    return file_name
+
+
+def main(argv=sys.argv[1:]):
+    parser = argparse.ArgumentParser(
+        description='Generate the C++ interfaces for OpenSplice.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument(
+        '--generator-arguments-file',
+        required=True,
+        help='The location of the file containing the generator arguments')
+    parser.add_argument(
+        '--dds-interface-base-path',
+        required=True,
+        help='The base location of the DDS interface files')
+    parser.add_argument(
+        '--idl-pp',
+        required=True,
+        help='The location of the IDL preprocessor')
+    args = parser.parse_args(argv)
+
+    generator_args = read_generator_arguments(args.generator_arguments_file)
+
+    rc = generate_typesupport_opensplice_cpp(args.generator_arguments_file)
+    if rc:
+        return rc
+    return generate_dds_opensplice_cpp(
+        generator_args['package_name'],
+        generator_args.get('additional_files', []),
+        args.dds_interface_base_path,
+        generator_args.get('ros_interface_dependencies', []),
+        generator_args['output_dir'],
+        args.idl_pp,
+    )
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/WindowFrame/lib/sensor_msgs__rosidl_typesupport_connext_c.lib b/WindowFrame/lib/sensor_msgs__rosidl_typesupport_connext_c.lib
new file mode 100644
index 00000000..d10eeb05
--- /dev/null
+++ b/WindowFrame/lib/sensor_msgs__rosidl_typesupport_connext_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/WindowFrame/lib/sensor_msgs__rosidl_typesupport_connext_cpp.lib b/WindowFrame/lib/sensor_msgs__rosidl_typesupport_connext_cpp.lib
new file mode 100644
index 00000000..d4de24a6
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diff --git a/WindowFrame/lib/site-packages/lifecycle_msgs/lifecycle_msgs_s__rosidl_typesupport_connext_c.lib b/WindowFrame/lib/site-packages/lifecycle_msgs/lifecycle_msgs_s__rosidl_typesupport_connext_c.lib
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diff --git a/WindowFrame/lib/site-packages/rosidl_typesupport_connext_c/__init__.py b/WindowFrame/lib/site-packages/rosidl_typesupport_connext_c/__init__.py
new file mode 100644
index 00000000..b71f9a91
--- /dev/null
+++ b/WindowFrame/lib/site-packages/rosidl_typesupport_connext_c/__init__.py
@@ -0,0 +1,26 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rosidl_cmake import generate_files
+
+
+def generate_typesupport_connext_c(arguments_file):
+    mapping = {
+        'idl__rosidl_typesupport_connext_c.h.em':
+        '%s__rosidl_typesupport_connext_c.h',
+        'idl__dds_connext__type_support_c.cpp.em':
+        'dds_connext/%s__type_support_c.cpp'
+    }
+    generate_files(arguments_file, mapping)
+    return 0
diff --git a/WindowFrame/lib/site-packages/rosidl_typesupport_connext_cpp/__init__.py b/WindowFrame/lib/site-packages/rosidl_typesupport_connext_cpp/__init__.py
new file mode 100644
index 00000000..4999ac2f
--- /dev/null
+++ b/WindowFrame/lib/site-packages/rosidl_typesupport_connext_cpp/__init__.py
@@ -0,0 +1,127 @@
+# Copyright 2014 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import subprocess
+import sys
+
+from rosidl_cmake import generate_files
+
+
+def generate_dds_connext_cpp(
+        pkg_name, dds_interface_files, dds_interface_base_path, deps,
+        output_basepath, idl_pp):
+
+    include_dirs = [dds_interface_base_path]
+    for dep in deps:
+        # Only take the first : for separation, as Windows follows with a C:\
+        dep_parts = dep.split(':', 1)
+        assert len(dep_parts) == 2, "The dependency '%s' must contain a double colon" % dep
+        idl_path = dep_parts[1]
+        idl_base_path = os.path.dirname(
+            os.path.dirname(os.path.dirname(os.path.normpath(idl_path))))
+        if idl_base_path not in include_dirs:
+            include_dirs.append(idl_base_path)
+
+    for idl_file in dds_interface_files:
+        assert os.path.exists(idl_file), 'Could not find IDL file: ' + idl_file
+
+        # get two level of parent folders for idl file
+        folder = os.path.dirname(idl_file)
+        parent_folder = os.path.dirname(folder)
+        output_path = os.path.join(
+            output_basepath,
+            os.path.basename(parent_folder),
+            os.path.basename(folder))
+        try:
+            os.makedirs(output_path)
+        except FileExistsError:
+            pass
+
+        cmd = [idl_pp]
+        for include_dir in include_dirs:
+            cmd += ['-I', include_dir]
+        cmd += [
+            '-d', output_path,
+            '-language', 'C++',
+            '-namespace',
+            '-update', 'typefiles',
+            '-unboundedSupport',
+            idl_file
+        ]
+        if os.name == 'nt':
+            cmd[-5:-5] = ['-dllExportMacroSuffix', pkg_name]
+
+        msg_name = os.path.splitext(os.path.basename(idl_file))[0]
+        count = 1
+        max_count = 5
+        while True:
+            subprocess.check_call(cmd)
+
+            # fail safe if the generator does not work as expected
+            any_missing = False
+            for suffix in ['.h', '.cxx', 'Plugin.h', 'Plugin.cxx', 'Support.h', 'Support.cxx']:
+                filename = os.path.join(output_path, msg_name + suffix)
+                if not os.path.exists(filename):
+                    any_missing = True
+                    break
+            if not any_missing:
+                break
+            print("'%s' failed to generate the expected files for '%s/%s'" %
+                  (idl_pp, pkg_name, msg_name), file=sys.stderr)
+            if count < max_count:
+                count += 1
+                print('Running code generator again (retry %d of %d)...' %
+                      (count, max_count), file=sys.stderr)
+                continue
+            raise RuntimeError('failed to generate the expected files')
+
+        if os.name != 'nt':
+            # modify generated code to avoid unsed global variable warning
+            # which can't be suppressed non-globally with gcc
+            msg_filename = os.path.join(output_path, msg_name + '.h')
+            _modify(msg_filename, pkg_name, msg_name, _inject_unused_attribute)
+
+    return 0
+
+
+def _inject_unused_attribute(pkg_name, msg_name, lines):
+    # prepend attribute before constants of string type
+    prefix = 'static const DDS_Char *'
+    inject_prefix = '__attribute__((unused)) '
+    for index, line in enumerate(lines):
+        if not line.lstrip().startswith(prefix):
+            continue
+        lines[index] = line.replace(prefix, inject_prefix + prefix)
+    return True
+
+
+def _modify(filename, pkg_name, msg_name, callback):
+    with open(filename, 'r') as h:
+        lines = h.read().split('\n')
+    modified = callback(pkg_name, msg_name, lines)
+    if modified:
+        with open(filename, 'w') as h:
+            h.write('\n'.join(lines))
+
+
+def generate_cpp(arguments_file):
+    mapping = {
+        'idl__rosidl_typesupport_connext_cpp.hpp.em':
+        '%s__rosidl_typesupport_connext_cpp.hpp',
+        'idl__dds_connext__type_support.cpp.em':
+        'dds_connext/%s__type_support.cpp'
+    }
+    generate_files(arguments_file, mapping)
+    return 0
diff --git a/WindowFrame/lib/site-packages/rosidl_typesupport_opensplice_c/__init__.py b/WindowFrame/lib/site-packages/rosidl_typesupport_opensplice_c/__init__.py
new file mode 100644
index 00000000..911066f5
--- /dev/null
+++ b/WindowFrame/lib/site-packages/rosidl_typesupport_opensplice_c/__init__.py
@@ -0,0 +1,24 @@
+# Copyright 2016 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rosidl_cmake import generate_files
+
+
+def generate_typesupport_opensplice_c(arguments_file):
+    mapping = {
+        'idl__rosidl_typesupport_opensplice_c.h.em': '%s__rosidl_typesupport_opensplice_c.h',
+        'idl__dds_opensplice__type_support.c.em': 'dds_opensplice_c/%s__type_support_c.cpp',
+    }
+
+    generate_files(arguments_file, mapping)
diff --git a/WindowFrame/lib/site-packages/rosidl_typesupport_opensplice_cpp/__init__.py b/WindowFrame/lib/site-packages/rosidl_typesupport_opensplice_cpp/__init__.py
new file mode 100644
index 00000000..9da2c8d0
--- /dev/null
+++ b/WindowFrame/lib/site-packages/rosidl_typesupport_opensplice_cpp/__init__.py
@@ -0,0 +1,124 @@
+# Copyright 2014-2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import subprocess
+
+from rosidl_cmake import generate_files
+
+
+def generate_dds_opensplice_cpp(
+    pkg_name, dds_interface_files, dds_interface_base_path, deps, output_basepath, idl_pp
+):
+    include_dirs = [dds_interface_base_path]
+    for dep in deps:
+        # only take the first : for separation, as Windows follows with a C:\
+        dep_parts = dep.split(':', 1)
+        assert len(dep_parts) == 2, "The dependency '%s' must contain a double colon" % dep
+        idl_path = dep_parts[1]
+        idl_base_path = os.path.dirname(
+            os.path.dirname(os.path.dirname(os.path.normpath(idl_path))))
+        if idl_base_path not in include_dirs:
+            include_dirs.append(idl_base_path)
+    if 'OSPL_TMPL_PATH' in os.environ:
+        include_dirs.append(os.environ['OSPL_TMPL_PATH'])
+
+    for idl_file in dds_interface_files:
+        assert os.path.exists(idl_file), 'Could not find IDL file: ' + idl_file
+
+        # get two level of parent folders for idl file
+        folder = os.path.dirname(idl_file)
+        parent_folder = os.path.dirname(folder)
+        output_path = os.path.join(
+            output_basepath,
+            os.path.basename(parent_folder),
+            os.path.basename(folder))
+
+        try:
+            os.makedirs(output_path)
+        except FileExistsError:
+            pass
+
+        # idlpp doesn't like long path arguments over 256 chars, get just the filename
+        filename = os.path.basename(idl_file)
+
+        cmd = [idl_pp]
+        for include_dir in include_dirs:
+            cmd += ['-I', include_dir]
+        cmd += [
+            '-S',
+            '-l', 'cpp',
+            '-N',
+            '-d', output_path,
+            '-o', 'maintain-include-namespace',
+            filename
+        ]
+        if os.name == 'nt':
+            cmd[-1:-1] = [
+                '-P',
+                'ROSIDL_TYPESUPPORT_OPENSPLICE_CPP_PUBLIC_%s,%s' % (
+                    pkg_name,
+                    '%s/msg/rosidl_typesupport_opensplice_cpp__visibility_control.h' % pkg_name)]
+
+        subprocess.check_call(cmd, cwd=folder)
+
+        # modify generated code to
+        # remove path information of the building machine as well as timestamps
+        msg_name = os.path.splitext(filename)[0]
+        idl_path = os.path.join(
+            pkg_name, os.path.basename(parent_folder), filename)
+        h_filename = os.path.join(output_path, '%s.h' % msg_name)
+        _modify(h_filename, msg_name, _replace_path_and_timestamp, idl_path=idl_path)
+        cpp_filename = os.path.join(output_path, '%s.cpp' % msg_name)
+        _modify(cpp_filename, msg_name, _replace_path_and_timestamp, idl_path=idl_path)
+        dcps_h_filename = os.path.join(output_path, '%sDcps.h' % msg_name)
+        _modify(dcps_h_filename, msg_name, _replace_path_and_timestamp, idl_path=idl_path)
+        dcps_cpp_filename = os.path.join(output_path, '%sDcps.cpp' % msg_name)
+        _modify(dcps_cpp_filename, msg_name, _replace_path_and_timestamp, idl_path=idl_path)
+
+    return 0
+
+
+def _modify(filename, msg_name, callback, idl_path=None):
+    with open(filename, 'r') as h:
+        lines = h.read().split('\n')
+    modified = callback(lines, msg_name, idl_path=idl_path)
+    if modified:
+        with open(filename, 'w') as h:
+            h.write('\n'.join(lines))
+
+
+def _replace_path_and_timestamp(lines, msg_name, idl_path):
+    found_source = False
+    for i, line in enumerate(lines):
+        if line.startswith('//  Source: '):
+            assert not found_source, "More than one '// Source: ' line was found"
+            found_source = True
+            lines[i] = '//  Source: ' + idl_path
+            continue
+        if line.startswith('//  Generated: '):
+            assert found_source, "No '// Source: ' line was found before"
+            lines[i] = '//  Generated: timestamp removed to make the build reproducible'
+            break
+    return lines
+
+
+def generate_typesupport_opensplice_cpp(arguments_file):
+    mapping = {
+       'idl__rosidl_typesupport_opensplice_cpp.hpp.em':  # noqa
+           '%s__rosidl_typesupport_opensplice_cpp.hpp',
+       'idl__dds_opensplice__type_support.cpp.em': 'dds_opensplice/%s__type_support.cpp',
+    }
+
+    generate_files(arguments_file, mapping)
diff --git a/WindowFrame/lib/site-packages/rosidl_typesupport_opensplice_cpp/rosidl_generator_dds_idl_extension.py b/WindowFrame/lib/site-packages/rosidl_typesupport_opensplice_cpp/rosidl_generator_dds_idl_extension.py
new file mode 100644
index 00000000..b06b80e2
--- /dev/null
+++ b/WindowFrame/lib/site-packages/rosidl_typesupport_opensplice_cpp/rosidl_generator_dds_idl_extension.py
@@ -0,0 +1,37 @@
+# Copyright 2014 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rosidl_generator_dds_idl import get_post_struct_lines as \
+    get_default_post_struct_lines
+from rosidl_generator_dds_idl import idl_typename as \
+    default_idl_typename
+from rosidl_parser.definition import AbstractWString
+from rosidl_parser.definition import BasicType
+
+
+def idl_typename(type_):
+    typename = default_idl_typename(type_)
+    # OpenSplice doesn't support wchar / wstring, map to char / string instead
+    if isinstance(type_, BasicType) and type_.typename == 'wchar':
+        typename == 'char'
+    if isinstance(type_, AbstractWString):
+        assert typename.startswith('wstring')
+        typename = typename[1:]
+    return typename
+
+
+def get_post_struct_lines(message):
+    lines = get_default_post_struct_lines(message)
+    lines.append('#pragma keylist %s_' % message.structure.namespaced_type.name)
+    return lines
diff --git a/WindowFrame/lib/site-packages/sensor_msgs/sensor_msgs_s__rosidl_typesupport_connext_c.lib b/WindowFrame/lib/site-packages/sensor_msgs/sensor_msgs_s__rosidl_typesupport_connext_c.lib
new file mode 100644
index 00000000..231c7d03
--- /dev/null
+++ b/WindowFrame/lib/site-packages/sensor_msgs/sensor_msgs_s__rosidl_typesupport_connext_c.lib
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c03c79fc7103932151b5f83bf12bc40f8d7431cd4ecc076941edee00c635ec48
+size 2452
diff --git a/WindowFrame/lib/site-packages/sensor_msgs/sensor_msgs_s__rosidl_typesupport_connext_c.pyd b/WindowFrame/lib/site-packages/sensor_msgs/sensor_msgs_s__rosidl_typesupport_connext_c.pyd
new file mode 100644
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diff --git a/construction/README.md b/construction/README.md
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@@ -12,9 +12,7 @@ In each step, if there are file conflicts when moving files, always keep pre-exi
     1. Download the latest windows-release-amd64 version of ROS2 Dashing from https://github.com/ros2/ros2/releases
     2. Edit `ros2-windows\share\connext_cmake_module\local_setup.bat` and comment out (prepend `::`) line 12 that calls `connext.bat`
     3. Edit `ros2-windows\share\opensplice_cmake_module\local_setup.bat` and comment out (prepend `::`) line 12 that calls `opensplice.bat`
-    4. Delete all files with names containing "connext" from the `ros2-windows\bin` and `ros2-windows\lib` folders
-    5. Delete all files with names containing "opensplice" from the `ros2-windows\bin` and `ros2-windows\lib` folders
-    6. Move the contents of the `ros2-windows` folder into the `WindowFrame` folder
+    4. Move the contents of the `ros2-windows` folder into the `WindowFrame` folder
 3. Build, pack, and merge Gazebo
     1. Follow the "Building Gazebo" instructions below
     2. Move the contents of the `gazebo\package` folder into the `WindowFrame` folder