diff --git a/build/beacon_positioning/CMakeCache.txt b/build/beacon_positioning/CMakeCache.txt
new file mode 100644
index 00000000..c3055b2e
--- /dev/null
+++ b/build/beacon_positioning/CMakeCache.txt
@@ -0,0 +1,715 @@
+# This is the CMakeCache file.
+# For build in directory: /home/ubuntu/ros2_ws/build/beacon_positioning
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Generate environment files in the CMAKE_INSTALL_PREFIX
+AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF
+
+//Generate environment files in the package share folder
+AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON
+
+//Generate marker file containing the parent prefix path
+AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON
+
+//Replace the CMake install command with a custom implementation
+// using symlinks instead of copying resources
+AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF
+
+//Generate an uninstall target to revert the effects of the install
+// step
+AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON
+
+//The path where test results are generated
+AMENT_TEST_RESULTS_DIR:PATH=/home/ubuntu/ros2_ws/build/beacon_positioning/test_results
+
+//Build the testing tree.
+BUILD_TESTING:BOOL=ON
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the C compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the C compiler during DEBUG builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the C compiler during MINSIZEREL builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the C compiler during RELEASE builds.
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the C compiler during RELWITHDEBINFO builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
+CMAKE_EXE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during DEBUG builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during MINSIZEREL builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during RELEASE builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during RELWITHDEBINFO builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/home/ubuntu/ros2_ws/install/beacon_positioning
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules during
+// all build types.
+CMAKE_MODULE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of modules during
+// DEBUG builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of modules during
+// MINSIZEREL builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELEASE builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELWITHDEBINFO builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_DESCRIPTION:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=beacon_positioning
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Path to a program.
+CMAKE_READELF:FILEPATH=/usr/bin/readelf
+
+//Flags used by the linker during the creation of shared libraries
+// during all build types.
+CMAKE_SHARED_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during DEBUG builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during MINSIZEREL builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELWITHDEBINFO builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries
+// during all build types.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during DEBUG builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during MINSIZEREL builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELEASE builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELWITHDEBINFO builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a library.
+FastCDR_LIBRARY_DEBUG:FILEPATH=FastCDR_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+FastCDR_LIBRARY_RELEASE:FILEPATH=/opt/ros/foxy/lib/libfastcdr.so
+
+//Path to a file.
+FastRTPS_INCLUDE_DIR:PATH=/opt/ros/foxy/include
+
+//Path to a library.
+FastRTPS_LIBRARY_DEBUG:FILEPATH=FastRTPS_LIBRARY_DEBUG-NOTFOUND
+
+//Path to a library.
+FastRTPS_LIBRARY_RELEASE:FILEPATH=/opt/ros/foxy/lib/libfastrtps.so
+
+//Path to a library.
+OPENSSL_CRYPTO_LIBRARY:FILEPATH=/usr/lib/aarch64-linux-gnu/libcrypto.so
+
+//Path to a file.
+OPENSSL_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+OPENSSL_SSL_LIBRARY:FILEPATH=/usr/lib/aarch64-linux-gnu/libssl.so
+
+//pkg-config executable
+PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config
+
+//Path to a program.
+PYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3
+
+//Specify specific Python version to use ('major.minor' or 'major')
+PYTHON_VERSION:STRING=
+
+//Name of the computer/site where compile is being run
+SITE:STRING=ubuntu
+
+//The directory containing a CMake configuration file for TinyXML2.
+TinyXML2_DIR:PATH=TinyXML2_DIR-NOTFOUND
+
+//Path to a library.
+_lib:FILEPATH=/opt/ros/foxy/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_cpp.so
+
+//The directory containing a CMake configuration file for ament_cmake.
+ament_cmake_DIR:PATH=/opt/ros/foxy/share/ament_cmake/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_copyright.
+ament_cmake_copyright_DIR:PATH=/opt/ros/foxy/share/ament_cmake_copyright/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_core.
+ament_cmake_core_DIR:PATH=/opt/ros/foxy/share/ament_cmake_core/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_cppcheck.
+ament_cmake_cppcheck_DIR:PATH=/opt/ros/foxy/share/ament_cmake_cppcheck/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_cpplint.
+ament_cmake_cpplint_DIR:PATH=/opt/ros/foxy/share/ament_cmake_cpplint/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_definitions.
+ament_cmake_export_definitions_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_definitions/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_dependencies.
+ament_cmake_export_dependencies_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_dependencies/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_include_directories.
+ament_cmake_export_include_directories_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_include_directories/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_interfaces.
+ament_cmake_export_interfaces_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_interfaces/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_libraries.
+ament_cmake_export_libraries_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_libraries/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_link_flags.
+ament_cmake_export_link_flags_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_link_flags/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_export_targets.
+ament_cmake_export_targets_DIR:PATH=/opt/ros/foxy/share/ament_cmake_export_targets/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_flake8.
+ament_cmake_flake8_DIR:PATH=/opt/ros/foxy/share/ament_cmake_flake8/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_include_directories.
+ament_cmake_include_directories_DIR:PATH=/opt/ros/foxy/share/ament_cmake_include_directories/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_libraries.
+ament_cmake_libraries_DIR:PATH=/opt/ros/foxy/share/ament_cmake_libraries/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_lint_cmake.
+ament_cmake_lint_cmake_DIR:PATH=/opt/ros/foxy/share/ament_cmake_lint_cmake/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_pep257.
+ament_cmake_pep257_DIR:PATH=/opt/ros/foxy/share/ament_cmake_pep257/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_python.
+ament_cmake_python_DIR:PATH=/opt/ros/foxy/share/ament_cmake_python/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_target_dependencies.
+ament_cmake_target_dependencies_DIR:PATH=/opt/ros/foxy/share/ament_cmake_target_dependencies/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_test.
+ament_cmake_test_DIR:PATH=/opt/ros/foxy/share/ament_cmake_test/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_uncrustify.
+ament_cmake_uncrustify_DIR:PATH=/opt/ros/foxy/share/ament_cmake_uncrustify/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_version.
+ament_cmake_version_DIR:PATH=/opt/ros/foxy/share/ament_cmake_version/cmake
+
+//The directory containing a CMake configuration file for ament_cmake_xmllint.
+ament_cmake_xmllint_DIR:PATH=/opt/ros/foxy/share/ament_cmake_xmllint/cmake
+
+//Path to a program.
+ament_copyright_BIN:FILEPATH=/opt/ros/foxy/bin/ament_copyright
+
+//Path to a program.
+ament_cppcheck_BIN:FILEPATH=/opt/ros/foxy/bin/ament_cppcheck
+
+//Path to a program.
+ament_cpplint_BIN:FILEPATH=/opt/ros/foxy/bin/ament_cpplint
+
+//The directory containing a CMake configuration file for ament_lint_auto.
+ament_lint_auto_DIR:PATH=/opt/ros/foxy/share/ament_lint_auto/cmake
+
+//Path to a program.
+ament_lint_cmake_BIN:FILEPATH=/opt/ros/foxy/bin/ament_lint_cmake
+
+//The directory containing a CMake configuration file for ament_lint_common.
+ament_lint_common_DIR:PATH=/opt/ros/foxy/share/ament_lint_common/cmake
+
+//Path to a program.
+ament_uncrustify_BIN:FILEPATH=/opt/ros/foxy/bin/ament_uncrustify
+
+//Path to a program.
+ament_xmllint_BIN:FILEPATH=/opt/ros/foxy/bin/ament_xmllint
+
+//Value Computed by CMake
+beacon_positioning_BINARY_DIR:STATIC=/home/ubuntu/ros2_ws/build/beacon_positioning
+
+//Value Computed by CMake
+beacon_positioning_SOURCE_DIR:STATIC=/home/ubuntu/ros2_ws/src/beacon_positioning
+
+//The directory containing a CMake configuration file for builtin_interfaces.
+builtin_interfaces_DIR:PATH=/opt/ros/foxy/share/builtin_interfaces/cmake
+
+//The directory containing a CMake configuration file for fastcdr.
+fastcdr_DIR:PATH=/opt/ros/foxy/lib/cmake/fastcdr
+
+//The directory containing a CMake configuration file for fastrtps.
+fastrtps_DIR:PATH=/opt/ros/foxy/share/fastrtps/cmake
+
+//The directory containing a CMake configuration file for fastrtps_cmake_module.
+fastrtps_cmake_module_DIR:PATH=/opt/ros/foxy/share/fastrtps_cmake_module/cmake
+
+//The directory containing a CMake configuration file for foonathan_memory.
+foonathan_memory_DIR:PATH=/opt/ros/foxy/lib/foonathan_memory/cmake
+
+//The directory containing a CMake configuration file for libstatistics_collector.
+libstatistics_collector_DIR:PATH=/opt/ros/foxy/share/libstatistics_collector/cmake
+
+//The directory containing a CMake configuration file for libyaml_vendor.
+libyaml_vendor_DIR:PATH=/opt/ros/foxy/share/libyaml_vendor/cmake
+
+//Path to a library.
+pkgcfg_lib__OPENSSL_crypto:FILEPATH=/usr/lib/aarch64-linux-gnu/libcrypto.so
+
+//Path to a library.
+pkgcfg_lib__OPENSSL_ssl:FILEPATH=/usr/lib/aarch64-linux-gnu/libssl.so
+
+//The directory containing a CMake configuration file for rcl.
+rcl_DIR:PATH=/opt/ros/foxy/share/rcl/cmake
+
+//The directory containing a CMake configuration file for rcl_interfaces.
+rcl_interfaces_DIR:PATH=/opt/ros/foxy/share/rcl_interfaces/cmake
+
+//The directory containing a CMake configuration file for rcl_logging_spdlog.
+rcl_logging_spdlog_DIR:PATH=/opt/ros/foxy/share/rcl_logging_spdlog/cmake
+
+//The directory containing a CMake configuration file for rcl_yaml_param_parser.
+rcl_yaml_param_parser_DIR:PATH=/opt/ros/foxy/share/rcl_yaml_param_parser/cmake
+
+//The directory containing a CMake configuration file for rclcpp.
+rclcpp_DIR:PATH=/opt/ros/foxy/share/rclcpp/cmake
+
+//The directory containing a CMake configuration file for rcpputils.
+rcpputils_DIR:PATH=/opt/ros/foxy/share/rcpputils/cmake
+
+//The directory containing a CMake configuration file for rcutils.
+rcutils_DIR:PATH=/opt/ros/foxy/share/rcutils/cmake
+
+//The directory containing a CMake configuration file for rmw.
+rmw_DIR:PATH=/opt/ros/foxy/share/rmw/cmake
+
+//The directory containing a CMake configuration file for rmw_implementation.
+rmw_implementation_DIR:PATH=/opt/ros/foxy/share/rmw_implementation/cmake
+
+//The directory containing a CMake configuration file for rmw_implementation_cmake.
+rmw_implementation_cmake_DIR:PATH=/opt/ros/foxy/share/rmw_implementation_cmake/cmake
+
+//The directory containing a CMake configuration file for rosgraph_msgs.
+rosgraph_msgs_DIR:PATH=/opt/ros/foxy/share/rosgraph_msgs/cmake
+
+//The directory containing a CMake configuration file for rosidl_adapter.
+rosidl_adapter_DIR:PATH=/opt/ros/foxy/share/rosidl_adapter/cmake
+
+//The directory containing a CMake configuration file for rosidl_cmake.
+rosidl_cmake_DIR:PATH=/opt/ros/foxy/share/rosidl_cmake/cmake
+
+//The directory containing a CMake configuration file for rosidl_default_runtime.
+rosidl_default_runtime_DIR:PATH=/opt/ros/foxy/share/rosidl_default_runtime/cmake
+
+//The directory containing a CMake configuration file for rosidl_generator_c.
+rosidl_generator_c_DIR:PATH=/opt/ros/foxy/share/rosidl_generator_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_generator_cpp.
+rosidl_generator_cpp_DIR:PATH=/opt/ros/foxy/share/rosidl_generator_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_runtime_c.
+rosidl_runtime_c_DIR:PATH=/opt/ros/foxy/share/rosidl_runtime_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_runtime_cpp.
+rosidl_runtime_cpp_DIR:PATH=/opt/ros/foxy/share/rosidl_runtime_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_c.
+rosidl_typesupport_c_DIR:PATH=/opt/ros/foxy/share/rosidl_typesupport_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_cpp.
+rosidl_typesupport_cpp_DIR:PATH=/opt/ros/foxy/share/rosidl_typesupport_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_c.
+rosidl_typesupport_fastrtps_c_DIR:PATH=/opt/ros/foxy/share/rosidl_typesupport_fastrtps_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_fastrtps_cpp.
+rosidl_typesupport_fastrtps_cpp_DIR:PATH=/opt/ros/foxy/share/rosidl_typesupport_fastrtps_cpp/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_interface.
+rosidl_typesupport_interface_DIR:PATH=/opt/ros/foxy/share/rosidl_typesupport_interface/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_introspection_c.
+rosidl_typesupport_introspection_c_DIR:PATH=/opt/ros/foxy/share/rosidl_typesupport_introspection_c/cmake
+
+//The directory containing a CMake configuration file for rosidl_typesupport_introspection_cpp.
+rosidl_typesupport_introspection_cpp_DIR:PATH=/opt/ros/foxy/share/rosidl_typesupport_introspection_cpp/cmake
+
+//The directory containing a CMake configuration file for spdlog.
+spdlog_DIR:PATH=/usr/lib/aarch64-linux-gnu/cmake/spdlog
+
+//The directory containing a CMake configuration file for spdlog_vendor.
+spdlog_vendor_DIR:PATH=/opt/ros/foxy/share/spdlog_vendor/cmake
+
+//The directory containing a CMake configuration file for statistics_msgs.
+statistics_msgs_DIR:PATH=/opt/ros/foxy/share/statistics_msgs/cmake
+
+//The directory containing a CMake configuration file for std_msgs.
+std_msgs_DIR:PATH=/opt/ros/foxy/share/std_msgs/cmake
+
+//The directory containing a CMake configuration file for tracetools.
+tracetools_DIR:PATH=/opt/ros/foxy/share/tracetools/cmake
+
+//Path to a program.
+xmllint_BIN:FILEPATH=/usr/bin/xmllint
+
+//The directory containing a CMake configuration file for yaml.
+yaml_DIR:PATH=/opt/ros/foxy/cmake
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//ADVANCED property for variable: CMAKE_ADDR2LINE
+CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_AR
+CMAKE_AR-ADVANCED:INTERNAL=1
+//This is the directory where this CMakeCache.txt was created
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/ubuntu/ros2_ws/build/beacon_positioning
+//Major version of cmake used to create the current loaded cache
+CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3
+//Minor version of cmake used to create the current loaded cache
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=16
+//Patch version of cmake used to create the current loaded cache
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=3
+//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE
+CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1
+//Path to CMake executable.
+CMAKE_COMMAND:INTERNAL=/usr/bin/cmake
+//Path to cpack program executable.
+CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack
+//Path to ctest program executable.
+CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest
+//ADVANCED property for variable: CMAKE_CXX_COMPILER
+CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_COMPILER_AR
+CMAKE_CXX_COMPILER_AR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_COMPILER_RANLIB
+CMAKE_CXX_COMPILER_RANLIB-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS
+CMAKE_CXX_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_DEBUG
+CMAKE_CXX_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_MINSIZEREL
+CMAKE_CXX_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELEASE
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+set(CMAKE_SYSTEM_LOADED 1)
diff --git a/build/beacon_positioning/CMakeFiles/3.16.3/CompilerIdC/CMakeCCompilerId.c b/build/beacon_positioning/CMakeFiles/3.16.3/CompilerIdC/CMakeCCompilerId.c
new file mode 100644
index 00000000..d884b509
--- /dev/null
+++ b/build/beacon_positioning/CMakeFiles/3.16.3/CompilerIdC/CMakeCCompilerId.c
@@ -0,0 +1,671 @@
+#ifdef __cplusplus
+# error "A C++ compiler has been selected for C."
+#endif
+
+#if defined(__18CXX)
+# define ID_VOID_MAIN
+#endif
+#if defined(__CLASSIC_C__)
+/* cv-qualifiers did not exist in K&R C */
+# define const
+# define volatile
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+  || (defined(__ibmxl__) || defined(__IBMC__))
+#  define C_DIALECT "90"
+# else
+#  define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+  "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/build/beacon_positioning/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/beacon_positioning/CMakeFiles/3.16.3/CompilerIdC/a.out
new file mode 100755
index 00000000..19264698
Binary files /dev/null and b/build/beacon_positioning/CMakeFiles/3.16.3/CompilerIdC/a.out differ
diff --git a/build/beacon_positioning/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/beacon_positioning/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 00000000..69cfdba6
--- /dev/null
+++ b/build/beacon_positioning/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
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+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
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+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
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+
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+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
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+
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+
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+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
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+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
+#elif CXX_STD >= 201402L
+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
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new file mode 100644
index 00000000..14956f31
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diff --git a/build/beacon_positioning/CTestTestfile.cmake b/build/beacon_positioning/CTestTestfile.cmake
new file mode 100644
index 00000000..444ecafa
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+set_tests_properties(uncrustify PROPERTIES  LABELS "uncrustify;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/ubuntu/ros2_ws/src/beacon_positioning" _BACKTRACE_TRIPLES "/opt/ros/foxy/share/ament_cmake_test/cmake/ament_add_test.cmake;118;add_test;/opt/ros/foxy/share/ament_cmake_uncrustify/cmake/ament_uncrustify.cmake;65;ament_add_test;/opt/ros/foxy/share/ament_cmake_uncrustify/cmake/ament_cmake_uncrustify_lint_hook.cmake;34;ament_uncrustify;/opt/ros/foxy/share/ament_cmake_uncrustify/cmake/ament_cmake_uncrustify_lint_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/ubuntu/ros2_ws/src/beacon_positioning/CMakeLists.txt;46;ament_package;/home/ubuntu/ros2_ws/src/beacon_positioning/CMakeLists.txt;0;")
+add_test(xmllint "/usr/bin/python3" "-u" "/opt/ros/foxy/share/ament_cmake_test/cmake/run_test.py" "/home/ubuntu/ros2_ws/build/beacon_positioning/test_results/beacon_positioning/xmllint.xunit.xml" "--package-name" "beacon_positioning" "--output-file" "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_xmllint/xmllint.txt" "--command" "/opt/ros/foxy/bin/ament_xmllint" "--xunit-file" "/home/ubuntu/ros2_ws/build/beacon_positioning/test_results/beacon_positioning/xmllint.xunit.xml")
+set_tests_properties(xmllint PROPERTIES  LABELS "xmllint;linter" TIMEOUT "60" WORKING_DIRECTORY "/home/ubuntu/ros2_ws/src/beacon_positioning" _BACKTRACE_TRIPLES "/opt/ros/foxy/share/ament_cmake_test/cmake/ament_add_test.cmake;118;add_test;/opt/ros/foxy/share/ament_cmake_xmllint/cmake/ament_xmllint.cmake;50;ament_add_test;/opt/ros/foxy/share/ament_cmake_xmllint/cmake/ament_cmake_xmllint_lint_hook.cmake;18;ament_xmllint;/opt/ros/foxy/share/ament_cmake_xmllint/cmake/ament_cmake_xmllint_lint_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;21;ament_execute_extensions;/opt/ros/foxy/share/ament_lint_auto/cmake/ament_lint_auto_package_hook.cmake;0;;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake;48;include;/opt/ros/foxy/share/ament_cmake_core/cmake/core/ament_package.cmake;66;ament_execute_extensions;/home/ubuntu/ros2_ws/src/beacon_positioning/CMakeLists.txt;46;ament_package;/home/ubuntu/ros2_ws/src/beacon_positioning/CMakeLists.txt;0;")
diff --git a/build/beacon_positioning/Makefile b/build/beacon_positioning/Makefile
new file mode 100644
index 00000000..9dd99faa
--- /dev/null
+++ b/build/beacon_positioning/Makefile
@@ -0,0 +1,268 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Default target executed when no arguments are given to make.
+default_target: all
+
+.PHONY : default_target
+
+# Allow only one "make -f Makefile2" at a time, but pass parallelism.
+.NOTPARALLEL:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/ubuntu/ros2_ws/src/beacon_positioning
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/ubuntu/ros2_ws/build/beacon_positioning
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target install/strip
+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip/fast
+
+# Special rule for the target install/local
+install/local: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
+
+# Special rule for the target install/local
+install/local/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local/fast
+
+# Special rule for the target install
+install: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install
+
+# Special rule for the target install
+install/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
+
+# Special rule for the target list_install_components
+list_install_components:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\""
+.PHONY : list_install_components
+
+# Special rule for the target list_install_components
+list_install_components/fast: list_install_components
+
+.PHONY : list_install_components/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+
+.PHONY : rebuild_cache/fast
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
+	/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+
+.PHONY : edit_cache/fast
+
+# Special rule for the target test
+test:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running tests..."
+	/usr/bin/ctest --force-new-ctest-process $(ARGS)
+.PHONY : test
+
+# Special rule for the target test
+test/fast: test
+
+.PHONY : test/fast
+
+# The main all target
+all: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles /home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles/progress.marks
+	$(MAKE) -f CMakeFiles/Makefile2 all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	$(MAKE) -f CMakeFiles/Makefile2 clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	$(MAKE) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	$(MAKE) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+#=============================================================================
+# Target rules for targets named tracker_position
+
+# Build rule for target.
+tracker_position: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 tracker_position
+.PHONY : tracker_position
+
+# fast build rule for target.
+tracker_position/fast:
+	$(MAKE) -f CMakeFiles/tracker_position.dir/build.make CMakeFiles/tracker_position.dir/build
+.PHONY : tracker_position/fast
+
+#=============================================================================
+# Target rules for targets named beacon_positioning_uninstall
+
+# Build rule for target.
+beacon_positioning_uninstall: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 beacon_positioning_uninstall
+.PHONY : beacon_positioning_uninstall
+
+# fast build rule for target.
+beacon_positioning_uninstall/fast:
+	$(MAKE) -f CMakeFiles/beacon_positioning_uninstall.dir/build.make CMakeFiles/beacon_positioning_uninstall.dir/build
+.PHONY : beacon_positioning_uninstall/fast
+
+#=============================================================================
+# Target rules for targets named uninstall
+
+# Build rule for target.
+uninstall: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 uninstall
+.PHONY : uninstall
+
+# fast build rule for target.
+uninstall/fast:
+	$(MAKE) -f CMakeFiles/uninstall.dir/build.make CMakeFiles/uninstall.dir/build
+.PHONY : uninstall/fast
+
+src/tracker_position.o: src/tracker_position.cpp.o
+
+.PHONY : src/tracker_position.o
+
+# target to build an object file
+src/tracker_position.cpp.o:
+	$(MAKE) -f CMakeFiles/tracker_position.dir/build.make CMakeFiles/tracker_position.dir/src/tracker_position.cpp.o
+.PHONY : src/tracker_position.cpp.o
+
+src/tracker_position.i: src/tracker_position.cpp.i
+
+.PHONY : src/tracker_position.i
+
+# target to preprocess a source file
+src/tracker_position.cpp.i:
+	$(MAKE) -f CMakeFiles/tracker_position.dir/build.make CMakeFiles/tracker_position.dir/src/tracker_position.cpp.i
+.PHONY : src/tracker_position.cpp.i
+
+src/tracker_position.s: src/tracker_position.cpp.s
+
+.PHONY : src/tracker_position.s
+
+# target to generate assembly for a file
+src/tracker_position.cpp.s:
+	$(MAKE) -f CMakeFiles/tracker_position.dir/build.make CMakeFiles/tracker_position.dir/src/tracker_position.cpp.s
+.PHONY : src/tracker_position.cpp.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... install/strip"
+	@echo "... install/local"
+	@echo "... install"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... edit_cache"
+	@echo "... test"
+	@echo "... tracker_position"
+	@echo "... beacon_positioning_uninstall"
+	@echo "... uninstall"
+	@echo "... src/tracker_position.o"
+	@echo "... src/tracker_position.i"
+	@echo "... src/tracker_position.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/build/beacon_positioning/ament_cmake_core/beacon_positioningConfig-version.cmake b/build/beacon_positioning/ament_cmake_core/beacon_positioningConfig-version.cmake
new file mode 100644
index 00000000..7beb7328
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_core/beacon_positioningConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/build/beacon_positioning/ament_cmake_core/beacon_positioningConfig.cmake b/build/beacon_positioning/ament_cmake_core/beacon_positioningConfig.cmake
new file mode 100644
index 00000000..b0e6fc3b
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_core/beacon_positioningConfig.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_beacon_positioning_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED beacon_positioning_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(beacon_positioning_FOUND FALSE)
+  elseif(NOT beacon_positioning_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(beacon_positioning_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_beacon_positioning_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT beacon_positioning_FIND_QUIETLY)
+  message(STATUS "Found beacon_positioning: 0.0.0 (${beacon_positioning_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'beacon_positioning' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${beacon_positioning_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(beacon_positioning_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${beacon_positioning_DIR}/${_extra}")
+endforeach()
diff --git a/build/beacon_positioning/ament_cmake_core/package.cmake b/build/beacon_positioning/ament_cmake_core/package.cmake
new file mode 100644
index 00000000..4c49c68b
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_core/package.cmake
@@ -0,0 +1,14 @@
+set(_AMENT_PACKAGE_NAME "beacon_positioning")
+set(beacon_positioning_VERSION "0.0.0")
+set(beacon_positioning_MAINTAINER "ubuntu <semmer99@gmail.com>")
+set(beacon_positioning_BUILD_DEPENDS "rclcpp")
+set(beacon_positioning_BUILDTOOL_DEPENDS "ament_cmake")
+set(beacon_positioning_BUILD_EXPORT_DEPENDS "rclcpp")
+set(beacon_positioning_BUILDTOOL_EXPORT_DEPENDS )
+set(beacon_positioning_EXEC_DEPENDS "rclcpp")
+set(beacon_positioning_TEST_DEPENDS "ament_lint_auto" "ament_lint_common")
+set(beacon_positioning_GROUP_DEPENDS )
+set(beacon_positioning_MEMBER_OF_GROUPS )
+set(beacon_positioning_DEPRECATED "")
+set(beacon_positioning_EXPORT_TAGS)
+list(APPEND beacon_positioning_EXPORT_TAGS "<build_type>ament_cmake</build_type>")
diff --git a/build/beacon_positioning/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/beacon_positioning/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
new file mode 100644
index 00000000..02e441b7
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_core/stamps/ament_prefix_path.sh.stamp
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/build/beacon_positioning/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/beacon_positioning/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
new file mode 100644
index 00000000..ee49c9f1
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "@PACKAGE_VERSION@")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/build/beacon_positioning/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/beacon_positioning/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
new file mode 100644
index 00000000..6fb3fe78
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_core/stamps/nameConfig.cmake.in.stamp
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_@PROJECT_NAME@_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED @PROJECT_NAME@_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(@PROJECT_NAME@_FOUND FALSE)
+  elseif(NOT @PROJECT_NAME@_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(@PROJECT_NAME@_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT @PROJECT_NAME@_FIND_QUIETLY)
+  message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "")
+  set(_msg "Package '@PROJECT_NAME@' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE")
+    set(_msg "${_msg} (@PACKAGE_DEPRECATED@)")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@")
+foreach(_extra ${_extras})
+  include("${@PROJECT_NAME@_DIR}/${_extra}")
+endforeach()
diff --git a/build/beacon_positioning/ament_cmake_core/stamps/package.xml.stamp b/build/beacon_positioning/ament_cmake_core/stamps/package.xml.stamp
new file mode 100644
index 00000000..28d5fe0e
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_core/stamps/package.xml.stamp
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>beacon_positioning</name>
+  <version>0.0.0</version>
+  <description>ROS 2 package to read the Terabee Robot Positioning System beacons positions</description>
+  <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/build/beacon_positioning/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/beacon_positioning/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
new file mode 100644
index 00000000..6f82f12f
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp
@@ -0,0 +1,143 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 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 argparse
+from collections import OrderedDict
+import sys
+
+from catkin_pkg.package import parse_package_string
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information from package.xml and make them accessible to CMake.
+
+    Parse the given package.xml file and
+    print CMake code defining several variables containing the content.
+    """
+    parser = argparse.ArgumentParser(
+        description='Parse package.xml file and print CMake code defining '
+                    'several variables',
+    )
+    parser.add_argument(
+        'package_xml',
+        type=argparse.FileType('r', encoding='utf-8'),
+        help='The path to a package.xml file',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    try:
+        package = parse_package_string(
+            args.package_xml.read(), filename=args.package_xml.name)
+    except Exception as e:
+        print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr)
+        raise e
+    finally:
+        args.package_xml.close()
+
+    lines = generate_cmake_code(package)
+    if args.outfile:
+        with open(args.outfile, 'w', encoding='utf-8') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def get_dependency_values(key, depends):
+    dependencies = []
+    dependencies.append((key, ' '.join(['"%s"' % str(d) for d in depends])))
+    for d in depends:
+        comparisons = [
+            'version_lt',
+            'version_lte',
+            'version_eq',
+            'version_gte',
+            'version_gt']
+        for comp in comparisons:
+            value = getattr(d, comp, None)
+            if value is not None:
+                dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()),
+                                     '"%s"' % value))
+    return dependencies
+
+
+def generate_cmake_code(package):
+    """
+    Return a list of CMake set() commands containing the manifest information.
+
+    :param package: catkin_pkg.package.Package
+    :returns: list of str
+    """
+    variables = []
+    variables.append(('VERSION', '"%s"' % package.version))
+
+    variables.append((
+        'MAINTAINER',
+        '"%s"' % (', '.join([str(m) for m in package.maintainers]))))
+
+    variables.extend(get_dependency_values('BUILD_DEPENDS',
+                                           package.build_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_DEPENDS',
+                                           package.buildtool_depends))
+    variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS',
+                                           package.build_export_depends))
+    variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS',
+                                           package.buildtool_export_depends))
+    variables.extend(get_dependency_values('EXEC_DEPENDS',
+                                           package.exec_depends))
+    variables.extend(get_dependency_values('TEST_DEPENDS',
+                                           package.test_depends))
+    variables.extend(get_dependency_values('GROUP_DEPENDS',
+                                           package.group_depends))
+    variables.extend(get_dependency_values('MEMBER_OF_GROUPS',
+                                           package.member_of_groups))
+
+    deprecated = [e.content for e in package.exports
+                  if e.tagname == 'deprecated']
+    variables.append(('DEPRECATED',
+                      '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE')
+                                if deprecated
+                                else '')))
+
+    lines = []
+    lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name)
+    for (k, v) in variables:
+        lines.append('set(%s_%s %s)' % (package.name, k, v))
+
+    lines.append('set(%s_EXPORT_TAGS)' % package.name)
+    replaces = OrderedDict()
+    replaces['${prefix}/'] = ''
+    replaces['\\'] = '\\\\'  # escape backslashes
+    replaces['"'] = '\\"'  # prevent double quotes to end the CMake string
+    replaces[';'] = '\\;'  # prevent semicolons to be interpreted as list separators
+    for export in package.exports:
+        export = str(export)
+        for k, v in replaces.items():
+            export = export.replace(k, v)
+        lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export))
+
+    return lines
+
+
+if __name__ == '__main__':
+    main()
diff --git a/build/beacon_positioning/ament_cmake_core/stamps/path.sh.stamp b/build/beacon_positioning/ament_cmake_core/stamps/path.sh.stamp
new file mode 100644
index 00000000..e59b749a
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_core/stamps/path.sh.stamp
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/build/beacon_positioning/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/beacon_positioning/ament_cmake_core/stamps/templates_2_cmake.py.stamp
new file mode 100644
index 00000000..b7c0faf1
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_core/stamps/templates_2_cmake.py.stamp
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+
+# Copyright 2014-2015 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 argparse
+import os
+import sys
+
+from ament_package.templates import get_environment_hook_template_path
+from ament_package.templates import get_package_level_template_names
+from ament_package.templates import get_package_level_template_path
+from ament_package.templates import get_prefix_level_template_names
+from ament_package.templates import get_prefix_level_template_path
+
+IS_WINDOWS = os.name == 'nt'
+
+
+def main(argv=sys.argv[1:]):
+    """
+    Extract the information about templates provided by ament_package.
+
+    Call the API provided by ament_package and
+    print CMake code defining several variables containing information about
+    the available templates.
+    """
+    parser = argparse.ArgumentParser(
+        description='Extract information about templates provided by '
+                    'ament_package and print CMake code defining several '
+                    'variables',
+    )
+    parser.add_argument(
+        'outfile',
+        nargs='?',
+        help='The filename where the output should be written to',
+    )
+    args = parser.parse_args(argv)
+
+    lines = generate_cmake_code()
+    if args.outfile:
+        basepath = os.path.dirname(args.outfile)
+        if not os.path.exists(basepath):
+            os.makedirs(basepath)
+        with open(args.outfile, 'w') as f:
+            for line in lines:
+                f.write('%s\n' % line)
+    else:
+        for line in lines:
+            print(line)
+
+
+def generate_cmake_code():
+    """
+    Return a list of CMake set() commands containing the template information.
+
+    :returns: list of str
+    """
+    variables = []
+
+    if not IS_WINDOWS:
+        variables.append((
+            'ENVIRONMENT_HOOK_LIBRARY_PATH',
+            '"%s"' % get_environment_hook_template_path('library_path.sh')))
+    else:
+        variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', ''))
+
+    ext = '.bat.in' if IS_WINDOWS else '.sh.in'
+    variables.append((
+        'ENVIRONMENT_HOOK_PYTHONPATH',
+        '"%s"' % get_environment_hook_template_path('pythonpath' + ext)))
+
+    templates = []
+    for name in get_package_level_template_names():
+        templates.append('"%s"' % get_package_level_template_path(name))
+    variables.append((
+        'PACKAGE_LEVEL',
+        templates))
+
+    templates = []
+    for name in get_prefix_level_template_names():
+        templates.append('"%s"' % get_prefix_level_template_path(name))
+    variables.append((
+        'PREFIX_LEVEL',
+        templates))
+
+    lines = []
+    for (k, v) in variables:
+        if isinstance(v, list):
+            lines.append('set(ament_cmake_package_templates_%s "")' % k)
+            for vv in v:
+                lines.append('list(APPEND ament_cmake_package_templates_%s %s)'
+                             % (k, vv))
+        else:
+            lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v))
+    # Ensure backslashes are replaced with forward slashes because CMake cannot
+    # parse files with backslashes in it.
+    return [l.replace('\\', '/') for l in lines]
+
+
+if __name__ == '__main__':
+    main()
diff --git a/build/beacon_positioning/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/beacon_positioning/ament_cmake_environment_hooks/ament_prefix_path.dsv
new file mode 100644
index 00000000..79d4c95b
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_environment_hooks/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.bash b/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.bash
new file mode 100644
index 00000000..49782f24
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.dsv b/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.dsv
new file mode 100644
index 00000000..12563f4b
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.dsv
@@ -0,0 +1,2 @@
+source;share/beacon_positioning/environment/ament_prefix_path.sh
+source;share/beacon_positioning/environment/path.sh
diff --git a/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.sh b/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.sh
new file mode 100644
index 00000000..24c07b8a
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.sh
@@ -0,0 +1,133 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/ubuntu/ros2_ws/install/beacon_positioning"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/beacon_positioning/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/beacon_positioning/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.zsh b/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.zsh
new file mode 100644
index 00000000..fe161be5
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/build/beacon_positioning/ament_cmake_environment_hooks/package.dsv b/build/beacon_positioning/ament_cmake_environment_hooks/package.dsv
new file mode 100644
index 00000000..8f453e41
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_environment_hooks/package.dsv
@@ -0,0 +1,4 @@
+source;share/beacon_positioning/local_setup.bash
+source;share/beacon_positioning/local_setup.dsv
+source;share/beacon_positioning/local_setup.sh
+source;share/beacon_positioning/local_setup.zsh
diff --git a/build/beacon_positioning/ament_cmake_environment_hooks/path.dsv b/build/beacon_positioning/ament_cmake_environment_hooks/path.dsv
new file mode 100644
index 00000000..b94426af
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_environment_hooks/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/beacon_positioning b/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/beacon_positioning
new file mode 100644
index 00000000..31627e69
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/beacon_positioning
@@ -0,0 +1 @@
+rclcpp;ament_lint_auto;ament_lint_common
\ No newline at end of file
diff --git a/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/packages/beacon_positioning b/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/packages/beacon_positioning
new file mode 100644
index 00000000..e69de29b
diff --git a/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/beacon_positioning b/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/beacon_positioning
new file mode 100644
index 00000000..e7eb8a35
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/beacon_positioning
@@ -0,0 +1 @@
+/home/ubuntu/ros2_ws/install/px4_msgs:/home/ubuntu/ros2_ws/install/drone_sensors:/opt/ros/foxy
\ No newline at end of file
diff --git a/build/beacon_positioning/ament_cmake_package_templates/templates.cmake b/build/beacon_positioning/ament_cmake_package_templates/templates.cmake
new file mode 100644
index 00000000..028c16da
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_package_templates/templates.cmake
@@ -0,0 +1,14 @@
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/environment_hook/library_path.sh")
+set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/environment_hook/pythonpath.sh.in")
+set(ament_cmake_package_templates_PACKAGE_LEVEL "")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.bash.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/package_level/local_setup.zsh.in")
+set(ament_cmake_package_templates_PREFIX_LEVEL "")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/local_setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.bash")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.sh.in")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/setup.zsh")
+list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/foxy/lib/python3.8/site-packages/ament_package/template/prefix_level/_local_setup_util.py")
diff --git a/build/beacon_positioning/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/beacon_positioning/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
new file mode 100644
index 00000000..a6ad1e50
--- /dev/null
+++ b/build/beacon_positioning/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
@@ -0,0 +1,57 @@
+# generated from
+# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in
+
+function(ament_cmake_uninstall_target_remove_empty_directories path)
+  set(install_space "/home/ubuntu/ros2_ws/install/beacon_positioning")
+  if(install_space STREQUAL "")
+    message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty")
+  endif()
+
+  string(LENGTH "${install_space}" length)
+  string(SUBSTRING "${path}" 0 ${length} path_prefix)
+  if(NOT path_prefix STREQUAL install_space)
+    message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'")
+  endif()
+  if(path STREQUAL install_space)
+    return()
+  endif()
+
+  # check if directory is empty
+  file(GLOB files "${path}/*")
+  list(LENGTH files length)
+  if(length EQUAL 0)
+    message(STATUS "Uninstalling: ${path}/")
+    execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}")
+    # recursively try to remove parent directories
+    get_filename_component(parent_path "${path}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endfunction()
+
+# uninstall files installed using the standard install() function
+set(install_manifest "/home/ubuntu/ros2_ws/build/beacon_positioning/install_manifest.txt")
+if(NOT EXISTS "${install_manifest}")
+  message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}")
+endif()
+
+file(READ "${install_manifest}" installed_files)
+string(REGEX REPLACE "\n" ";" installed_files "${installed_files}")
+foreach(installed_file ${installed_files})
+  if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+    message(STATUS "Uninstalling: ${installed_file}")
+    file(REMOVE "${installed_file}")
+    if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}")
+      message(FATAL_ERROR "Failed to remove '${installed_file}'")
+    endif()
+
+    # remove empty parent folders
+    get_filename_component(parent_path "${installed_file}" PATH)
+    ament_cmake_uninstall_target_remove_empty_directories("${parent_path}")
+  endif()
+endforeach()
+
+# end of template
+
+message(STATUS "Execute custom uninstall script")
+
+# begin of custom uninstall code
diff --git a/build/beacon_positioning/cmake_args.last b/build/beacon_positioning/cmake_args.last
new file mode 100644
index 00000000..4af18322
--- /dev/null
+++ b/build/beacon_positioning/cmake_args.last
@@ -0,0 +1 @@
+None
\ No newline at end of file
diff --git a/build/beacon_positioning/cmake_install.cmake b/build/beacon_positioning/cmake_install.cmake
new file mode 100644
index 00000000..5afd7dc7
--- /dev/null
+++ b/build/beacon_positioning/cmake_install.cmake
@@ -0,0 +1,128 @@
+# Install script for directory: /home/ubuntu/ros2_ws/src/beacon_positioning
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/home/ubuntu/ros2_ws/install/beacon_positioning")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/beacon_positioning/tracker_position" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/beacon_positioning/tracker_position")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/beacon_positioning/tracker_position"
+         RPATH "")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/beacon_positioning" TYPE EXECUTABLE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/tracker_position")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/beacon_positioning/tracker_position" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/beacon_positioning/tracker_position")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/beacon_positioning/tracker_position"
+         OLD_RPATH "/opt/ros/foxy/lib:"
+         NEW_RPATH "")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/beacon_positioning/tracker_position")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/beacon_positioning")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/beacon_positioning")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning/environment" TYPE FILE FILES "/opt/ros/foxy/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning/environment" TYPE FILE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_environment_hooks/ament_prefix_path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning/environment" TYPE FILE FILES "/opt/ros/foxy/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning/environment" TYPE FILE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_environment_hooks/path.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning" TYPE FILE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.bash")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning" TYPE FILE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.sh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning" TYPE FILE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.zsh")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning" TYPE FILE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_environment_hooks/local_setup.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning" TYPE FILE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_environment_hooks/package.dsv")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_index/share/ament_index/resource_index/packages/beacon_positioning")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning/cmake" TYPE FILE FILES
+    "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_core/beacon_positioningConfig.cmake"
+    "/home/ubuntu/ros2_ws/build/beacon_positioning/ament_cmake_core/beacon_positioningConfig-version.cmake"
+    )
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/beacon_positioning" TYPE FILE FILES "/home/ubuntu/ros2_ws/src/beacon_positioning/package.xml")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/home/ubuntu/ros2_ws/build/beacon_positioning/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/build/beacon_positioning/colcon_build.rc b/build/beacon_positioning/colcon_build.rc
new file mode 100644
index 00000000..573541ac
--- /dev/null
+++ b/build/beacon_positioning/colcon_build.rc
@@ -0,0 +1 @@
+0
diff --git a/build/beacon_positioning/colcon_command_prefix_build.sh b/build/beacon_positioning/colcon_command_prefix_build.sh
new file mode 100644
index 00000000..f9867d51
--- /dev/null
+++ b/build/beacon_positioning/colcon_command_prefix_build.sh
@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em
diff --git a/build/beacon_positioning/colcon_command_prefix_build.sh.env b/build/beacon_positioning/colcon_command_prefix_build.sh.env
new file mode 100644
index 00000000..e59d9e5a
--- /dev/null
+++ b/build/beacon_positioning/colcon_command_prefix_build.sh.env
@@ -0,0 +1,47 @@
+AMENT_PREFIX_PATH=/home/ubuntu/ros2_ws/install/px4_msgs:/home/ubuntu/ros2_ws/install/drone_sensors:/opt/ros/foxy
+CMAKE_PREFIX_PATH=/home/ubuntu/ros2_ws/install/px4_msgs:/home/ubuntu/ros2_ws/install/drone_sensors
+COLCON=1
+COLCON_PREFIX_PATH=/home/ubuntu/ros2_ws/install
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+HOME=/home/ubuntu
+LANG=en_US.UTF-8
+LC_ADDRESS=nl_NL.UTF-8
+LC_ALL=en_US.UTF-8
+LC_IDENTIFICATION=nl_NL.UTF-8
+LC_MEASUREMENT=nl_NL.UTF-8
+LC_MONETARY=nl_NL.UTF-8
+LC_NAME=nl_NL.UTF-8
+LC_NUMERIC=nl_NL.UTF-8
+LC_PAPER=nl_NL.UTF-8
+LC_TELEPHONE=nl_NL.UTF-8
+LC_TIME=nl_NL.UTF-8
+LD_LIBRARY_PATH=/home/ubuntu/ros2_ws/install/px4_msgs/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/lib/aarch64-linux-gnu:/opt/ros/foxy/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=ubuntu
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+MOTD_SHOWN=pam
+OLDPWD=/home/ubuntu/ros2_ws/src
+PATH=/home/ubuntu/.local/bin:/opt/ros/foxy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
+PWD=/home/ubuntu/ros2_ws/build/beacon_positioning
+PYTHONPATH=/home/ubuntu/ros2_ws/install/px4_msgs/lib/python3.8/site-packages:/opt/ros/foxy/lib/python3.8/site-packages
+RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+ROS_DISTRO=foxy
+ROS_DOMAIN_ID=0
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHELL=/bin/bash
+SHLVL=1
+SSH_CLIENT=10.1.1.110 56300 22
+SSH_CONNECTION=10.1.1.110 56300 10.1.1.68 22
+SSH_TTY=/dev/pts/0
+TERM=xterm-256color
+USER=ubuntu
+XDG_DATA_DIRS=/usr/local/share:/usr/share:/var/lib/snapd/desktop
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_ID=9
+XDG_SESSION_TYPE=tty
+_=/home/ubuntu/.local/bin/colcon
+_colcon_cd_root=/opt/ros/foxy/
diff --git a/build/beacon_positioning/install_manifest.txt b/build/beacon_positioning/install_manifest.txt
new file mode 100644
index 00000000..b71264de
--- /dev/null
+++ b/build/beacon_positioning/install_manifest.txt
@@ -0,0 +1,16 @@
+/home/ubuntu/ros2_ws/install/beacon_positioning/lib/beacon_positioning/tracker_position
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/package_run_dependencies/beacon_positioning
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/parent_prefix_path/beacon_positioning
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.sh
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.dsv
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/path.sh
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/path.dsv
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.bash
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.sh
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.zsh
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.dsv
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.dsv
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/packages/beacon_positioning
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig.cmake
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig-version.cmake
+/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.xml
\ No newline at end of file
diff --git a/build/beacon_positioning/tracker_position b/build/beacon_positioning/tracker_position
new file mode 100755
index 00000000..4a40adcb
Binary files /dev/null and b/build/beacon_positioning/tracker_position differ
diff --git a/install/beacon_positioning/lib/beacon_positioning/tracker_position b/install/beacon_positioning/lib/beacon_positioning/tracker_position
new file mode 100755
index 00000000..2e03084f
Binary files /dev/null and b/install/beacon_positioning/lib/beacon_positioning/tracker_position differ
diff --git a/install/beacon_positioning/share/ament_index/resource_index/package_run_dependencies/beacon_positioning b/install/beacon_positioning/share/ament_index/resource_index/package_run_dependencies/beacon_positioning
new file mode 100644
index 00000000..31627e69
--- /dev/null
+++ b/install/beacon_positioning/share/ament_index/resource_index/package_run_dependencies/beacon_positioning
@@ -0,0 +1 @@
+rclcpp;ament_lint_auto;ament_lint_common
\ No newline at end of file
diff --git a/install/beacon_positioning/share/ament_index/resource_index/packages/beacon_positioning b/install/beacon_positioning/share/ament_index/resource_index/packages/beacon_positioning
new file mode 100644
index 00000000..e69de29b
diff --git a/install/beacon_positioning/share/ament_index/resource_index/parent_prefix_path/beacon_positioning b/install/beacon_positioning/share/ament_index/resource_index/parent_prefix_path/beacon_positioning
new file mode 100644
index 00000000..e7eb8a35
--- /dev/null
+++ b/install/beacon_positioning/share/ament_index/resource_index/parent_prefix_path/beacon_positioning
@@ -0,0 +1 @@
+/home/ubuntu/ros2_ws/install/px4_msgs:/home/ubuntu/ros2_ws/install/drone_sensors:/opt/ros/foxy
\ No newline at end of file
diff --git a/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig-version.cmake b/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig-version.cmake
new file mode 100644
index 00000000..7beb7328
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig.cmake b/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig.cmake
new file mode 100644
index 00000000..b0e6fc3b
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_beacon_positioning_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED beacon_positioning_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(beacon_positioning_FOUND FALSE)
+  elseif(NOT beacon_positioning_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(beacon_positioning_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_beacon_positioning_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT beacon_positioning_FIND_QUIETLY)
+  message(STATUS "Found beacon_positioning: 0.0.0 (${beacon_positioning_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'beacon_positioning' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${beacon_positioning_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(beacon_positioning_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${beacon_positioning_DIR}/${_extra}")
+endforeach()
diff --git a/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.dsv b/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.dsv
new file mode 100644
index 00000000..79d4c95b
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.sh b/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.sh
new file mode 100644
index 00000000..02e441b7
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.sh
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/install/beacon_positioning/share/beacon_positioning/environment/path.dsv b/install/beacon_positioning/share/beacon_positioning/environment/path.dsv
new file mode 100644
index 00000000..b94426af
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/environment/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/install/beacon_positioning/share/beacon_positioning/environment/path.sh b/install/beacon_positioning/share/beacon_positioning/environment/path.sh
new file mode 100644
index 00000000..e59b749a
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/environment/path.sh
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.dsv b/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.dsv
new file mode 100644
index 00000000..e119f32c
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.ps1 b/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.ps1
new file mode 100644
index 00000000..d03facc1
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.sh b/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.sh
new file mode 100644
index 00000000..a948e685
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/install/beacon_positioning/share/beacon_positioning/local_setup.bash b/install/beacon_positioning/share/beacon_positioning/local_setup.bash
new file mode 100644
index 00000000..49782f24
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/install/beacon_positioning/share/beacon_positioning/local_setup.dsv b/install/beacon_positioning/share/beacon_positioning/local_setup.dsv
new file mode 100644
index 00000000..12563f4b
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/local_setup.dsv
@@ -0,0 +1,2 @@
+source;share/beacon_positioning/environment/ament_prefix_path.sh
+source;share/beacon_positioning/environment/path.sh
diff --git a/install/beacon_positioning/share/beacon_positioning/local_setup.sh b/install/beacon_positioning/share/beacon_positioning/local_setup.sh
new file mode 100644
index 00000000..24c07b8a
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/local_setup.sh
@@ -0,0 +1,133 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/home/ubuntu/ros2_ws/install/beacon_positioning"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/beacon_positioning/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/beacon_positioning/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/install/beacon_positioning/share/beacon_positioning/local_setup.zsh b/install/beacon_positioning/share/beacon_positioning/local_setup.zsh
new file mode 100644
index 00000000..fe161be5
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/install/beacon_positioning/share/beacon_positioning/package.bash b/install/beacon_positioning/share/beacon_positioning/package.bash
new file mode 100644
index 00000000..7d9ce6e4
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/package.bash
@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo ". \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/beacon_positioning/package.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
+
+# source bash hooks
+_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/beacon_positioning/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/install/beacon_positioning/share/beacon_positioning/package.dsv b/install/beacon_positioning/share/beacon_positioning/package.dsv
new file mode 100644
index 00000000..f851561a
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/package.dsv
@@ -0,0 +1,8 @@
+source;share/beacon_positioning/hook/cmake_prefix_path.ps1
+source;share/beacon_positioning/hook/cmake_prefix_path.dsv
+source;share/beacon_positioning/hook/cmake_prefix_path.sh
+source;share/beacon_positioning/local_setup.bash
+source;share/beacon_positioning/local_setup.dsv
+source;share/beacon_positioning/local_setup.ps1
+source;share/beacon_positioning/local_setup.sh
+source;share/beacon_positioning/local_setup.zsh
diff --git a/install/beacon_positioning/share/beacon_positioning/package.ps1 b/install/beacon_positioning/share/beacon_positioning/package.ps1
new file mode 100644
index 00000000..7cd90b94
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values};$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values};${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values};$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/beacon_positioning/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/beacon_positioning/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/install/beacon_positioning/share/beacon_positioning/package.sh b/install/beacon_positioning/share/beacon_positioning/package.sh
new file mode 100644
index 00000000..604f0abc
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/ubuntu/ros2_ws/install/beacon_positioning"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/beacon_positioning/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/beacon_positioning/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/install/beacon_positioning/share/beacon_positioning/package.xml b/install/beacon_positioning/share/beacon_positioning/package.xml
new file mode 100644
index 00000000..28d5fe0e
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>beacon_positioning</name>
+  <version>0.0.0</version>
+  <description>ROS 2 package to read the Terabee Robot Positioning System beacons positions</description>
+  <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/install/beacon_positioning/share/beacon_positioning/package.zsh b/install/beacon_positioning/share/beacon_positioning/package.zsh
new file mode 100644
index 00000000..2b891613
--- /dev/null
+++ b/install/beacon_positioning/share/beacon_positioning/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo ". \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/beacon_positioning/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/beacon_positioning/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
diff --git a/install/beacon_positioning/share/colcon-core/packages/beacon_positioning b/install/beacon_positioning/share/colcon-core/packages/beacon_positioning
new file mode 100644
index 00000000..080a9503
--- /dev/null
+++ b/install/beacon_positioning/share/colcon-core/packages/beacon_positioning
@@ -0,0 +1 @@
+rclcpp
\ No newline at end of file
diff --git a/log/build_2023-04-13_14-00-45/beacon_positioning/command.log b/log/build_2023-04-13_14-00-45/beacon_positioning/command.log
new file mode 100644
index 00000000..927396e2
--- /dev/null
+++ b/log/build_2023-04-13_14-00-45/beacon_positioning/command.log
@@ -0,0 +1,2 @@
+Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
+Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '1': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
diff --git a/log/build_2023-04-13_14-00-45/beacon_positioning/stderr.log b/log/build_2023-04-13_14-00-45/beacon_positioning/stderr.log
new file mode 100644
index 00000000..5bdac879
--- /dev/null
+++ b/log/build_2023-04-13_14-00-45/beacon_positioning/stderr.log
@@ -0,0 +1,6 @@
+CMake Error at /opt/ros/foxy/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:42 (message):
+  ament_target_dependencies() the first argument must be a valid target name
+Call Stack (most recent call first):
+  CMakeLists.txt:24 (ament_target_dependencies)
+
+
diff --git a/log/build_2023-04-13_14-00-45/beacon_positioning/stdout.log b/log/build_2023-04-13_14-00-45/beacon_positioning/stdout.log
new file mode 100644
index 00000000..bc567659
--- /dev/null
+++ b/log/build_2023-04-13_14-00-45/beacon_positioning/stdout.log
@@ -0,0 +1,37 @@
+-- The C compiler identification is GNU 9.4.0
+-- The CXX compiler identification is GNU 9.4.0
+-- Check for working C compiler: /usr/bin/cc
+-- Check for working C compiler: /usr/bin/cc -- works
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Check for working CXX compiler: /usr/bin/c++
+-- Check for working CXX compiler: /usr/bin/c++ -- works
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 0.9.11 (/opt/ros/foxy/share/ament_cmake/cmake)
+-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
+-- Using PYTHON_EXECUTABLE: /usr/bin/python3
+-- Found rclcpp: 2.4.2 (/opt/ros/foxy/share/rclcpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Found rosidl_adapter: 1.3.0 (/opt/ros/foxy/share/rosidl_adapter/cmake)
+-- Found OpenSSL: /usr/lib/aarch64-linux-gnu/libcrypto.so (found version "1.1.1f")  
+-- Found FastRTPS: /opt/ros/foxy/include  
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 1.0.4 (/opt/ros/foxy/share/rmw_implementation_cmake/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Looking for pthread.h
+-- Looking for pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
+-- Looking for pthread_create in pthreads
+-- Looking for pthread_create in pthreads - not found
+-- Looking for pthread_create in pthread
+-- Looking for pthread_create in pthread - found
+-- Found Threads: TRUE  
+-- Configuring incomplete, errors occurred!
+See also "/home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles/CMakeOutput.log".
+See also "/home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles/CMakeError.log".
diff --git a/log/build_2023-04-13_14-00-45/beacon_positioning/stdout_stderr.log b/log/build_2023-04-13_14-00-45/beacon_positioning/stdout_stderr.log
new file mode 100644
index 00000000..90065303
--- /dev/null
+++ b/log/build_2023-04-13_14-00-45/beacon_positioning/stdout_stderr.log
@@ -0,0 +1,43 @@
+-- The C compiler identification is GNU 9.4.0
+-- The CXX compiler identification is GNU 9.4.0
+-- Check for working C compiler: /usr/bin/cc
+-- Check for working C compiler: /usr/bin/cc -- works
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Check for working CXX compiler: /usr/bin/c++
+-- Check for working CXX compiler: /usr/bin/c++ -- works
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 0.9.11 (/opt/ros/foxy/share/ament_cmake/cmake)
+-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
+-- Using PYTHON_EXECUTABLE: /usr/bin/python3
+-- Found rclcpp: 2.4.2 (/opt/ros/foxy/share/rclcpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Found rosidl_adapter: 1.3.0 (/opt/ros/foxy/share/rosidl_adapter/cmake)
+-- Found OpenSSL: /usr/lib/aarch64-linux-gnu/libcrypto.so (found version "1.1.1f")  
+-- Found FastRTPS: /opt/ros/foxy/include  
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 1.0.4 (/opt/ros/foxy/share/rmw_implementation_cmake/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Looking for pthread.h
+-- Looking for pthread.h - found
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
+-- Looking for pthread_create in pthreads
+-- Looking for pthread_create in pthreads - not found
+-- Looking for pthread_create in pthread
+-- Looking for pthread_create in pthread - found
+-- Found Threads: TRUE  
+CMake Error at /opt/ros/foxy/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:42 (message):
+  ament_target_dependencies() the first argument must be a valid target name
+Call Stack (most recent call first):
+  CMakeLists.txt:24 (ament_target_dependencies)
+
+
+-- Configuring incomplete, errors occurred!
+See also "/home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles/CMakeOutput.log".
+See also "/home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles/CMakeError.log".
diff --git a/log/build_2023-04-13_14-00-45/beacon_positioning/streams.log b/log/build_2023-04-13_14-00-45/beacon_positioning/streams.log
new file mode 100644
index 00000000..449cf6e3
--- /dev/null
+++ b/log/build_2023-04-13_14-00-45/beacon_positioning/streams.log
@@ -0,0 +1,45 @@
+[0.145s] Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
+[1.106s] -- The C compiler identification is GNU 9.4.0
+[1.426s] -- The CXX compiler identification is GNU 9.4.0
+[1.461s] -- Check for working C compiler: /usr/bin/cc
+[1.771s] -- Check for working C compiler: /usr/bin/cc -- works
+[1.781s] -- Detecting C compiler ABI info
+[2.073s] -- Detecting C compiler ABI info - done
+[2.114s] -- Detecting C compile features
+[2.116s] -- Detecting C compile features - done
+[2.129s] -- Check for working CXX compiler: /usr/bin/c++
+[2.441s] -- Check for working CXX compiler: /usr/bin/c++ -- works
+[2.446s] -- Detecting CXX compiler ABI info
+[2.772s] -- Detecting CXX compiler ABI info - done
+[2.809s] -- Detecting CXX compile features
+[2.811s] -- Detecting CXX compile features - done
+[2.857s] -- Found ament_cmake: 0.9.11 (/opt/ros/foxy/share/ament_cmake/cmake)
+[3.001s] -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
+[3.001s] -- Using PYTHON_EXECUTABLE: /usr/bin/python3
+[3.951s] -- Found rclcpp: 2.4.2 (/opt/ros/foxy/share/rclcpp/cmake)
+[4.355s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[4.420s] -- Found rosidl_adapter: 1.3.0 (/opt/ros/foxy/share/rosidl_adapter/cmake)
+[4.853s] -- Found OpenSSL: /usr/lib/aarch64-linux-gnu/libcrypto.so (found version "1.1.1f")  
+[4.979s] -- Found FastRTPS: /opt/ros/foxy/include  
+[5.395s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[5.748s] -- Found rmw_implementation_cmake: 1.0.4 (/opt/ros/foxy/share/rmw_implementation_cmake/cmake)
+[5.759s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[5.767s] -- Looking for pthread.h
+[6.102s] -- Looking for pthread.h - found
+[6.103s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
+[6.408s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
+[6.409s] -- Looking for pthread_create in pthreads
+[6.667s] -- Looking for pthread_create in pthreads - not found
+[6.668s] -- Looking for pthread_create in pthread
+[6.962s] -- Looking for pthread_create in pthread - found
+[6.966s] -- Found Threads: TRUE  
+[7.669s] CMake Error at /opt/ros/foxy/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:42 (message):
+[7.669s]   ament_target_dependencies() the first argument must be a valid target name
+[7.670s] Call Stack (most recent call first):
+[7.670s]   CMakeLists.txt:24 (ament_target_dependencies)
+[7.670s] 
+[7.670s] 
+[7.683s] -- Configuring incomplete, errors occurred!
+[7.683s] See also "/home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles/CMakeOutput.log".
+[7.683s] See also "/home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles/CMakeError.log".
+[7.706s] Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '1': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
diff --git a/log/build_2023-04-13_14-00-45/events.log b/log/build_2023-04-13_14-00-45/events.log
new file mode 100644
index 00000000..98218c2b
--- /dev/null
+++ b/log/build_2023-04-13_14-00-45/events.log
@@ -0,0 +1,132 @@
+[0.000000] (-) TimerEvent: {}
+[0.000897] (-) JobUnselected: {'identifier': 'drone_sensors'}
+[0.001234] (-) JobUnselected: {'identifier': 'px4_msgs'}
+[0.001898] (-) JobUnselected: {'identifier': 'px4_ros_com'}
+[0.002392] (beacon_positioning) JobQueued: {'identifier': 'beacon_positioning', 'dependencies': OrderedDict()}
+[0.003308] (beacon_positioning) JobStarted: {'identifier': 'beacon_positioning'}
+[0.104193] (-) TimerEvent: {}
+[0.143363] (beacon_positioning) JobProgress: {'identifier': 'beacon_positioning', 'progress': 'cmake'}
+[0.144576] (beacon_positioning) Command: {'cmd': ['/usr/bin/cmake', '/home/ubuntu/ros2_ws/src/beacon_positioning', '-DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning'], 'cwd': '/home/ubuntu/ros2_ws/build/beacon_positioning', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'ubuntu'), ('SSH_CLIENT', '10.1.1.110 56300 22'), ('LC_TIME', 'nl_NL.UTF-8'), ('XDG_SESSION_TYPE', 'tty'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/home/ubuntu/ros2_ws/install/px4_msgs/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/lib/aarch64-linux-gnu:/opt/ros/foxy/lib'), ('MOTD_SHOWN', 'pam'), ('HOME', '/home/ubuntu'), ('OLDPWD', '/home/ubuntu/ros2_ws/src'), ('SSH_TTY', '/dev/pts/0'), ('ROS_PYTHON_VERSION', '3'), ('LC_MONETARY', 'nl_NL.UTF-8'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('_colcon_cd_root', '/opt/ros/foxy/'), ('COLCON_PREFIX_PATH', '/home/ubuntu/ros2_ws/install'), ('ROS_DISTRO', 'foxy'), ('LOGNAME', 'ubuntu'), ('_', '/home/ubuntu/.local/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('TERM', 'xterm-256color'), ('XDG_SESSION_ID', '9'), ('ROS_LOCALHOST_ONLY', '0'), ('PATH', '/home/ubuntu/.local/bin:/opt/ros/foxy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin'), ('LC_ADDRESS', 'nl_NL.UTF-8'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('LANG', 'en_US.UTF-8'), ('LC_TELEPHONE', 'nl_NL.UTF-8'), ('RMW_IMPLEMENTATION', 'rmw_fastrtps_cpp'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('ROS_DOMAIN_ID', '0'), ('AMENT_PREFIX_PATH', '/home/ubuntu/ros2_ws/install/px4_msgs:/home/ubuntu/ros2_ws/install/drone_sensors:/opt/ros/foxy'), ('SHELL', '/bin/bash'), ('LC_NAME', 'nl_NL.UTF-8'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'nl_NL.UTF-8'), ('LC_IDENTIFICATION', 'nl_NL.UTF-8'), ('PWD', '/home/ubuntu/ros2_ws/build/beacon_positioning'), ('LC_ALL', 'en_US.UTF-8'), ('SSH_CONNECTION', '10.1.1.110 56300 10.1.1.68 22'), ('XDG_DATA_DIRS', '/usr/local/share:/usr/share:/var/lib/snapd/desktop'), ('PYTHONPATH', '/home/ubuntu/ros2_ws/install/px4_msgs/lib/python3.8/site-packages:/opt/ros/foxy/lib/python3.8/site-packages'), ('LC_NUMERIC', 'nl_NL.UTF-8'), ('LC_PAPER', 'nl_NL.UTF-8'), ('COLCON', '1'), ('CMAKE_PREFIX_PATH', '/home/ubuntu/ros2_ws/install/px4_msgs:/home/ubuntu/ros2_ws/install/drone_sensors:/opt/ros/foxy')]), 'shell': False}
+[0.204507] (-) TimerEvent: {}
+[0.305674] (-) TimerEvent: {}
+[0.406732] (-) TimerEvent: {}
+[0.507566] (-) TimerEvent: {}
+[0.608653] (-) TimerEvent: {}
+[0.709875] (-) TimerEvent: {}
+[0.811123] (-) TimerEvent: {}
+[0.912021] (-) TimerEvent: {}
+[1.013515] (-) TimerEvent: {}
+[1.109189] (beacon_positioning) StdoutLine: {'line': b'-- The C compiler identification is GNU 9.4.0\n'}
+[1.113572] (-) TimerEvent: {}
+[1.214323] (-) TimerEvent: {}
+[1.315431] (-) TimerEvent: {}
+[1.416499] (-) TimerEvent: {}
+[1.428709] (beacon_positioning) StdoutLine: {'line': b'-- The CXX compiler identification is GNU 9.4.0\n'}
+[1.464135] (beacon_positioning) StdoutLine: {'line': b'-- Check for working C compiler: /usr/bin/cc\n'}
+[1.516720] (-) TimerEvent: {}
+[1.617811] (-) TimerEvent: {}
+[1.719205] (-) TimerEvent: {}
+[1.774442] (beacon_positioning) StdoutLine: {'line': b'-- Check for working C compiler: /usr/bin/cc -- works\n'}
+[1.783935] (beacon_positioning) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'}
+[1.819387] (-) TimerEvent: {}
+[1.920367] (-) TimerEvent: {}
+[2.021764] (-) TimerEvent: {}
+[2.075934] (beacon_positioning) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'}
+[2.116863] (beacon_positioning) StdoutLine: {'line': b'-- Detecting C compile features\n'}
+[2.118861] (beacon_positioning) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
+[2.121870] (-) TimerEvent: {}
+[2.132161] (beacon_positioning) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++\n'}
+[2.222113] (-) TimerEvent: {}
+[2.323002] (-) TimerEvent: {}
+[2.423940] (-) TimerEvent: {}
+[2.444128] (beacon_positioning) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ -- works\n'}
+[2.448450] (beacon_positioning) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'}
+[2.524125] (-) TimerEvent: {}
+[2.624841] (-) TimerEvent: {}
+[2.725792] (-) TimerEvent: {}
+[2.775015] (beacon_positioning) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
+[2.812361] (beacon_positioning) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
+[2.814033] (beacon_positioning) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
+[2.825917] (-) TimerEvent: {}
+[2.859837] (beacon_positioning) StdoutLine: {'line': b'-- Found ament_cmake: 0.9.11 (/opt/ros/foxy/share/ament_cmake/cmake)\n'}
+[2.926098] (-) TimerEvent: {}
+[3.003472] (beacon_positioning) StdoutLine: {'line': b'-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") \n'}
+[3.004097] (beacon_positioning) StdoutLine: {'line': b'-- Using PYTHON_EXECUTABLE: /usr/bin/python3\n'}
+[3.026286] (-) TimerEvent: {}
+[3.127091] (-) TimerEvent: {}
+[3.227906] (-) TimerEvent: {}
+[3.328675] (-) TimerEvent: {}
+[3.429286] (-) TimerEvent: {}
+[3.529885] (-) TimerEvent: {}
+[3.630476] (-) TimerEvent: {}
+[3.731130] (-) TimerEvent: {}
+[3.832004] (-) TimerEvent: {}
+[3.932764] (-) TimerEvent: {}
+[3.953643] (beacon_positioning) StdoutLine: {'line': b'-- Found rclcpp: 2.4.2 (/opt/ros/foxy/share/rclcpp/cmake)\n'}
+[4.032927] (-) TimerEvent: {}
+[4.133642] (-) TimerEvent: {}
+[4.234547] (-) TimerEvent: {}
+[4.335360] (-) TimerEvent: {}
+[4.357486] (beacon_positioning) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[4.422768] (beacon_positioning) StdoutLine: {'line': b'-- Found rosidl_adapter: 1.3.0 (/opt/ros/foxy/share/rosidl_adapter/cmake)\n'}
+[4.435516] (-) TimerEvent: {}
+[4.536229] (-) TimerEvent: {}
+[4.636985] (-) TimerEvent: {}
+[4.737935] (-) TimerEvent: {}
+[4.838725] (-) TimerEvent: {}
+[4.856045] (beacon_positioning) StdoutLine: {'line': b'-- Found OpenSSL: /usr/lib/aarch64-linux-gnu/libcrypto.so (found version "1.1.1f")  \n'}
+[4.938945] (-) TimerEvent: {}
+[4.981525] (beacon_positioning) StdoutLine: {'line': b'-- Found FastRTPS: /opt/ros/foxy/include  \n'}
+[5.039104] (-) TimerEvent: {}
+[5.139857] (-) TimerEvent: {}
+[5.240574] (-) TimerEvent: {}
+[5.341230] (-) TimerEvent: {}
+[5.397565] (beacon_positioning) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[5.441384] (-) TimerEvent: {}
+[5.542074] (-) TimerEvent: {}
+[5.642765] (-) TimerEvent: {}
+[5.743514] (-) TimerEvent: {}
+[5.751252] (beacon_positioning) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 1.0.4 (/opt/ros/foxy/share/rmw_implementation_cmake/cmake)\n'}
+[5.761789] (beacon_positioning) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"}
+[5.769763] (beacon_positioning) StdoutLine: {'line': b'-- Looking for pthread.h\n'}
+[5.843729] (-) TimerEvent: {}
+[5.944709] (-) TimerEvent: {}
+[6.046051] (-) TimerEvent: {}
+[6.104700] (beacon_positioning) StdoutLine: {'line': b'-- Looking for pthread.h - found\n'}
+[6.105755] (beacon_positioning) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD\n'}
+[6.146246] (-) TimerEvent: {}
+[6.247254] (-) TimerEvent: {}
+[6.348552] (-) TimerEvent: {}
+[6.410471] (beacon_positioning) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed\n'}
+[6.411472] (beacon_positioning) StdoutLine: {'line': b'-- Looking for pthread_create in pthreads\n'}
+[6.448746] (-) TimerEvent: {}
+[6.549736] (-) TimerEvent: {}
+[6.651004] (-) TimerEvent: {}
+[6.670304] (beacon_positioning) StdoutLine: {'line': b'-- Looking for pthread_create in pthreads - not found\n'}
+[6.671205] (beacon_positioning) StdoutLine: {'line': b'-- Looking for pthread_create in pthread\n'}
+[6.751184] (-) TimerEvent: {}
+[6.851908] (-) TimerEvent: {}
+[6.952669] (-) TimerEvent: {}
+[6.964502] (beacon_positioning) StdoutLine: {'line': b'-- Looking for pthread_create in pthread - found\n'}
+[6.968506] (beacon_positioning) StdoutLine: {'line': b'-- Found Threads: TRUE  \n'}
+[7.052841] (-) TimerEvent: {}
+[7.153643] (-) TimerEvent: {}
+[7.254403] (-) TimerEvent: {}
+[7.355117] (-) TimerEvent: {}
+[7.455842] (-) TimerEvent: {}
+[7.556520] (-) TimerEvent: {}
+[7.657209] (-) TimerEvent: {}
+[7.671822] (beacon_positioning) StderrLine: {'line': b'CMake Error at /opt/ros/foxy/share/ament_cmake_target_dependencies/cmake/ament_target_dependencies.cmake:42 (message):\n'}
+[7.672486] (beacon_positioning) StderrLine: {'line': b'  ament_target_dependencies() the first argument must be a valid target name\n'}
+[7.672778] (beacon_positioning) StderrLine: {'line': b'Call Stack (most recent call first):\n'}
+[7.673028] (beacon_positioning) StderrLine: {'line': b'  CMakeLists.txt:24 (ament_target_dependencies)\n'}
+[7.673345] (beacon_positioning) StderrLine: {'line': b'\n'}
+[7.673592] (beacon_positioning) StderrLine: {'line': b'\n'}
+[7.685550] (beacon_positioning) StdoutLine: {'line': b'-- Configuring incomplete, errors occurred!\n'}
+[7.686063] (beacon_positioning) StdoutLine: {'line': b'See also "/home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles/CMakeOutput.log".\n'}
+[7.686391] (beacon_positioning) StdoutLine: {'line': b'See also "/home/ubuntu/ros2_ws/build/beacon_positioning/CMakeFiles/CMakeError.log".\n'}
+[7.708544] (beacon_positioning) CommandEnded: {'returncode': 1}
+[7.757530] (-) TimerEvent: {}
+[7.860419] (-) TimerEvent: {}
+[7.882779] (beacon_positioning) JobEnded: {'identifier': 'beacon_positioning', 'rc': 1}
+[7.894300] (-) EventReactorShutdown: {}
diff --git a/log/build_2023-04-13_14-00-45/logger_all.log b/log/build_2023-04-13_14-00-45/logger_all.log
new file mode 100644
index 00000000..40effe9a
--- /dev/null
+++ b/log/build_2023-04-13_14-00-45/logger_all.log
@@ -0,0 +1,151 @@
+[1.692s] DEBUG:colcon:Command line arguments: ['/home/ubuntu/.local/bin/colcon', 'build', '--packages-select', 'beacon_positioning']
+[1.692s] DEBUG:colcon:Parsed command line arguments: Namespace(allow_overriding=[], ament_cmake_args=None, base_paths=['.'], build_base='build', catkin_cmake_args=None, catkin_skip_building_tests=False, cmake_args=None, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, cmake_target=None, cmake_target_skip_unavailable=False, continue_on_error=False, event_handlers=None, executor='parallel', ignore_user_meta=False, install_base='install', log_base=None, log_level=None, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffffa075fc10>>, merge_install=False, metas=['./colcon.meta'], packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_end=None, packages_ignore=None, packages_ignore_regex=None, packages_select=['beacon_positioning'], packages_select_build_failed=False, packages_select_by_dep=None, packages_select_regex=None, packages_select_test_failures=False, packages_skip=None, packages_skip_build_finished=False, packages_skip_by_dep=None, packages_skip_regex=None, packages_skip_test_passed=False, packages_skip_up_to=None, packages_start=None, packages_up_to=None, packages_up_to_regex=None, parallel_workers=4, paths=None, symlink_install=False, test_result_base=None, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffffa075fc10>, verb_name='build', verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0xffffa061a2b0>)
+[1.892s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[1.893s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[1.893s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[1.893s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[1.893s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[1.893s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[1.894s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/ubuntu/ros2_ws'
+[1.894s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[1.894s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[1.895s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[1.895s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[1.895s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[1.895s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[1.895s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[1.895s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[1.895s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[1.978s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[1.978s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[1.978s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[1.979s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[1.979s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[1.979s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[1.980s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[1.980s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[1.980s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[1.981s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[1.981s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[1.981s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[1.981s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[1.982s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[1.982s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[1.982s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[1.982s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[1.983s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[1.983s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[1.983s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[1.983s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[1.983s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[1.983s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[1.984s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[1.984s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[1.984s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[1.984s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[1.984s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[1.984s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extensions ['ignore', 'ignore_ament_install']
+[1.985s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extension 'ignore'
+[1.985s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extension 'ignore_ament_install'
+[1.985s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extensions ['colcon_pkg']
+[1.985s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extension 'colcon_pkg'
+[1.985s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extensions ['colcon_meta']
+[1.986s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extension 'colcon_meta'
+[1.986s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extensions ['ros']
+[1.986s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extension 'ros'
+[1.994s] DEBUG:colcon.colcon_core.package_identification:Package 'src/beacon_positioning' with type 'ros.ament_cmake' and name 'beacon_positioning'
+[1.994s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extensions ['ignore', 'ignore_ament_install']
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extension 'ignore'
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extension 'ignore_ament_install'
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extensions ['colcon_pkg']
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extension 'colcon_pkg'
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extensions ['colcon_meta']
+[1.996s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extension 'colcon_meta'
+[1.996s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extensions ['ros']
+[1.996s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extension 'ros'
+[1.998s] DEBUG:colcon.colcon_core.package_identification:Package 'src/drone_sensors' with type 'ros.ament_cmake' and name 'drone_sensors'
+[1.999s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extensions ['ignore', 'ignore_ament_install']
+[1.999s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extension 'ignore'
+[1.999s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extension 'ignore_ament_install'
+[2.000s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extensions ['colcon_pkg']
+[2.000s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extension 'colcon_pkg'
+[2.000s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extensions ['colcon_meta']
+[2.000s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extension 'colcon_meta'
+[2.000s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extensions ['ros']
+[2.000s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extension 'ros'
+[2.003s] DEBUG:colcon.colcon_core.package_identification:Package 'src/px4_msgs' with type 'ros.ament_cmake' and name 'px4_msgs'
+[2.004s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extensions ['ignore', 'ignore_ament_install']
+[2.004s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extension 'ignore'
+[2.004s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extension 'ignore_ament_install'
+[2.004s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extensions ['colcon_pkg']
+[2.005s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extension 'colcon_pkg'
+[2.005s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extensions ['colcon_meta']
+[2.005s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extension 'colcon_meta'
+[2.005s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extensions ['ros']
+[2.005s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extension 'ros'
+[2.010s] DEBUG:colcon.colcon_core.package_identification:Package 'src/px4_ros_com' with type 'ros.ament_cmake' and name 'px4_ros_com'
+[2.010s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[2.010s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[2.010s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[2.010s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[2.010s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[2.261s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'drone_sensors' in 'src/drone_sensors'
+[2.262s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'px4_msgs' in 'src/px4_msgs'
+[2.262s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'px4_ros_com' in 'src/px4_ros_com'
+[2.268s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[2.269s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[2.329s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 3 installed packages in /home/ubuntu/ros2_ws/install
+[2.351s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 168 installed packages in /opt/ros/foxy
+[2.355s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[2.569s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_args' from command line to 'None'
+[2.569s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_target' from command line to 'None'
+[2.569s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[2.569s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_clean_cache' from command line to 'False'
+[2.569s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_clean_first' from command line to 'False'
+[2.569s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_force_configure' from command line to 'False'
+[2.570s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'ament_cmake_args' from command line to 'None'
+[2.570s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'catkin_cmake_args' from command line to 'None'
+[2.570s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'catkin_skip_building_tests' from command line to 'False'
+[2.570s] DEBUG:colcon.colcon_core.verb:Building package 'beacon_positioning' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/ubuntu/ros2_ws/build/beacon_positioning', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/ubuntu/ros2_ws/install/beacon_positioning', 'merge_install': False, 'path': '/home/ubuntu/ros2_ws/src/beacon_positioning', 'symlink_install': False, 'test_result_base': None}
+[2.578s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[2.633s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[2.634s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/ubuntu/ros2_ws/src/beacon_positioning' with build type 'ament_cmake'
+[2.635s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/ubuntu/ros2_ws/src/beacon_positioning'
+[2.690s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[2.691s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.691s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.781s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
+[10.343s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '1': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
+[10.393s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(beacon_positioning)
+[10.463s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning' for CMake module files
+[10.465s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning' for CMake config files
+[10.466s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/bin'
+[10.467s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/lib/pkgconfig/beacon_positioning.pc'
+[10.467s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/lib/python3.8/site-packages'
+[10.468s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/bin'
+[10.493s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.ps1'
+[10.500s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.dsv'
+[10.503s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.sh'
+[10.506s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.bash'
+[10.510s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.zsh'
+[10.514s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/ubuntu/ros2_ws/install/beacon_positioning/share/colcon-core/packages/beacon_positioning)
+[10.526s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[10.526s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[10.527s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '1'
+[10.527s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[10.594s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send'
+[10.594s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[10.594s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[10.595s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[10.598s] DEBUG:colcon.colcon_notification.desktop_notification.notify2:Failed to initialize notify2: org.freedesktop.DBus.Error.ServiceUnknown: The name org.freedesktop.Notifications was not provided by any .service files
+[10.598s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[10.625s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ubuntu/ros2_ws/install/local_setup.ps1'
+[10.632s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/ubuntu/ros2_ws/install/_local_setup_util_ps1.py'
+[10.638s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ubuntu/ros2_ws/install/setup.ps1'
+[10.665s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ubuntu/ros2_ws/install/local_setup.sh'
+[10.668s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/ubuntu/ros2_ws/install/_local_setup_util_sh.py'
+[10.670s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ubuntu/ros2_ws/install/setup.sh'
+[10.697s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ubuntu/ros2_ws/install/local_setup.bash'
+[10.700s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ubuntu/ros2_ws/install/setup.bash'
+[10.729s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ubuntu/ros2_ws/install/local_setup.zsh'
+[10.732s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ubuntu/ros2_ws/install/setup.zsh'
diff --git a/log/build_2023-04-13_14-02-17/beacon_positioning/command.log b/log/build_2023-04-13_14-02-17/beacon_positioning/command.log
new file mode 100644
index 00000000..9fca2b93
--- /dev/null
+++ b/log/build_2023-04-13_14-02-17/beacon_positioning/command.log
@@ -0,0 +1,6 @@
+Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
+Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
+Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --build /home/ubuntu/ros2_ws/build/beacon_positioning -- -j4 -l4
+Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --build /home/ubuntu/ros2_ws/build/beacon_positioning -- -j4 -l4
+Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --install /home/ubuntu/ros2_ws/build/beacon_positioning
+Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --install /home/ubuntu/ros2_ws/build/beacon_positioning
diff --git a/log/build_2023-04-13_14-02-17/beacon_positioning/stderr.log b/log/build_2023-04-13_14-02-17/beacon_positioning/stderr.log
new file mode 100644
index 00000000..e69de29b
diff --git a/log/build_2023-04-13_14-02-17/beacon_positioning/stdout.log b/log/build_2023-04-13_14-02-17/beacon_positioning/stdout.log
new file mode 100644
index 00000000..2d8e90d4
--- /dev/null
+++ b/log/build_2023-04-13_14-02-17/beacon_positioning/stdout.log
@@ -0,0 +1,44 @@
+-- Found ament_cmake: 0.9.11 (/opt/ros/foxy/share/ament_cmake/cmake)
+-- Using PYTHON_EXECUTABLE: /usr/bin/python3
+-- Found rclcpp: 2.4.2 (/opt/ros/foxy/share/rclcpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Found rosidl_adapter: 1.3.0 (/opt/ros/foxy/share/rosidl_adapter/cmake)
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 1.0.4 (/opt/ros/foxy/share/rmw_implementation_cmake/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found ament_lint_auto: 0.9.8 (/opt/ros/foxy/share/ament_lint_auto/cmake)
+-- Added test 'copyright' to check source files copyright and LICENSE
+-- Added test 'cppcheck' to perform static code analysis on C / C++ code
+-- Configured cppcheck include dirs: $<BUILD_INTERFACE:/home/ubuntu/ros2_ws/src/beacon_positioning/include>
+-- Configured cppcheck exclude dirs and/or files: 
+-- Added test 'cpplint' to check C / C++ code against the Google style
+-- Configured cpplint exclude dirs and/or files: 
+-- Added test 'lint_cmake' to check CMake code style
+-- Added test 'uncrustify' to check C / C++ code style
+-- Configured uncrustify additional arguments: 
+-- Added test 'xmllint' to check XML markup files
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /home/ubuntu/ros2_ws/build/beacon_positioning
+Scanning dependencies of target tracker_position
+[ 50%] Building CXX object CMakeFiles/tracker_position.dir/src/tracker_position.cpp.o
+[100%] Linking CXX executable tracker_position
+[100%] Built target tracker_position
+-- Install configuration: ""
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/lib/beacon_positioning/tracker_position
+-- Set runtime path of "/home/ubuntu/ros2_ws/install/beacon_positioning/lib/beacon_positioning/tracker_position" to ""
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/package_run_dependencies/beacon_positioning
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/parent_prefix_path/beacon_positioning
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.sh
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.dsv
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/path.sh
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/path.dsv
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.bash
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.sh
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.zsh
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.dsv
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.dsv
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/packages/beacon_positioning
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig.cmake
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig-version.cmake
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.xml
diff --git a/log/build_2023-04-13_14-02-17/beacon_positioning/stdout_stderr.log b/log/build_2023-04-13_14-02-17/beacon_positioning/stdout_stderr.log
new file mode 100644
index 00000000..2d8e90d4
--- /dev/null
+++ b/log/build_2023-04-13_14-02-17/beacon_positioning/stdout_stderr.log
@@ -0,0 +1,44 @@
+-- Found ament_cmake: 0.9.11 (/opt/ros/foxy/share/ament_cmake/cmake)
+-- Using PYTHON_EXECUTABLE: /usr/bin/python3
+-- Found rclcpp: 2.4.2 (/opt/ros/foxy/share/rclcpp/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Found rosidl_adapter: 1.3.0 (/opt/ros/foxy/share/rosidl_adapter/cmake)
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rmw_implementation_cmake: 1.0.4 (/opt/ros/foxy/share/rmw_implementation_cmake/cmake)
+-- Using RMW implementation 'rmw_fastrtps_cpp' as default
+-- Found ament_lint_auto: 0.9.8 (/opt/ros/foxy/share/ament_lint_auto/cmake)
+-- Added test 'copyright' to check source files copyright and LICENSE
+-- Added test 'cppcheck' to perform static code analysis on C / C++ code
+-- Configured cppcheck include dirs: $<BUILD_INTERFACE:/home/ubuntu/ros2_ws/src/beacon_positioning/include>
+-- Configured cppcheck exclude dirs and/or files: 
+-- Added test 'cpplint' to check C / C++ code against the Google style
+-- Configured cpplint exclude dirs and/or files: 
+-- Added test 'lint_cmake' to check CMake code style
+-- Added test 'uncrustify' to check C / C++ code style
+-- Configured uncrustify additional arguments: 
+-- Added test 'xmllint' to check XML markup files
+-- Configuring done
+-- Generating done
+-- Build files have been written to: /home/ubuntu/ros2_ws/build/beacon_positioning
+Scanning dependencies of target tracker_position
+[ 50%] Building CXX object CMakeFiles/tracker_position.dir/src/tracker_position.cpp.o
+[100%] Linking CXX executable tracker_position
+[100%] Built target tracker_position
+-- Install configuration: ""
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/lib/beacon_positioning/tracker_position
+-- Set runtime path of "/home/ubuntu/ros2_ws/install/beacon_positioning/lib/beacon_positioning/tracker_position" to ""
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/package_run_dependencies/beacon_positioning
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/parent_prefix_path/beacon_positioning
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.sh
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.dsv
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/path.sh
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/path.dsv
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.bash
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.sh
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.zsh
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.dsv
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.dsv
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/packages/beacon_positioning
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig.cmake
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig-version.cmake
+-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.xml
diff --git a/log/build_2023-04-13_14-02-17/beacon_positioning/streams.log b/log/build_2023-04-13_14-02-17/beacon_positioning/streams.log
new file mode 100644
index 00000000..123deffb
--- /dev/null
+++ b/log/build_2023-04-13_14-02-17/beacon_positioning/streams.log
@@ -0,0 +1,50 @@
+[0.115s] Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
+[0.173s] -- Found ament_cmake: 0.9.11 (/opt/ros/foxy/share/ament_cmake/cmake)
+[0.269s] -- Using PYTHON_EXECUTABLE: /usr/bin/python3
+[0.948s] -- Found rclcpp: 2.4.2 (/opt/ros/foxy/share/rclcpp/cmake)
+[1.074s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[1.087s] -- Found rosidl_adapter: 1.3.0 (/opt/ros/foxy/share/rosidl_adapter/cmake)
+[1.535s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[1.706s] -- Found rmw_implementation_cmake: 1.0.4 (/opt/ros/foxy/share/rmw_implementation_cmake/cmake)
+[1.712s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
+[2.219s] -- Found ament_lint_auto: 0.9.8 (/opt/ros/foxy/share/ament_lint_auto/cmake)
+[2.707s] -- Added test 'copyright' to check source files copyright and LICENSE
+[2.715s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code
+[2.716s] -- Configured cppcheck include dirs: $<BUILD_INTERFACE:/home/ubuntu/ros2_ws/src/beacon_positioning/include>
+[2.716s] -- Configured cppcheck exclude dirs and/or files: 
+[2.725s] -- Added test 'cpplint' to check C / C++ code against the Google style
+[2.726s] -- Configured cpplint exclude dirs and/or files: 
+[2.731s] -- Added test 'lint_cmake' to check CMake code style
+[2.739s] -- Added test 'uncrustify' to check C / C++ code style
+[2.739s] -- Configured uncrustify additional arguments: 
+[2.742s] -- Added test 'xmllint' to check XML markup files
+[2.765s] -- Configuring done
+[2.790s] -- Generating done
+[2.795s] -- Build files have been written to: /home/ubuntu/ros2_ws/build/beacon_positioning
+[2.816s] Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
+[2.826s] Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --build /home/ubuntu/ros2_ws/build/beacon_positioning -- -j4 -l4
+[2.985s] Scanning dependencies of target tracker_position
+[3.388s] [ 50%] Building CXX object CMakeFiles/tracker_position.dir/src/tracker_position.cpp.o
+[9.882s] [100%] Linking CXX executable tracker_position
+[10.267s] [100%] Built target tracker_position
+[10.306s] Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --build /home/ubuntu/ros2_ws/build/beacon_positioning -- -j4 -l4
+[10.470s] Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --install /home/ubuntu/ros2_ws/build/beacon_positioning
+[10.503s] -- Install configuration: ""
+[10.504s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/lib/beacon_positioning/tracker_position
+[10.506s] -- Set runtime path of "/home/ubuntu/ros2_ws/install/beacon_positioning/lib/beacon_positioning/tracker_position" to ""
+[10.507s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/package_run_dependencies/beacon_positioning
+[10.508s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/parent_prefix_path/beacon_positioning
+[10.510s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.sh
+[10.511s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.dsv
+[10.512s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/path.sh
+[10.513s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/path.dsv
+[10.513s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.bash
+[10.514s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.sh
+[10.515s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.zsh
+[10.516s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.dsv
+[10.517s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.dsv
+[10.518s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/packages/beacon_positioning
+[10.520s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig.cmake
+[10.521s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig-version.cmake
+[10.522s] -- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.xml
+[10.534s] Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --install /home/ubuntu/ros2_ws/build/beacon_positioning
diff --git a/log/build_2023-04-13_14-02-17/events.log b/log/build_2023-04-13_14-02-17/events.log
new file mode 100644
index 00000000..c74e8468
--- /dev/null
+++ b/log/build_2023-04-13_14-02-17/events.log
@@ -0,0 +1,169 @@
+[0.000000] (-) TimerEvent: {}
+[0.000899] (-) JobUnselected: {'identifier': 'drone_sensors'}
+[0.001183] (-) JobUnselected: {'identifier': 'px4_msgs'}
+[0.001855] (-) JobUnselected: {'identifier': 'px4_ros_com'}
+[0.002379] (beacon_positioning) JobQueued: {'identifier': 'beacon_positioning', 'dependencies': OrderedDict()}
+[0.003372] (beacon_positioning) JobStarted: {'identifier': 'beacon_positioning'}
+[0.099436] (-) TimerEvent: {}
+[0.111807] (beacon_positioning) JobProgress: {'identifier': 'beacon_positioning', 'progress': 'cmake'}
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+[2.742067] (beacon_positioning) StdoutLine: {'line': b"-- Added test 'uncrustify' to check C / C++ code style\n"}
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+[10.370838] (-) TimerEvent: {}
+[10.425719] (beacon_positioning) JobProgress: {'identifier': 'beacon_positioning', 'progress': 'install'}
+[10.466408] (beacon_positioning) Command: {'cmd': ['/usr/bin/cmake', '--install', '/home/ubuntu/ros2_ws/build/beacon_positioning'], 'cwd': '/home/ubuntu/ros2_ws/build/beacon_positioning', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('USER', 'ubuntu'), ('SSH_CLIENT', '10.1.1.110 56300 22'), ('LC_TIME', 'nl_NL.UTF-8'), ('XDG_SESSION_TYPE', 'tty'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/home/ubuntu/ros2_ws/install/px4_msgs/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/lib/aarch64-linux-gnu:/opt/ros/foxy/lib'), ('MOTD_SHOWN', 'pam'), ('HOME', '/home/ubuntu'), ('OLDPWD', '/home/ubuntu/ros2_ws/src'), ('SSH_TTY', '/dev/pts/0'), ('ROS_PYTHON_VERSION', '3'), ('LC_MONETARY', 'nl_NL.UTF-8'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('_colcon_cd_root', '/opt/ros/foxy/'), ('COLCON_PREFIX_PATH', '/home/ubuntu/ros2_ws/install'), ('ROS_DISTRO', 'foxy'), ('LOGNAME', 'ubuntu'), ('_', '/home/ubuntu/.local/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('TERM', 'xterm-256color'), ('XDG_SESSION_ID', '9'), ('ROS_LOCALHOST_ONLY', '0'), ('PATH', '/home/ubuntu/.local/bin:/opt/ros/foxy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin'), ('LC_ADDRESS', 'nl_NL.UTF-8'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('LANG', 'en_US.UTF-8'), ('LC_TELEPHONE', 'nl_NL.UTF-8'), ('RMW_IMPLEMENTATION', 'rmw_fastrtps_cpp'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('ROS_DOMAIN_ID', '0'), ('AMENT_PREFIX_PATH', '/home/ubuntu/ros2_ws/install/px4_msgs:/home/ubuntu/ros2_ws/install/drone_sensors:/opt/ros/foxy'), ('SHELL', '/bin/bash'), ('LC_NAME', 'nl_NL.UTF-8'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'nl_NL.UTF-8'), ('LC_IDENTIFICATION', 'nl_NL.UTF-8'), ('PWD', '/home/ubuntu/ros2_ws/build/beacon_positioning'), ('LC_ALL', 'en_US.UTF-8'), ('SSH_CONNECTION', '10.1.1.110 56300 10.1.1.68 22'), ('XDG_DATA_DIRS', '/usr/local/share:/usr/share:/var/lib/snapd/desktop'), ('PYTHONPATH', '/home/ubuntu/ros2_ws/install/px4_msgs/lib/python3.8/site-packages:/opt/ros/foxy/lib/python3.8/site-packages'), ('LC_NUMERIC', 'nl_NL.UTF-8'), ('LC_PAPER', 'nl_NL.UTF-8'), ('COLCON', '1'), ('CMAKE_PREFIX_PATH', '/home/ubuntu/ros2_ws/install/px4_msgs:/home/ubuntu/ros2_ws/install/drone_sensors:/opt/ros/foxy')]), 'shell': False}
+[10.476159] (-) TimerEvent: {}
+[10.506309] (beacon_positioning) StdoutLine: {'line': b'-- Install configuration: ""\n'}
+[10.507062] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/lib/beacon_positioning/tracker_position\n'}
+[10.509296] (beacon_positioning) StdoutLine: {'line': b'-- Set runtime path of "/home/ubuntu/ros2_ws/install/beacon_positioning/lib/beacon_positioning/tracker_position" to ""\n'}
+[10.510038] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/package_run_dependencies/beacon_positioning\n'}
+[10.511520] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/parent_prefix_path/beacon_positioning\n'}
+[10.512827] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.sh\n'}
+[10.513780] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/ament_prefix_path.dsv\n'}
+[10.514781] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/path.sh\n'}
+[10.515753] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/environment/path.dsv\n'}
+[10.516693] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.bash\n'}
+[10.517641] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.sh\n'}
+[10.518587] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.zsh\n'}
+[10.519564] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/local_setup.dsv\n'}
+[10.520487] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.dsv\n'}
+[10.521712] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/ament_index/resource_index/packages/beacon_positioning\n'}
+[10.522863] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig.cmake\n'}
+[10.523779] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/cmake/beacon_positioningConfig-version.cmake\n'}
+[10.524768] (beacon_positioning) StdoutLine: {'line': b'-- Installing: /home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.xml\n'}
+[10.530349] (beacon_positioning) CommandEnded: {'returncode': 0}
+[10.576236] (-) TimerEvent: {}
+[10.677567] (-) TimerEvent: {}
+[10.783693] (-) TimerEvent: {}
+[10.890182] (beacon_positioning) JobEnded: {'identifier': 'beacon_positioning', 'rc': 0}
+[10.893381] (-) TimerEvent: {}
+[10.893708] (-) EventReactorShutdown: {}
diff --git a/log/build_2023-04-13_14-02-17/logger_all.log b/log/build_2023-04-13_14-02-17/logger_all.log
new file mode 100644
index 00000000..4bf2ae1c
--- /dev/null
+++ b/log/build_2023-04-13_14-02-17/logger_all.log
@@ -0,0 +1,178 @@
+[1.700s] DEBUG:colcon:Command line arguments: ['/home/ubuntu/.local/bin/colcon', 'build', '--packages-select', 'beacon_positioning']
+[1.700s] DEBUG:colcon:Parsed command line arguments: Namespace(allow_overriding=[], ament_cmake_args=None, base_paths=['.'], build_base='build', catkin_cmake_args=None, catkin_skip_building_tests=False, cmake_args=None, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, cmake_target=None, cmake_target_skip_unavailable=False, continue_on_error=False, event_handlers=None, executor='parallel', ignore_user_meta=False, install_base='install', log_base=None, log_level=None, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffffa9321df0>>, merge_install=False, metas=['./colcon.meta'], packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_end=None, packages_ignore=None, packages_ignore_regex=None, packages_select=['beacon_positioning'], packages_select_build_failed=False, packages_select_by_dep=None, packages_select_regex=None, packages_select_test_failures=False, packages_skip=None, packages_skip_build_finished=False, packages_skip_by_dep=None, packages_skip_regex=None, packages_skip_test_passed=False, packages_skip_up_to=None, packages_start=None, packages_up_to=None, packages_up_to_regex=None, parallel_workers=4, paths=None, symlink_install=False, test_result_base=None, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffffa9321df0>, verb_name='build', verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0xffffa91fb550>)
+[1.902s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[1.903s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[1.903s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[1.903s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[1.903s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[1.903s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[1.903s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/ubuntu/ros2_ws'
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[1.904s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[1.905s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[1.905s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[1.905s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[1.905s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[1.905s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[1.988s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[1.988s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[1.988s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[1.988s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[1.989s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[1.989s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[1.990s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[1.990s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[1.990s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[1.991s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[1.991s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[1.991s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[1.992s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[1.992s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[1.992s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[1.992s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[1.992s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[1.993s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[1.993s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[1.993s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[1.993s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[1.993s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[1.993s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[1.994s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[1.994s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[1.994s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[1.994s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[1.994s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extensions ['ignore', 'ignore_ament_install']
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extension 'ignore'
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extension 'ignore_ament_install'
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extensions ['colcon_pkg']
+[1.995s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extension 'colcon_pkg'
+[1.996s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extensions ['colcon_meta']
+[1.996s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extension 'colcon_meta'
+[1.996s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extensions ['ros']
+[1.996s] Level 1:colcon.colcon_core.package_identification:_identify(src/beacon_positioning) by extension 'ros'
+[2.004s] DEBUG:colcon.colcon_core.package_identification:Package 'src/beacon_positioning' with type 'ros.ament_cmake' and name 'beacon_positioning'
+[2.004s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extensions ['ignore', 'ignore_ament_install']
+[2.005s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extension 'ignore'
+[2.005s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extension 'ignore_ament_install'
+[2.005s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extensions ['colcon_pkg']
+[2.005s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extension 'colcon_pkg'
+[2.005s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extensions ['colcon_meta']
+[2.006s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extension 'colcon_meta'
+[2.006s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extensions ['ros']
+[2.006s] Level 1:colcon.colcon_core.package_identification:_identify(src/drone_sensors) by extension 'ros'
+[2.008s] DEBUG:colcon.colcon_core.package_identification:Package 'src/drone_sensors' with type 'ros.ament_cmake' and name 'drone_sensors'
+[2.009s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extensions ['ignore', 'ignore_ament_install']
+[2.009s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extension 'ignore'
+[2.009s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extension 'ignore_ament_install'
+[2.010s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extensions ['colcon_pkg']
+[2.010s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extension 'colcon_pkg'
+[2.010s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extensions ['colcon_meta']
+[2.010s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extension 'colcon_meta'
+[2.010s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extensions ['ros']
+[2.010s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_msgs) by extension 'ros'
+[2.013s] DEBUG:colcon.colcon_core.package_identification:Package 'src/px4_msgs' with type 'ros.ament_cmake' and name 'px4_msgs'
+[2.014s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extensions ['ignore', 'ignore_ament_install']
+[2.014s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extension 'ignore'
+[2.014s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extension 'ignore_ament_install'
+[2.015s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extensions ['colcon_pkg']
+[2.015s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extension 'colcon_pkg'
+[2.015s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extensions ['colcon_meta']
+[2.015s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extension 'colcon_meta'
+[2.015s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extensions ['ros']
+[2.015s] Level 1:colcon.colcon_core.package_identification:_identify(src/px4_ros_com) by extension 'ros'
+[2.020s] DEBUG:colcon.colcon_core.package_identification:Package 'src/px4_ros_com' with type 'ros.ament_cmake' and name 'px4_ros_com'
+[2.020s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[2.020s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[2.020s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[2.021s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[2.021s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[2.197s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'drone_sensors' in 'src/drone_sensors'
+[2.197s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'px4_msgs' in 'src/px4_msgs'
+[2.197s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'px4_ros_com' in 'src/px4_ros_com'
+[2.200s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[2.200s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[2.241s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 4 installed packages in /home/ubuntu/ros2_ws/install
+[2.260s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 168 installed packages in /opt/ros/foxy
+[2.264s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[2.418s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_args' from command line to 'None'
+[2.418s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_target' from command line to 'None'
+[2.419s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[2.419s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_clean_cache' from command line to 'False'
+[2.419s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_clean_first' from command line to 'False'
+[2.419s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'cmake_force_configure' from command line to 'False'
+[2.419s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'ament_cmake_args' from command line to 'None'
+[2.419s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'catkin_cmake_args' from command line to 'None'
+[2.419s] Level 5:colcon.colcon_core.verb:set package 'beacon_positioning' build argument 'catkin_skip_building_tests' from command line to 'False'
+[2.419s] DEBUG:colcon.colcon_core.verb:Building package 'beacon_positioning' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/ubuntu/ros2_ws/build/beacon_positioning', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/ubuntu/ros2_ws/install/beacon_positioning', 'merge_install': False, 'path': '/home/ubuntu/ros2_ws/src/beacon_positioning', 'symlink_install': False, 'test_result_base': None}
+[2.428s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[2.483s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[2.484s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/ubuntu/ros2_ws/src/beacon_positioning' with build type 'ament_cmake'
+[2.485s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/ubuntu/ros2_ws/src/beacon_positioning'
+[2.520s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[2.521s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[2.521s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[2.601s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
+[5.303s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake /home/ubuntu/ros2_ws/src/beacon_positioning -DCMAKE_INSTALL_PREFIX=/home/ubuntu/ros2_ws/install/beacon_positioning
+[5.314s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --build /home/ubuntu/ros2_ws/build/beacon_positioning -- -j4 -l4
+[12.792s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --build /home/ubuntu/ros2_ws/build/beacon_positioning -- -j4 -l4
+[12.957s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/ubuntu/ros2_ws/build/beacon_positioning': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --install /home/ubuntu/ros2_ws/build/beacon_positioning
+[13.012s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(beacon_positioning)
+[13.020s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/ubuntu/ros2_ws/build/beacon_positioning' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/foxy /usr/bin/cmake --install /home/ubuntu/ros2_ws/build/beacon_positioning
+[13.056s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning' for CMake module files
+[13.059s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning' for CMake config files
+[13.061s] Level 1:colcon.colcon_core.shell:create_environment_hook('beacon_positioning', 'cmake_prefix_path')
+[13.083s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.ps1'
+[13.089s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.dsv'
+[13.092s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.sh'
+[13.096s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/lib'
+[13.097s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/bin'
+[13.098s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/lib/pkgconfig/beacon_positioning.pc'
+[13.099s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/lib/python3.8/site-packages'
+[13.099s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/bin'
+[13.124s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.ps1'
+[13.127s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.dsv'
+[13.129s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.sh'
+[13.132s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.bash'
+[13.135s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.zsh'
+[13.137s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/ubuntu/ros2_ws/install/beacon_positioning/share/colcon-core/packages/beacon_positioning)
+[13.278s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(beacon_positioning)
+[13.305s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning' for CMake module files
+[13.308s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning' for CMake config files
+[13.309s] Level 1:colcon.colcon_core.shell:create_environment_hook('beacon_positioning', 'cmake_prefix_path')
+[13.331s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.ps1'
+[13.333s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.dsv'
+[13.335s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/hook/cmake_prefix_path.sh'
+[13.337s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/lib'
+[13.337s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/bin'
+[13.337s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/lib/pkgconfig/beacon_positioning.pc'
+[13.338s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/lib/python3.8/site-packages'
+[13.339s] Level 1:colcon.colcon_core.environment:checking '/home/ubuntu/ros2_ws/install/beacon_positioning/bin'
+[13.362s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.ps1'
+[13.364s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.dsv'
+[13.366s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.sh'
+[13.368s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.bash'
+[13.370s] INFO:colcon.colcon_core.shell:Creating package script '/home/ubuntu/ros2_ws/install/beacon_positioning/share/beacon_positioning/package.zsh'
+[13.372s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/ubuntu/ros2_ws/install/beacon_positioning/share/colcon-core/packages/beacon_positioning)
+[13.373s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[13.374s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[13.374s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[13.375s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[13.412s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send'
+[13.412s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[13.412s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[13.413s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[13.415s] DEBUG:colcon.colcon_notification.desktop_notification.notify2:Failed to initialize notify2: org.freedesktop.DBus.Error.ServiceUnknown: The name org.freedesktop.Notifications was not provided by any .service files
+[13.415s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[13.443s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ubuntu/ros2_ws/install/local_setup.ps1'
+[13.447s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/ubuntu/ros2_ws/install/_local_setup_util_ps1.py'
+[13.451s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ubuntu/ros2_ws/install/setup.ps1'
+[13.473s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ubuntu/ros2_ws/install/local_setup.sh'
+[13.475s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/ubuntu/ros2_ws/install/_local_setup_util_sh.py'
+[13.477s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ubuntu/ros2_ws/install/setup.sh'
+[13.499s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ubuntu/ros2_ws/install/local_setup.bash'
+[13.501s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ubuntu/ros2_ws/install/setup.bash'
+[13.522s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/ubuntu/ros2_ws/install/local_setup.zsh'
+[13.524s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/ubuntu/ros2_ws/install/setup.zsh'
diff --git a/src/beacon_positioning/CMakeLists.txt b/src/beacon_positioning/CMakeLists.txt
new file mode 100644
index 00000000..1969b155
--- /dev/null
+++ b/src/beacon_positioning/CMakeLists.txt
@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 3.5)
+project(beacon_positioning)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+
+add_executable(tracker_position src/tracker_position.cpp)
+ament_target_dependencies(tracker_position rclcpp)
+
+target_include_directories(tracker_position PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+install(TARGETS tracker_position
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/src/beacon_positioning/package.xml b/src/beacon_positioning/package.xml
new file mode 100644
index 00000000..28d5fe0e
--- /dev/null
+++ b/src/beacon_positioning/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>beacon_positioning</name>
+  <version>0.0.0</version>
+  <description>ROS 2 package to read the Terabee Robot Positioning System beacons positions</description>
+  <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/beacon_positioning/src/tracker_position.cpp b/src/beacon_positioning/src/tracker_position.cpp
new file mode 100644
index 00000000..712de830
--- /dev/null
+++ b/src/beacon_positioning/src/tracker_position.cpp
@@ -0,0 +1,11 @@
+#include <cstdio>
+#include "rclcpp/rclcpp.hpp"
+
+int main(int argc, char ** argv)
+{
+  (void) argc;
+  (void) argv;
+
+  printf("hello world beacon_positioning package\n");
+  return 0;
+}