diff --git a/build/camera_module/build/lib/camera_module/camera_module.py b/build/camera_module/build/lib/camera_module/camera_module.py
index d7a9f19..bb81bb6 100644
--- a/build/camera_module/build/lib/camera_module/camera_module.py
+++ b/build/camera_module/build/lib/camera_module/camera_module.py
@@ -11,27 +11,27 @@ from std_msgs.msg import String
 import rclpy
 
 
+
+
 class CamPublisher(ThreadedNode):
-    def __init__(self):
+    def __init__(self, rknn, cap):
         super().__init__('camera_module', default_rate=5.0)
         self.string_pub = self.create_publisher(String, 'camera_module/cam_topic', 10)
         self.image_pub = self.create_publisher(CompressedImage, 'camera_module/compressed', 10)
-
-        # Try multiple device indices
-        self.cap = None
-        for i in range(5):
-            cap = cv2.VideoCapture(i)
-            if cap.isOpened():
-                self.cap = cap
-                self.get_logger().info(f'Opened webcam at index {i}')
-                break
-
+        self.rknn = rknn
+        self.cap = cap
+        self.latest_frame = None
+        self.latest_faces = []
+        self.model_size = (320, 320)
+        self.priors = PriorBox(self.model_size)
+        self.prev_time = time.time()
+        
         if self.cap is None:
             self.get_logger().error('Failed to open any webcam')
 
         # Lower resolution
-        self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 320)
-        self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 240)
+        #self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 320)
+        #self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 240)
 
         # Faster JPEG encoding
         
@@ -50,30 +50,161 @@ class CamPublisher(ThreadedNode):
             self.get_logger().error('No webcam available')
             return
 
-        ret, frame = self.cap.read()
-        if not ret or frame is None:
-            self.get_logger().error('Camera read failed')
+        ret, frame = cap.read()
+        if not ret:
+            return
+        img_height, img_width, _ = frame.shape
+        letterbox_img, aspect_ratio, offset_x, offset_y = letterbox_resize(frame, model_size, 114)
+        infer_img = np.expand_dims(letterbox_img.astype(np.uint8), axis=0)
+
+        outputs = rknn.inference(inputs=[infer_img])
+        if outputs is None:
             return
 
-        try:
-            msg = CompressedImage()
-            msg.header.stamp = self.get_clock().now().to_msg()
-            msg.format = 'jpeg'
-            msg.data = cv2.imencode('.jpg', frame, [int(cv2.IMWRITE_JPEG_QUALITY), 50])[1].tobytes()
-            #msg.data = cv2.imencode('.jpg', frame)[1].tobytes()
-            self.image_pub.publish(msg)
-            self.get_logger().info('Published webcam frame')
-        except Exception as e:
-            self.get_logger().error(f'Failed to convert/publish image: {e}')
+        loc, conf, landms = outputs
+        boxes = box_decode(loc.squeeze(0), priors)
+        boxes *= np.array([model_size[1], model_size[0], model_size[1], model_size[0]])
+        boxes[:, 0::2] = np.clip((boxes[:, 0::2] - offset_x) / aspect_ratio, 0, img_width)
+        boxes[:, 1::2] = np.clip((boxes[:, 1::2] - offset_y) / aspect_ratio, 0, img_height)
+
+        scores = conf.squeeze(0)[:, 1]
+        landms = decode_landm(landms.squeeze(0), priors)
+        landms *= np.tile(np.array([model_size[1], model_size[0]]), 5)
+        landms[:, 0::2] = np.clip((landms[:, 0::2] - offset_x) / aspect_ratio, 0, img_width)
+        landms[:, 1::2] = np.clip((landms[:, 1::2] - offset_y) / aspect_ratio, 0, img_height)
+
+        inds = np.where(scores > 0.2)[0]
+        boxes, landms, scores = boxes[inds], landms[inds], scores[inds]
+        order = scores.argsort()[::-1]
+        boxes, landms, scores = boxes[order], landms[order], scores[order]
+
+        dets = np.hstack((boxes, scores[:, np.newaxis])).astype(np.float32)
+        keep = nms(dets, 0.5)
+        dets, landms = dets[keep], landms[keep]
+
+        face_data = []
+        frame_center = np.array([img_width / 2, img_height / 2])
+
+        for data, landmark in zip(dets, landms):
+            if data[4] < 0.6:
+                continue
+            x1, y1, x2, y2 = map(int, data[:4])
+            conf = data[4]
+            box_center = np.array([(x1 + x2) / 2, (y1 + y2) / 2])
+            offset = box_center - frame_center
+            face_data.append({
+                "box": [x1, y1, x2, y2],
+                "confidence": float(conf),
+                "offset_from_center": {
+                    "x": float(offset[0]),
+                    "y": float(offset[1])
+                }
+            })
+            cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 0, 255), 2)
+            cv2.putText(frame, f'{conf:.4f}', (x1, y1 + 12), cv2.FONT_HERSHEY_DUPLEX, 0.5, (255, 255, 255))
+            for j in range(5):
+                lx, ly = map(int, landmark[j*2:j*2+2])
+                cv2.circle(frame, (lx, ly), 1, (0, 255, 255), 2)
+
+                cv2.putText(frame, f'FPS: {fps:.2f}', (10, 30),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
+        if len(face_data) > 0:
+            print(face_data)
+        ret, buffer = cv2.imencode('.jpg', frame)
+        if ret:
+            latest_frame = buffer.tobytes()
+            latest_faces = face_data
 
     def destroy_node(self):
         if self.cap:
             self.cap.release()
         super().destroy_node()
 
+
+# --- RetinaFace Utilities ---
+def letterbox_resize(image, size, bg_color):
+    target_width, target_height = size
+    image_height, image_width, _ = image.shape
+    aspect_ratio = min(target_width / image_width, target_height / image_height)
+    new_width = int(image_width * aspect_ratio)
+    new_height = int(image_height * aspect_ratio)
+    image = cv2.resize(image, (new_width, new_height), interpolation=cv2.INTER_AREA)
+    result_image = np.ones((target_height, target_width, 3), dtype=np.uint8) * bg_color
+    offset_x = (target_width - new_width) // 2
+    offset_y = (target_height - new_height) // 2
+    result_image[offset_y:offset_y + new_height, offset_x:offset_x + new_width] = image
+    return result_image, aspect_ratio, offset_x, offset_y
+
+def PriorBox(image_size):
+    anchors = []
+    min_sizes = [[16, 32], [64, 128], [256, 512]]
+    steps = [8, 16, 32]
+    feature_maps = [[ceil(image_size[0] / step), ceil(image_size[1] / step)] for step in steps]
+    for k, f in enumerate(feature_maps):
+        min_sizes_ = min_sizes[k]
+        for i, j in product(range(f[0]), range(f[1])):
+            for min_size in min_sizes_:
+                s_kx = min_size / image_size[1]
+                s_ky = min_size / image_size[0]
+                dense_cx = [x * steps[k] / image_size[1] for x in [j + 0.5]]
+                dense_cy = [y * steps[k] / image_size[0] for y in [i + 0.5]]
+                for cy, cx in product(dense_cy, dense_cx):
+                    anchors += [cx, cy, s_kx, s_ky]
+    return np.array(anchors).reshape(-1, 4)
+
+def box_decode(loc, priors):
+    variances = [0.1, 0.2]
+    boxes = np.concatenate((
+        priors[:, :2] + loc[:, :2] * variances[0] * priors[:, 2:],
+        priors[:, 2:] * np.exp(loc[:, 2:] * variances[1])), axis=1)
+    boxes[:, :2] -= boxes[:, 2:] / 2
+    boxes[:, 2:] += boxes[:, :2]
+    return boxes
+
+def decode_landm(pre, priors):
+    variances = [0.1, 0.2]
+    landmarks = np.concatenate((
+        priors[:, :2] + pre[:, 0:2] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 2:4] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 4:6] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 6:8] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 8:10] * variances[0] * priors[:, 2:]
+    ), axis=1)
+    return landmarks
+
+def nms(dets, thresh):
+    x1, y1, x2, y2, scores = dets[:, 0], dets[:, 1], dets[:, 2], dets[:, 3], dets[:, 4]
+    areas = (x2 - x1 + 1) * (y2 - y1 + 1)
+    order = scores.argsort()[::-1]
+    keep = []
+    while order.size > 0:
+        i = order[0]
+        keep.append(i)
+        xx1 = np.maximum(x1[i], x1[order[1:]])
+        yy1 = np.maximum(y1[i], y1[order[1:]])
+        xx2 = np.minimum(x2[i], x2[order[1:]])
+        yy2 = np.minimum(y2[i], y2[order[1:]])
+        w = np.maximum(0.0, xx2 - xx1 + 1)
+        h = np.maximum(0.0, yy2 - yy1 + 1)
+        inter = w * h
+        ovr = inter / (areas[i] + areas[order[1:]] - inter)
+        inds = np.where(ovr <= thresh)[0]
+        order = order[inds + 1]
+    return keep
+
+# --- RKNN Initialization ---
+rknn = RKNNLite()
+rknn.load_rknn('./RetinaFace.rknn')
+rknn.init_runtime()
+
+# --- Shared State ---
+latest_frame = None
+latest_faces = []
+cap = cv2.VideoCapture(0)
+
 def main():
     rclpy.init()
-    node = CamPublisher()
+    node = CamPublisher(rknn, cap)
     rclpy.spin(node)
     node.destroy_node()
     rclpy.shutdown()
diff --git a/build/camera_module/colcon_command_prefix_setup_py.sh.env b/build/camera_module/colcon_command_prefix_setup_py.sh.env
index b6b9200..131af4a 100644
--- a/build/camera_module/colcon_command_prefix_setup_py.sh.env
+++ b/build/camera_module/colcon_command_prefix_setup_py.sh.env
@@ -16,7 +16,6 @@ LESSCLOSE=/usr/bin/lesspipe %s %s
 LESSOPEN=| /usr/bin/lesspipe %s
 LOGNAME=jake
 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=00: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:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:
-MOTD_SHOWN=update-motd
 NAME=DESKTOP-UFLG41E
 OLDPWD=/home/jake/ros2_ws
 PATH=/home/jake/.vscode-server/bin/7d842fb85a0275a4a8e4d7e040d2625abbf7f084/bin/remote-cli:/home/jake/.local/bin:/home/jake/miniconda3/condabin:/opt/ros/kilted/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/usr/lib/wsl/lib:/mnt/c/Windows/system32:/mnt/c/Windows:/mnt/c/Windows/System32/Wbem:/mnt/c/Windows/System32/WindowsPowerShell/v1.0/:/mnt/c/Windows/System32/OpenSSH/:/mnt/c/Program Files/Docker/Docker/resources/bin:/mnt/c/Program Files/usbipd-win/:/mnt/c/Users/jake/AppData/Local/Microsoft/WindowsApps:/mnt/c/Users/jake/AppData/Local/Programs/Microsoft VS Code/bin:/snap/bin:/home/jake/.vscode-server/data/User/globalStorage/github.copilot-chat/debugCommand
@@ -37,13 +36,13 @@ VSCODE_GIT_ASKPASS_EXTRA_ARGS=
 VSCODE_GIT_ASKPASS_MAIN=/home/jake/.vscode-server/bin/7d842fb85a0275a4a8e4d7e040d2625abbf7f084/extensions/git/dist/askpass-main.js
 VSCODE_GIT_ASKPASS_NODE=/home/jake/.vscode-server/bin/7d842fb85a0275a4a8e4d7e040d2625abbf7f084/node
 VSCODE_GIT_IPC_HANDLE=/run/user/1001/vscode-git-1d6e8e65c1.sock
-VSCODE_IPC_HOOK_CLI=/run/user/1001/vscode-ipc-a80506a6-314e-4f1a-bfb0-04fa92945475.sock
+VSCODE_IPC_HOOK_CLI=/run/user/1001/vscode-ipc-07b86bca-e4f9-4c18-ba3e-d1abb3d5b6bc.sock
 VSCODE_PYTHON_AUTOACTIVATE_GUARD=1
 WAYLAND_DISPLAY=wayland-0
 WSL2_GUI_APPS_ENABLED=1
 WSLENV=VSCODE_WSL_EXT_LOCATION/up
 WSL_DISTRO_NAME=Ubuntu-24.04
-WSL_INTEROP=/run/WSL/170769_interop
+WSL_INTEROP=/run/WSL/440_interop
 XDG_DATA_DIRS=/usr/local/share:/usr/share:/var/lib/snapd/desktop
 XDG_RUNTIME_DIR=/run/user/1001/
 _=/usr/bin/colcon
diff --git a/build/camera_module/prefix_override/__pycache__/sitecustomize.cpython-312.pyc b/build/camera_module/prefix_override/__pycache__/sitecustomize.cpython-312.pyc
index cdd69df..32cecdc 100644
Binary files a/build/camera_module/prefix_override/__pycache__/sitecustomize.cpython-312.pyc and b/build/camera_module/prefix_override/__pycache__/sitecustomize.cpython-312.pyc differ
diff --git a/index.html b/index.html
index ae3c564..19b9b25 100644
--- a/index.html
+++ b/index.html
@@ -58,7 +58,7 @@
   <img id="cameraImage" width="640" height="480" alt="Camera Feed">
 
   <script>
-    const ros = new ROSLIB.Ros({ url: 'ws://localhost:9090' });
+    const ros = new ROSLIB.Ros({ url: 'ws://192.168.1.205:9090' });
 
     ros.on('connection', () => {
       console.log('Connected to rosbridge');
diff --git a/install/camera_module/lib/python3.12/site-packages/camera_module/__pycache__/camera_module.cpython-312.pyc b/install/camera_module/lib/python3.12/site-packages/camera_module/__pycache__/camera_module.cpython-312.pyc
index 34b963b..2d92242 100644
Binary files a/install/camera_module/lib/python3.12/site-packages/camera_module/__pycache__/camera_module.cpython-312.pyc and b/install/camera_module/lib/python3.12/site-packages/camera_module/__pycache__/camera_module.cpython-312.pyc differ
diff --git a/install/camera_module/lib/python3.12/site-packages/camera_module/camera_module.py b/install/camera_module/lib/python3.12/site-packages/camera_module/camera_module.py
index d7a9f19..bb81bb6 100644
--- a/install/camera_module/lib/python3.12/site-packages/camera_module/camera_module.py
+++ b/install/camera_module/lib/python3.12/site-packages/camera_module/camera_module.py
@@ -11,27 +11,27 @@ from std_msgs.msg import String
 import rclpy
 
 
+
+
 class CamPublisher(ThreadedNode):
-    def __init__(self):
+    def __init__(self, rknn, cap):
         super().__init__('camera_module', default_rate=5.0)
         self.string_pub = self.create_publisher(String, 'camera_module/cam_topic', 10)
         self.image_pub = self.create_publisher(CompressedImage, 'camera_module/compressed', 10)
-
-        # Try multiple device indices
-        self.cap = None
-        for i in range(5):
-            cap = cv2.VideoCapture(i)
-            if cap.isOpened():
-                self.cap = cap
-                self.get_logger().info(f'Opened webcam at index {i}')
-                break
-
+        self.rknn = rknn
+        self.cap = cap
+        self.latest_frame = None
+        self.latest_faces = []
+        self.model_size = (320, 320)
+        self.priors = PriorBox(self.model_size)
+        self.prev_time = time.time()
+        
         if self.cap is None:
             self.get_logger().error('Failed to open any webcam')
 
         # Lower resolution
-        self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 320)
-        self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 240)
+        #self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 320)
+        #self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 240)
 
         # Faster JPEG encoding
         
@@ -50,30 +50,161 @@ class CamPublisher(ThreadedNode):
             self.get_logger().error('No webcam available')
             return
 
-        ret, frame = self.cap.read()
-        if not ret or frame is None:
-            self.get_logger().error('Camera read failed')
+        ret, frame = cap.read()
+        if not ret:
+            return
+        img_height, img_width, _ = frame.shape
+        letterbox_img, aspect_ratio, offset_x, offset_y = letterbox_resize(frame, model_size, 114)
+        infer_img = np.expand_dims(letterbox_img.astype(np.uint8), axis=0)
+
+        outputs = rknn.inference(inputs=[infer_img])
+        if outputs is None:
             return
 
-        try:
-            msg = CompressedImage()
-            msg.header.stamp = self.get_clock().now().to_msg()
-            msg.format = 'jpeg'
-            msg.data = cv2.imencode('.jpg', frame, [int(cv2.IMWRITE_JPEG_QUALITY), 50])[1].tobytes()
-            #msg.data = cv2.imencode('.jpg', frame)[1].tobytes()
-            self.image_pub.publish(msg)
-            self.get_logger().info('Published webcam frame')
-        except Exception as e:
-            self.get_logger().error(f'Failed to convert/publish image: {e}')
+        loc, conf, landms = outputs
+        boxes = box_decode(loc.squeeze(0), priors)
+        boxes *= np.array([model_size[1], model_size[0], model_size[1], model_size[0]])
+        boxes[:, 0::2] = np.clip((boxes[:, 0::2] - offset_x) / aspect_ratio, 0, img_width)
+        boxes[:, 1::2] = np.clip((boxes[:, 1::2] - offset_y) / aspect_ratio, 0, img_height)
+
+        scores = conf.squeeze(0)[:, 1]
+        landms = decode_landm(landms.squeeze(0), priors)
+        landms *= np.tile(np.array([model_size[1], model_size[0]]), 5)
+        landms[:, 0::2] = np.clip((landms[:, 0::2] - offset_x) / aspect_ratio, 0, img_width)
+        landms[:, 1::2] = np.clip((landms[:, 1::2] - offset_y) / aspect_ratio, 0, img_height)
+
+        inds = np.where(scores > 0.2)[0]
+        boxes, landms, scores = boxes[inds], landms[inds], scores[inds]
+        order = scores.argsort()[::-1]
+        boxes, landms, scores = boxes[order], landms[order], scores[order]
+
+        dets = np.hstack((boxes, scores[:, np.newaxis])).astype(np.float32)
+        keep = nms(dets, 0.5)
+        dets, landms = dets[keep], landms[keep]
+
+        face_data = []
+        frame_center = np.array([img_width / 2, img_height / 2])
+
+        for data, landmark in zip(dets, landms):
+            if data[4] < 0.6:
+                continue
+            x1, y1, x2, y2 = map(int, data[:4])
+            conf = data[4]
+            box_center = np.array([(x1 + x2) / 2, (y1 + y2) / 2])
+            offset = box_center - frame_center
+            face_data.append({
+                "box": [x1, y1, x2, y2],
+                "confidence": float(conf),
+                "offset_from_center": {
+                    "x": float(offset[0]),
+                    "y": float(offset[1])
+                }
+            })
+            cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 0, 255), 2)
+            cv2.putText(frame, f'{conf:.4f}', (x1, y1 + 12), cv2.FONT_HERSHEY_DUPLEX, 0.5, (255, 255, 255))
+            for j in range(5):
+                lx, ly = map(int, landmark[j*2:j*2+2])
+                cv2.circle(frame, (lx, ly), 1, (0, 255, 255), 2)
+
+                cv2.putText(frame, f'FPS: {fps:.2f}', (10, 30),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
+        if len(face_data) > 0:
+            print(face_data)
+        ret, buffer = cv2.imencode('.jpg', frame)
+        if ret:
+            latest_frame = buffer.tobytes()
+            latest_faces = face_data
 
     def destroy_node(self):
         if self.cap:
             self.cap.release()
         super().destroy_node()
 
+
+# --- RetinaFace Utilities ---
+def letterbox_resize(image, size, bg_color):
+    target_width, target_height = size
+    image_height, image_width, _ = image.shape
+    aspect_ratio = min(target_width / image_width, target_height / image_height)
+    new_width = int(image_width * aspect_ratio)
+    new_height = int(image_height * aspect_ratio)
+    image = cv2.resize(image, (new_width, new_height), interpolation=cv2.INTER_AREA)
+    result_image = np.ones((target_height, target_width, 3), dtype=np.uint8) * bg_color
+    offset_x = (target_width - new_width) // 2
+    offset_y = (target_height - new_height) // 2
+    result_image[offset_y:offset_y + new_height, offset_x:offset_x + new_width] = image
+    return result_image, aspect_ratio, offset_x, offset_y
+
+def PriorBox(image_size):
+    anchors = []
+    min_sizes = [[16, 32], [64, 128], [256, 512]]
+    steps = [8, 16, 32]
+    feature_maps = [[ceil(image_size[0] / step), ceil(image_size[1] / step)] for step in steps]
+    for k, f in enumerate(feature_maps):
+        min_sizes_ = min_sizes[k]
+        for i, j in product(range(f[0]), range(f[1])):
+            for min_size in min_sizes_:
+                s_kx = min_size / image_size[1]
+                s_ky = min_size / image_size[0]
+                dense_cx = [x * steps[k] / image_size[1] for x in [j + 0.5]]
+                dense_cy = [y * steps[k] / image_size[0] for y in [i + 0.5]]
+                for cy, cx in product(dense_cy, dense_cx):
+                    anchors += [cx, cy, s_kx, s_ky]
+    return np.array(anchors).reshape(-1, 4)
+
+def box_decode(loc, priors):
+    variances = [0.1, 0.2]
+    boxes = np.concatenate((
+        priors[:, :2] + loc[:, :2] * variances[0] * priors[:, 2:],
+        priors[:, 2:] * np.exp(loc[:, 2:] * variances[1])), axis=1)
+    boxes[:, :2] -= boxes[:, 2:] / 2
+    boxes[:, 2:] += boxes[:, :2]
+    return boxes
+
+def decode_landm(pre, priors):
+    variances = [0.1, 0.2]
+    landmarks = np.concatenate((
+        priors[:, :2] + pre[:, 0:2] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 2:4] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 4:6] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 6:8] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 8:10] * variances[0] * priors[:, 2:]
+    ), axis=1)
+    return landmarks
+
+def nms(dets, thresh):
+    x1, y1, x2, y2, scores = dets[:, 0], dets[:, 1], dets[:, 2], dets[:, 3], dets[:, 4]
+    areas = (x2 - x1 + 1) * (y2 - y1 + 1)
+    order = scores.argsort()[::-1]
+    keep = []
+    while order.size > 0:
+        i = order[0]
+        keep.append(i)
+        xx1 = np.maximum(x1[i], x1[order[1:]])
+        yy1 = np.maximum(y1[i], y1[order[1:]])
+        xx2 = np.minimum(x2[i], x2[order[1:]])
+        yy2 = np.minimum(y2[i], y2[order[1:]])
+        w = np.maximum(0.0, xx2 - xx1 + 1)
+        h = np.maximum(0.0, yy2 - yy1 + 1)
+        inter = w * h
+        ovr = inter / (areas[i] + areas[order[1:]] - inter)
+        inds = np.where(ovr <= thresh)[0]
+        order = order[inds + 1]
+    return keep
+
+# --- RKNN Initialization ---
+rknn = RKNNLite()
+rknn.load_rknn('./RetinaFace.rknn')
+rknn.init_runtime()
+
+# --- Shared State ---
+latest_frame = None
+latest_faces = []
+cap = cv2.VideoCapture(0)
+
 def main():
     rclpy.init()
-    node = CamPublisher()
+    node = CamPublisher(rknn, cap)
     rclpy.spin(node)
     node.destroy_node()
     rclpy.shutdown()
diff --git a/log/build_2025-11-09_16-50-27/events.log b/log/build_2025-11-09_16-50-27/events.log
deleted file mode 100644
index 6a4ebb6..0000000
--- a/log/build_2025-11-09_16-50-27/events.log
+++ /dev/null
@@ -1,67 +0,0 @@
-[0.000000] (-) TimerEvent: {}
-[0.000541] (-) JobUnselected: {'identifier': 'cam_test'}
-[0.000596] (-) JobUnselected: {'identifier': 'cv_bridge'}
-[0.000644] (-) JobUnselected: {'identifier': 'hello_pub'}
-[0.000690] (-) JobUnselected: {'identifier': 'image_geometry'}
-[0.000738] (-) JobUnselected: {'identifier': 'opencv_tests'}
-[0.000784] (-) JobUnselected: {'identifier': 'vision_opencv'}
-[0.000831] (camera_module) JobQueued: {'identifier': 'camera_module', 'dependencies': OrderedDict()}
-[0.000880] (camera_module) JobStarted: {'identifier': 'camera_module'}
-[0.100653] (-) TimerEvent: {}
-[0.201095] (-) TimerEvent: {}
-[0.301544] (-) TimerEvent: {}
-[0.402256] (-) TimerEvent: {}
-[0.503674] (-) TimerEvent: {}
-[0.604129] (-) TimerEvent: {}
-[0.705124] (-) TimerEvent: {}
-[0.792976] (camera_module) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../../build/camera_module', 'build', '--build-base', '/home/jake/ros2_ws/build/camera_module/build', 'install', '--record', '/home/jake/ros2_ws/build/camera_module/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/jake/ros2_ws/src/camera_module', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'jake', 'GIT_ASKPASS': '/home/jake/.vscode-server/bin/7d842fb85a0275a4a8e4d7e040d2625abbf7f084/extensions/git/dist/askpass.sh', 'SHLVL': '2', 'LD_LIBRARY_PATH': '/opt/ros/kilted/opt/zenoh_cpp_vendor/lib:/opt/ros/kilted/opt/gz_math_vendor/lib:/opt/ros/kilted/opt/gz_utils_vendor/lib:/opt/ros/kilted/opt/rviz_ogre_vendor/lib:/opt/ros/kilted/lib/x86_64-linux-gnu:/opt/ros/kilted/opt/gz_cmake_vendor/lib:/opt/ros/kilted/lib', 'MOTD_SHOWN': 'update-motd', 'HOME': 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'VSCODE_GIT_IPC_HANDLE': '/run/user/1001/vscode-git-1d6e8e65c1.sock', 'TERM_PROGRAM': 'vscode', 'AMENT_PREFIX_PATH': '/opt/ros/kilted', 'CONDA_PYTHON_EXE': '/home/jake/miniconda3/bin/python', 'SHELL': '/bin/bash', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', '_CONDA_EXE': '/home/jake/miniconda3/bin/conda', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'VSCODE_GIT_ASKPASS_EXTRA_ARGS': '', 'PWD': '/home/jake/ros2_ws/build/camera_module', 'CONDA_EXE': '/home/jake/miniconda3/bin/conda', 'XDG_DATA_DIRS': '/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/jake/ros2_ws/build/camera_module/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages:/opt/ros/kilted/lib/python3.12/site-packages', 'COLCON': '1', 'WSL2_GUI_APPS_ENABLED': '1', 'HOSTTYPE': 'x86_64', 'CMAKE_PREFIX_PATH': '/opt/ros/kilted/opt/gz_math_vendor:/opt/ros/kilted/opt/gz_utils_vendor:/opt/ros/kilted/opt/gz_cmake_vendor', 'WSLENV': 'VSCODE_WSL_EXT_LOCATION/up'}, 'shell': False}
-[0.805321] (-) TimerEvent: {}
-[0.906750] (-) TimerEvent: {}
-[1.007162] (-) TimerEvent: {}
-[1.041736] (camera_module) StdoutLine: {'line': b'running egg_info\n'}
-[1.042203] (camera_module) StdoutLine: {'line': b'creating ../../build/camera_module/camera_module.egg-info\n'}
-[1.062746] (camera_module) StdoutLine: {'line': b'writing ../../build/camera_module/camera_module.egg-info/PKG-INFO\n'}
-[1.063211] (camera_module) StdoutLine: {'line': b'writing dependency_links to ../../build/camera_module/camera_module.egg-info/dependency_links.txt\n'}
-[1.063482] (camera_module) StdoutLine: {'line': b'writing entry points to ../../build/camera_module/camera_module.egg-info/entry_points.txt\n'}
-[1.063658] (camera_module) StdoutLine: {'line': b'writing requirements to ../../build/camera_module/camera_module.egg-info/requires.txt\n'}
-[1.063740] (camera_module) StdoutLine: {'line': b'writing top-level names to ../../build/camera_module/camera_module.egg-info/top_level.txt\n'}
-[1.063999] (camera_module) StdoutLine: {'line': b"writing manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'\n"}
-[1.104475] (camera_module) StdoutLine: {'line': b"reading manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'\n"}
-[1.105071] (camera_module) StdoutLine: {'line': b"writing manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'\n"}
-[1.105364] (camera_module) StdoutLine: {'line': b'running build\n'}
-[1.105535] (camera_module) StdoutLine: {'line': b'running build_py\n'}
-[1.105658] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/build/camera_module/build\n'}
-[1.106388] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/build/camera_module/build/lib\n'}
-[1.106939] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/build/camera_module/build/lib/camera_module\n'}
-[1.107261] (-) TimerEvent: {}
-[1.107578] (camera_module) StdoutLine: {'line': b'copying ./camera_module/__init__.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module\n'}
-[1.107873] (camera_module) StdoutLine: {'line': b'copying ./camera_module/camera_module.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module\n'}
-[1.107997] (camera_module) StdoutLine: {'line': b'copying ./camera_module/threaded_node.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module\n'}
-[1.108128] (camera_module) StdoutLine: {'line': b'running install\n'}
-[1.114455] (camera_module) StdoutLine: {'line': b'running install_lib\n'}
-[1.134415] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module\n'}
-[1.135179] (camera_module) StdoutLine: {'line': b'copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/__init__.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module\n'}
-[1.135415] (camera_module) StdoutLine: {'line': b'copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/camera_module.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module\n'}
-[1.135795] (camera_module) StdoutLine: {'line': b'copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/threaded_node.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module\n'}
-[1.136164] (camera_module) StdoutLine: {'line': b'byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/__init__.py to __init__.cpython-312.pyc\n'}
-[1.136964] (camera_module) StdoutLine: {'line': b'byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/camera_module.py to camera_module.cpython-312.pyc\n'}
-[1.137918] (camera_module) StdoutLine: {'line': b'byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/threaded_node.py to threaded_node.cpython-312.pyc\n'}
-[1.139084] (camera_module) StdoutLine: {'line': b'running install_data\n'}
-[1.139407] (camera_module) StdoutLine: {'line': b'copying package.xml -> /home/jake/ros2_ws/install/camera_module/share/camera_module\n'}
-[1.139546] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/share/camera_module/resource\n'}
-[1.140016] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/share/camera_module/resource/model\n'}
-[1.140619] (camera_module) StdoutLine: {'line': b'copying resource/model/RetinaFace.rknn -> /home/jake/ros2_ws/install/camera_module/share/camera_module/resource/model\n'}
-[1.141774] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/share/ament_index\n'}
-[1.142397] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index\n'}
-[1.142965] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index/packages\n'}
-[1.143549] (camera_module) StdoutLine: {'line': b'copying resource/camera_module -> /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index/packages\n'}
-[1.143783] (camera_module) StdoutLine: {'line': b'running install_egg_info\n'}
-[1.165222] (camera_module) StdoutLine: {'line': b'Copying ../../build/camera_module/camera_module.egg-info to /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module-0.1.0-py3.12.egg-info\n'}
-[1.167104] (camera_module) StdoutLine: {'line': b'running install_scripts\n'}
-[1.207408] (-) TimerEvent: {}
-[1.301344] (camera_module) StdoutLine: {'line': b'Installing camera_module script to /home/jake/ros2_ws/install/camera_module/bin\n'}
-[1.302390] (camera_module) StdoutLine: {'line': b"writing list of installed files to '/home/jake/ros2_ws/build/camera_module/install.log'\n"}
-[1.307555] (-) TimerEvent: {}
-[1.337580] (camera_module) CommandEnded: {'returncode': 0}
-[1.354295] (camera_module) JobEnded: {'identifier': 'camera_module', 'rc': 0}
-[1.355935] (-) EventReactorShutdown: {}
diff --git a/log/build_2025-11-09_16-50-27/camera_module/command.log b/log/build_2025-11-09_19-38-47/camera_module/command.log
similarity index 100%
rename from log/build_2025-11-09_16-50-27/camera_module/command.log
rename to log/build_2025-11-09_19-38-47/camera_module/command.log
diff --git a/log/build_2025-11-09_16-50-27/camera_module/stderr.log b/log/build_2025-11-09_19-38-47/camera_module/stderr.log
similarity index 100%
rename from log/build_2025-11-09_16-50-27/camera_module/stderr.log
rename to log/build_2025-11-09_19-38-47/camera_module/stderr.log
diff --git a/log/build_2025-11-09_16-50-27/camera_module/stdout.log b/log/build_2025-11-09_19-38-47/camera_module/stdout.log
similarity index 100%
rename from log/build_2025-11-09_16-50-27/camera_module/stdout.log
rename to log/build_2025-11-09_19-38-47/camera_module/stdout.log
diff --git a/log/build_2025-11-09_16-50-27/camera_module/stdout_stderr.log b/log/build_2025-11-09_19-38-47/camera_module/stdout_stderr.log
similarity index 100%
rename from log/build_2025-11-09_16-50-27/camera_module/stdout_stderr.log
rename to log/build_2025-11-09_19-38-47/camera_module/stdout_stderr.log
diff --git a/log/build_2025-11-09_16-50-27/camera_module/streams.log b/log/build_2025-11-09_19-38-47/camera_module/streams.log
similarity index 52%
rename from log/build_2025-11-09_16-50-27/camera_module/streams.log
rename to log/build_2025-11-09_19-38-47/camera_module/streams.log
index 718b348..f8fa2fb 100644
--- a/log/build_2025-11-09_16-50-27/camera_module/streams.log
+++ b/log/build_2025-11-09_19-38-47/camera_module/streams.log
@@ -1,43 +1,43 @@
-[0.796s] Invoking command in '/home/jake/ros2_ws/src/camera_module': PYTHONPATH=/home/jake/ros2_ws/build/camera_module/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/camera_module build --build-base /home/jake/ros2_ws/build/camera_module/build install --record /home/jake/ros2_ws/build/camera_module/install.log --single-version-externally-managed install_data
-[1.041s] running egg_info
-[1.041s] creating ../../build/camera_module/camera_module.egg-info
-[1.062s] writing ../../build/camera_module/camera_module.egg-info/PKG-INFO
-[1.062s] writing dependency_links to ../../build/camera_module/camera_module.egg-info/dependency_links.txt
-[1.063s] writing entry points to ../../build/camera_module/camera_module.egg-info/entry_points.txt
-[1.063s] writing requirements to ../../build/camera_module/camera_module.egg-info/requires.txt
-[1.063s] writing top-level names to ../../build/camera_module/camera_module.egg-info/top_level.txt
-[1.063s] writing manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'
-[1.104s] reading manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'
-[1.104s] writing manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'
-[1.105s] running build
-[1.105s] running build_py
-[1.105s] creating /home/jake/ros2_ws/build/camera_module/build
-[1.106s] creating /home/jake/ros2_ws/build/camera_module/build/lib
-[1.106s] creating /home/jake/ros2_ws/build/camera_module/build/lib/camera_module
-[1.107s] copying ./camera_module/__init__.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module
-[1.107s] copying ./camera_module/camera_module.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module
-[1.107s] copying ./camera_module/threaded_node.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module
-[1.107s] running install
-[1.114s] running install_lib
-[1.134s] creating /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module
-[1.134s] copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/__init__.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module
-[1.135s] copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/camera_module.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module
-[1.135s] copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/threaded_node.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module
-[1.135s] byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/__init__.py to __init__.cpython-312.pyc
-[1.136s] byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/camera_module.py to camera_module.cpython-312.pyc
-[1.137s] byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/threaded_node.py to threaded_node.cpython-312.pyc
-[1.138s] running install_data
-[1.139s] copying package.xml -> /home/jake/ros2_ws/install/camera_module/share/camera_module
-[1.139s] creating /home/jake/ros2_ws/install/camera_module/share/camera_module/resource
-[1.139s] creating /home/jake/ros2_ws/install/camera_module/share/camera_module/resource/model
-[1.140s] copying resource/model/RetinaFace.rknn -> /home/jake/ros2_ws/install/camera_module/share/camera_module/resource/model
-[1.141s] creating /home/jake/ros2_ws/install/camera_module/share/ament_index
-[1.142s] creating /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index
-[1.142s] creating /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index/packages
-[1.143s] copying resource/camera_module -> /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index/packages
-[1.143s] running install_egg_info
-[1.165s] Copying ../../build/camera_module/camera_module.egg-info to /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module-0.1.0-py3.12.egg-info
-[1.166s] running install_scripts
-[1.301s] Installing camera_module script to /home/jake/ros2_ws/install/camera_module/bin
-[1.302s] writing list of installed files to '/home/jake/ros2_ws/build/camera_module/install.log'
-[1.337s] Invoked command in '/home/jake/ros2_ws/src/camera_module' returned '0': PYTHONPATH=/home/jake/ros2_ws/build/camera_module/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/camera_module build --build-base /home/jake/ros2_ws/build/camera_module/build install --record /home/jake/ros2_ws/build/camera_module/install.log --single-version-externally-managed install_data
+[0.774s] Invoking command in '/home/jake/ros2_ws/src/camera_module': PYTHONPATH=/home/jake/ros2_ws/build/camera_module/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/camera_module build --build-base /home/jake/ros2_ws/build/camera_module/build install --record /home/jake/ros2_ws/build/camera_module/install.log --single-version-externally-managed install_data
+[1.009s] running egg_info
+[1.009s] creating ../../build/camera_module/camera_module.egg-info
+[1.028s] writing ../../build/camera_module/camera_module.egg-info/PKG-INFO
+[1.029s] writing dependency_links to ../../build/camera_module/camera_module.egg-info/dependency_links.txt
+[1.029s] writing entry points to ../../build/camera_module/camera_module.egg-info/entry_points.txt
+[1.030s] writing requirements to ../../build/camera_module/camera_module.egg-info/requires.txt
+[1.030s] writing top-level names to ../../build/camera_module/camera_module.egg-info/top_level.txt
+[1.030s] writing manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'
+[1.066s] reading manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'
+[1.067s] writing manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'
+[1.071s] running build
+[1.071s] running build_py
+[1.071s] creating /home/jake/ros2_ws/build/camera_module/build
+[1.072s] creating /home/jake/ros2_ws/build/camera_module/build/lib
+[1.072s] creating /home/jake/ros2_ws/build/camera_module/build/lib/camera_module
+[1.073s] copying ./camera_module/__init__.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module
+[1.073s] copying ./camera_module/camera_module.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module
+[1.073s] copying ./camera_module/threaded_node.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module
+[1.074s] running install
+[1.079s] running install_lib
+[1.098s] creating /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module
+[1.099s] copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/__init__.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module
+[1.099s] copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/camera_module.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module
+[1.099s] copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/threaded_node.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module
+[1.100s] byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/__init__.py to __init__.cpython-312.pyc
+[1.100s] byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/camera_module.py to camera_module.cpython-312.pyc
+[1.103s] byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/threaded_node.py to threaded_node.cpython-312.pyc
+[1.104s] running install_data
+[1.105s] copying package.xml -> /home/jake/ros2_ws/install/camera_module/share/camera_module
+[1.105s] creating /home/jake/ros2_ws/install/camera_module/share/camera_module/resource
+[1.105s] creating /home/jake/ros2_ws/install/camera_module/share/camera_module/resource/model
+[1.106s] copying resource/model/RetinaFace.rknn -> /home/jake/ros2_ws/install/camera_module/share/camera_module/resource/model
+[1.107s] creating /home/jake/ros2_ws/install/camera_module/share/ament_index
+[1.108s] creating /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index
+[1.108s] creating /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index/packages
+[1.109s] copying resource/camera_module -> /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index/packages
+[1.109s] running install_egg_info
+[1.129s] Copying ../../build/camera_module/camera_module.egg-info to /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module-0.1.0-py3.12.egg-info
+[1.131s] running install_scripts
+[1.252s] Installing camera_module script to /home/jake/ros2_ws/install/camera_module/bin
+[1.253s] writing list of installed files to '/home/jake/ros2_ws/build/camera_module/install.log'
+[1.286s] Invoked command in '/home/jake/ros2_ws/src/camera_module' returned '0': PYTHONPATH=/home/jake/ros2_ws/build/camera_module/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/camera_module build --build-base /home/jake/ros2_ws/build/camera_module/build install --record /home/jake/ros2_ws/build/camera_module/install.log --single-version-externally-managed install_data
diff --git a/log/build_2025-11-09_19-38-47/events.log b/log/build_2025-11-09_19-38-47/events.log
new file mode 100644
index 0000000..005cba9
--- /dev/null
+++ b/log/build_2025-11-09_19-38-47/events.log
@@ -0,0 +1,66 @@
+[0.000000] (-) TimerEvent: {}
+[0.000428] (-) JobUnselected: {'identifier': 'cam_test'}
+[0.000483] (-) JobUnselected: {'identifier': 'cv_bridge'}
+[0.000533] (-) JobUnselected: {'identifier': 'hello_pub'}
+[0.001098] (-) JobUnselected: {'identifier': 'image_geometry'}
+[0.001148] (-) JobUnselected: {'identifier': 'opencv_tests'}
+[0.001196] (-) JobUnselected: {'identifier': 'vision_opencv'}
+[0.001248] (camera_module) JobQueued: {'identifier': 'camera_module', 'dependencies': OrderedDict()}
+[0.001270] (camera_module) JobStarted: {'identifier': 'camera_module'}
+[0.099757] (-) TimerEvent: {}
+[0.200182] (-) TimerEvent: {}
+[0.300806] (-) TimerEvent: {}
+[0.401179] (-) TimerEvent: {}
+[0.501526] (-) TimerEvent: {}
+[0.601865] (-) TimerEvent: {}
+[0.702209] (-) TimerEvent: {}
+[0.773550] (camera_module) Command: {'cmd': ['/usr/bin/python3', '-W', 'ignore:setup.py install is deprecated', '-W', 'ignore:easy_install command is deprecated', 'setup.py', 'egg_info', '--egg-base', '../../build/camera_module', 'build', '--build-base', '/home/jake/ros2_ws/build/camera_module/build', 'install', '--record', '/home/jake/ros2_ws/build/camera_module/install.log', '--single-version-externally-managed', 'install_data'], 'cwd': '/home/jake/ros2_ws/src/camera_module', 'env': {'LESSOPEN': '| /usr/bin/lesspipe %s', 'USER': 'jake', 'GIT_ASKPASS': '/home/jake/.vscode-server/bin/7d842fb85a0275a4a8e4d7e040d2625abbf7f084/extensions/git/dist/askpass.sh', 'SHLVL': '2', 'LD_LIBRARY_PATH': '/opt/ros/kilted/opt/zenoh_cpp_vendor/lib:/opt/ros/kilted/opt/gz_math_vendor/lib:/opt/ros/kilted/opt/gz_utils_vendor/lib:/opt/ros/kilted/opt/rviz_ogre_vendor/lib:/opt/ros/kilted/lib/x86_64-linux-gnu:/opt/ros/kilted/opt/gz_cmake_vendor/lib:/opt/ros/kilted/lib', 'HOME': '/home/jake', 'CONDA_SHLVL': '0', 'OLDPWD': '/home/jake/ros2_ws', 'TERM_PROGRAM_VERSION': '1.105.1', 'VSCODE_IPC_HOOK_CLI': '/run/user/1001/vscode-ipc-07b86bca-e4f9-4c18-ba3e-d1abb3d5b6bc.sock', 'ROS_PYTHON_VERSION': '3', 'VSCODE_GIT_ASKPASS_MAIN': '/home/jake/.vscode-server/bin/7d842fb85a0275a4a8e4d7e040d2625abbf7f084/extensions/git/dist/askpass-main.js', 'VSCODE_GIT_ASKPASS_NODE': '/home/jake/.vscode-server/bin/7d842fb85a0275a4a8e4d7e040d2625abbf7f084/node', 'VSCODE_PYTHON_AUTOACTIVATE_GUARD': '1', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1001/bus', 'COLORTERM': 'truecolor', '_CE_M': '', 'WSL_DISTRO_NAME': 'Ubuntu-24.04', '_CONDA_ROOT': '/home/jake/miniconda3', 'WAYLAND_DISPLAY': 'wayland-0', 'ROS_DISTRO': 'kilted', 'LOGNAME': 'jake', 'NAME': 'DESKTOP-UFLG41E', 'WSL_INTEROP': '/run/WSL/440_interop', 'PULSE_SERVER': 'unix:/mnt/wslg/PulseServer', '_': '/usr/bin/colcon', 'ROS_VERSION': '2', 'TERM': 'xterm-256color', '_CE_CONDA': '', 'PATH': '/home/jake/.vscode-server/bin/7d842fb85a0275a4a8e4d7e040d2625abbf7f084/bin/remote-cli:/home/jake/.local/bin:/home/jake/miniconda3/condabin:/opt/ros/kilted/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/usr/lib/wsl/lib:/mnt/c/Windows/system32:/mnt/c/Windows:/mnt/c/Windows/System32/Wbem:/mnt/c/Windows/System32/WindowsPowerShell/v1.0/:/mnt/c/Windows/System32/OpenSSH/:/mnt/c/Program Files/Docker/Docker/resources/bin:/mnt/c/Program Files/usbipd-win/:/mnt/c/Users/jake/AppData/Local/Microsoft/WindowsApps:/mnt/c/Users/jake/AppData/Local/Programs/Microsoft VS Code/bin:/snap/bin:/home/jake/.vscode-server/data/User/globalStorage/github.copilot-chat/debugCommand', 'XDG_RUNTIME_DIR': '/run/user/1001/', 'DISPLAY': '10.255.255.254:0', 'LANG': 'C.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=00: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:*.avif=01;35:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:*~=00;90:*#=00;90:*.bak=00;90:*.crdownload=00;90:*.dpkg-dist=00;90:*.dpkg-new=00;90:*.dpkg-old=00;90:*.dpkg-tmp=00;90:*.old=00;90:*.orig=00;90:*.part=00;90:*.rej=00;90:*.rpmnew=00;90:*.rpmorig=00;90:*.rpmsave=00;90:*.swp=00;90:*.tmp=00;90:*.ucf-dist=00;90:*.ucf-new=00;90:*.ucf-old=00;90:', 'VSCODE_GIT_IPC_HANDLE': '/run/user/1001/vscode-git-1d6e8e65c1.sock', 'TERM_PROGRAM': 'vscode', 'AMENT_PREFIX_PATH': '/opt/ros/kilted', 'CONDA_PYTHON_EXE': '/home/jake/miniconda3/bin/python', 'SHELL': '/bin/bash', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', '_CONDA_EXE': '/home/jake/miniconda3/bin/conda', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'VSCODE_GIT_ASKPASS_EXTRA_ARGS': '', 'PWD': '/home/jake/ros2_ws/build/camera_module', 'CONDA_EXE': '/home/jake/miniconda3/bin/conda', 'XDG_DATA_DIRS': '/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'PYTHONPATH': '/home/jake/ros2_ws/build/camera_module/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages:/opt/ros/kilted/lib/python3.12/site-packages', 'COLCON': '1', 'WSL2_GUI_APPS_ENABLED': '1', 'HOSTTYPE': 'x86_64', 'CMAKE_PREFIX_PATH': '/opt/ros/kilted/opt/gz_math_vendor:/opt/ros/kilted/opt/gz_utils_vendor:/opt/ros/kilted/opt/gz_cmake_vendor', 'WSLENV': 'VSCODE_WSL_EXT_LOCATION/up'}, 'shell': False}
+[0.802342] (-) TimerEvent: {}
+[0.902690] (-) TimerEvent: {}
+[1.003228] (-) TimerEvent: {}
+[1.010059] (camera_module) StdoutLine: {'line': b'running egg_info\n'}
+[1.010461] (camera_module) StdoutLine: {'line': b'creating ../../build/camera_module/camera_module.egg-info\n'}
+[1.029583] (camera_module) StdoutLine: {'line': b'writing ../../build/camera_module/camera_module.egg-info/PKG-INFO\n'}
+[1.030019] (camera_module) StdoutLine: {'line': b'writing dependency_links to ../../build/camera_module/camera_module.egg-info/dependency_links.txt\n'}
+[1.030527] (camera_module) StdoutLine: {'line': b'writing entry points to ../../build/camera_module/camera_module.egg-info/entry_points.txt\n'}
+[1.030771] (camera_module) StdoutLine: {'line': b'writing requirements to ../../build/camera_module/camera_module.egg-info/requires.txt\n'}
+[1.030887] (camera_module) StdoutLine: {'line': b'writing top-level names to ../../build/camera_module/camera_module.egg-info/top_level.txt\n'}
+[1.031003] (camera_module) StdoutLine: {'line': b"writing manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'\n"}
+[1.067481] (camera_module) StdoutLine: {'line': b"reading manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'\n"}
+[1.068167] (camera_module) StdoutLine: {'line': b"writing manifest file '../../build/camera_module/camera_module.egg-info/SOURCES.txt'\n"}
+[1.072029] (camera_module) StdoutLine: {'line': b'running build\n'}
+[1.072260] (camera_module) StdoutLine: {'line': b'running build_py\n'}
+[1.072603] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/build/camera_module/build\n'}
+[1.073042] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/build/camera_module/build/lib\n'}
+[1.073591] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/build/camera_module/build/lib/camera_module\n'}
+[1.074195] (camera_module) StdoutLine: {'line': b'copying ./camera_module/__init__.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module\n'}
+[1.074435] (camera_module) StdoutLine: {'line': b'copying ./camera_module/camera_module.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module\n'}
+[1.074726] (camera_module) StdoutLine: {'line': b'copying ./camera_module/threaded_node.py -> /home/jake/ros2_ws/build/camera_module/build/lib/camera_module\n'}
+[1.074922] (camera_module) StdoutLine: {'line': b'running install\n'}
+[1.080584] (camera_module) StdoutLine: {'line': b'running install_lib\n'}
+[1.099142] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module\n'}
+[1.099806] (camera_module) StdoutLine: {'line': b'copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/__init__.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module\n'}
+[1.100057] (camera_module) StdoutLine: {'line': b'copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/camera_module.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module\n'}
+[1.100372] (camera_module) StdoutLine: {'line': b'copying /home/jake/ros2_ws/build/camera_module/build/lib/camera_module/threaded_node.py -> /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module\n'}
+[1.100813] (camera_module) StdoutLine: {'line': b'byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/__init__.py to __init__.cpython-312.pyc\n'}
+[1.101627] (camera_module) StdoutLine: {'line': b'byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/camera_module.py to camera_module.cpython-312.pyc\n'}
+[1.103316] (-) TimerEvent: {}
+[1.104422] (camera_module) StdoutLine: {'line': b'byte-compiling /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module/threaded_node.py to threaded_node.cpython-312.pyc\n'}
+[1.105430] (camera_module) StdoutLine: {'line': b'running install_data\n'}
+[1.105705] (camera_module) StdoutLine: {'line': b'copying package.xml -> /home/jake/ros2_ws/install/camera_module/share/camera_module\n'}
+[1.105959] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/share/camera_module/resource\n'}
+[1.106453] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/share/camera_module/resource/model\n'}
+[1.107017] (camera_module) StdoutLine: {'line': b'copying resource/model/RetinaFace.rknn -> /home/jake/ros2_ws/install/camera_module/share/camera_module/resource/model\n'}
+[1.108232] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/share/ament_index\n'}
+[1.108836] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index\n'}
+[1.109353] (camera_module) StdoutLine: {'line': b'creating /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index/packages\n'}
+[1.109918] (camera_module) StdoutLine: {'line': b'copying resource/camera_module -> /home/jake/ros2_ws/install/camera_module/share/ament_index/resource_index/packages\n'}
+[1.110052] (camera_module) StdoutLine: {'line': b'running install_egg_info\n'}
+[1.130088] (camera_module) StdoutLine: {'line': b'Copying ../../build/camera_module/camera_module.egg-info to /home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages/camera_module-0.1.0-py3.12.egg-info\n'}
+[1.131774] (camera_module) StdoutLine: {'line': b'running install_scripts\n'}
+[1.203458] (-) TimerEvent: {}
+[1.252823] (camera_module) StdoutLine: {'line': b'Installing camera_module script to /home/jake/ros2_ws/install/camera_module/bin\n'}
+[1.253791] (camera_module) StdoutLine: {'line': b"writing list of installed files to '/home/jake/ros2_ws/build/camera_module/install.log'\n"}
+[1.286184] (camera_module) CommandEnded: {'returncode': 0}
+[1.300112] (camera_module) JobEnded: {'identifier': 'camera_module', 'rc': 0}
+[1.301705] (-) EventReactorShutdown: {}
diff --git a/log/build_2025-11-09_16-50-27/logger_all.log b/log/build_2025-11-09_19-38-47/logger_all.log
similarity index 67%
rename from log/build_2025-11-09_16-50-27/logger_all.log
rename to log/build_2025-11-09_19-38-47/logger_all.log
index f7c9aeb..1c85ff3 100644
--- a/log/build_2025-11-09_16-50-27/logger_all.log
+++ b/log/build_2025-11-09_19-38-47/logger_all.log
@@ -1,216 +1,216 @@
-[0.124s] colcon DEBUG Command line arguments: ['/usr/bin/colcon', 'build', '--packages-select', 'camera_module', '--event-handlers', 'console_direct+']
-[0.124s] colcon DEBUG Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=24, event_handlers=['console_direct+'], ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=['camera_module'], packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x73b477307230>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x73b4774ae4e0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x73b4774ae4e0>>)
-[0.161s] colcon.colcon_core.package_discovery Level 1 discover_packages(colcon_meta) check parameters
-[0.161s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) check parameters
-[0.161s] colcon.colcon_core.package_discovery Level 1 discover_packages(ignore) check parameters
-[0.162s] colcon.colcon_core.package_discovery Level 1 discover_packages(path) check parameters
-[0.162s] colcon.colcon_core.package_discovery Level 1 discover_packages(colcon_meta) discover
-[0.162s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) discover
-[0.162s] colcon.colcon_core.package_discovery INFO Crawling recursively for packages in '/home/jake/ros2_ws'
-[0.162s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['ignore', 'ignore_ament_install']
-[0.162s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'ignore'
-[0.163s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'ignore_ament_install'
-[0.163s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['colcon_pkg']
-[0.163s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'colcon_pkg'
-[0.163s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['colcon_meta']
-[0.163s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'colcon_meta'
-[0.163s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['ros']
-[0.163s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'ros'
-[0.186s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['cmake', 'python']
-[0.186s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'cmake'
-[0.186s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'python'
-[0.186s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['python_setup_py']
-[0.186s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'python_setup_py'
-[0.186s] colcon.colcon_core.package_identification Level 1 _identify(build) by extensions ['ignore', 'ignore_ament_install']
-[0.186s] colcon.colcon_core.package_identification Level 1 _identify(build) by extension 'ignore'
-[0.186s] colcon.colcon_core.package_identification Level 1 _identify(build) ignored
-[0.186s] colcon.colcon_core.package_identification Level 1 _identify(install) by extensions ['ignore', 'ignore_ament_install']
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(install) by extension 'ignore'
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(install) ignored
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(log) by extensions ['ignore', 'ignore_ament_install']
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(log) by extension 'ignore'
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(log) ignored
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['ignore', 'ignore_ament_install']
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'ignore'
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'ignore_ament_install'
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['colcon_pkg']
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'colcon_pkg'
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['colcon_meta']
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'colcon_meta'
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['ros']
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'ros'
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['cmake', 'python']
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'cmake'
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'python'
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['python_setup_py']
-[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'python_setup_py'
-[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extensions ['ignore', 'ignore_ament_install']
-[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extension 'ignore'
-[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extension 'ignore_ament_install'
-[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extensions ['colcon_pkg']
-[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extension 'colcon_pkg'
-[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extensions ['colcon_meta']
-[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extension 'colcon_meta'
-[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extensions ['ros']
-[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extension 'ros'
-[0.190s] colcon.colcon_core.package_identification DEBUG Package 'src/cam_test' with type 'ros.ament_python' and name 'cam_test'
-[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extensions ['ignore', 'ignore_ament_install']
-[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extension 'ignore'
-[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extension 'ignore_ament_install'
-[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extensions ['colcon_pkg']
-[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extension 'colcon_pkg'
-[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extensions ['colcon_meta']
-[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extension 'colcon_meta'
-[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extensions ['ros']
-[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extension 'ros'
-[0.191s] colcon.colcon_core.package_identification DEBUG Package 'src/camera_module' with type 'ros.ament_python' and name 'camera_module'
-[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extensions ['ignore', 'ignore_ament_install']
-[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extension 'ignore'
-[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extension 'ignore_ament_install'
-[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extensions ['colcon_pkg']
-[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extension 'colcon_pkg'
-[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extensions ['colcon_meta']
-[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extension 'colcon_meta'
-[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extensions ['ros']
-[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extension 'ros'
-[0.192s] colcon.colcon_core.package_identification DEBUG Package 'src/hello_pub' with type 'ros.ament_python' and name 'hello_pub'
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['ignore', 'ignore_ament_install']
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'ignore'
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'ignore_ament_install'
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['colcon_pkg']
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'colcon_pkg'
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['colcon_meta']
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'colcon_meta'
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['ros']
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'ros'
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['cmake', 'python']
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'cmake'
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'python'
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['python_setup_py']
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'python_setup_py'
-[0.192s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extensions ['ignore', 'ignore_ament_install']
-[0.193s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extension 'ignore'
-[0.193s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extension 'ignore_ament_install'
-[0.193s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extensions ['colcon_pkg']
-[0.193s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extension 'colcon_pkg'
-[0.193s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extensions ['colcon_meta']
-[0.193s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extension 'colcon_meta'
-[0.193s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extensions ['ros']
-[0.193s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extension 'ros'
-[0.194s] colcon.colcon_core.package_identification DEBUG Package 'src/vision_opencv/cv_bridge' with type 'ros.ament_cmake' and name 'cv_bridge'
-[0.194s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extensions ['ignore', 'ignore_ament_install']
-[0.194s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extension 'ignore'
-[0.194s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extension 'ignore_ament_install'
-[0.194s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extensions ['colcon_pkg']
-[0.194s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extension 'colcon_pkg'
-[0.194s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extensions ['colcon_meta']
-[0.194s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extension 'colcon_meta'
-[0.194s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extensions ['ros']
-[0.194s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extension 'ros'
-[0.195s] colcon.colcon_core.package_identification DEBUG Package 'src/vision_opencv/image_geometry' with type 'ros.ament_cmake' and name 'image_geometry'
-[0.195s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extensions ['ignore', 'ignore_ament_install']
-[0.195s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extension 'ignore'
-[0.195s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extension 'ignore_ament_install'
-[0.195s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extensions ['colcon_pkg']
-[0.195s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extension 'colcon_pkg'
-[0.195s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extensions ['colcon_meta']
-[0.195s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extension 'colcon_meta'
-[0.195s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extensions ['ros']
-[0.195s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extension 'ros'
-[0.195s] colcon.colcon_core.package_identification DEBUG Package 'src/vision_opencv/opencv_tests' with type 'ros.ament_python' and name 'opencv_tests'
-[0.196s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extensions ['ignore', 'ignore_ament_install']
-[0.196s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extension 'ignore'
-[0.196s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extension 'ignore_ament_install'
-[0.196s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extensions ['colcon_pkg']
-[0.196s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extension 'colcon_pkg'
-[0.196s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extensions ['colcon_meta']
-[0.196s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extension 'colcon_meta'
-[0.196s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extensions ['ros']
-[0.196s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extension 'ros'
-[0.196s] colcon.colcon_core.package_identification DEBUG Package 'src/vision_opencv/vision_opencv' with type 'ros.ament_cmake' and name 'vision_opencv'
-[0.196s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) using defaults
-[0.196s] colcon.colcon_core.package_discovery Level 1 discover_packages(ignore) discover
-[0.196s] colcon.colcon_core.package_discovery Level 1 discover_packages(ignore) using defaults
-[0.196s] colcon.colcon_core.package_discovery Level 1 discover_packages(path) discover
-[0.196s] colcon.colcon_core.package_discovery Level 1 discover_packages(path) using defaults
-[0.211s] colcon.colcon_core.package_selection INFO Skipping not selected package 'cam_test' in 'src/cam_test'
-[0.211s] colcon.colcon_core.package_selection INFO Skipping not selected package 'cv_bridge' in 'src/vision_opencv/cv_bridge'
-[0.211s] colcon.colcon_core.package_selection INFO Skipping not selected package 'hello_pub' in 'src/hello_pub'
-[0.211s] colcon.colcon_core.package_selection INFO Skipping not selected package 'image_geometry' in 'src/vision_opencv/image_geometry'
-[0.211s] colcon.colcon_core.package_selection INFO Skipping not selected package 'opencv_tests' in 'src/vision_opencv/opencv_tests'
-[0.211s] colcon.colcon_core.package_selection INFO Skipping not selected package 'vision_opencv' in 'src/vision_opencv/vision_opencv'
-[0.212s] colcon.colcon_core.package_discovery Level 1 discover_packages(prefix_path) check parameters
-[0.212s] colcon.colcon_core.package_discovery Level 1 discover_packages(prefix_path) discover
-[0.214s] colcon.colcon_installed_package_information.package_discovery DEBUG Found 295 installed packages in /opt/ros/kilted
-[0.216s] colcon.colcon_core.package_discovery Level 1 discover_packages(prefix_path) using defaults
-[0.255s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_args' from command line to 'None'
-[0.255s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_target' from command line to 'None'
-[0.255s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_target_skip_unavailable' from command line to 'False'
-[0.255s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_clean_cache' from command line to 'False'
-[0.255s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_clean_first' from command line to 'False'
-[0.255s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_force_configure' from command line to 'False'
-[0.255s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'ament_cmake_args' from command line to 'None'
-[0.255s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'catkin_cmake_args' from command line to 'None'
-[0.255s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'catkin_skip_building_tests' from command line to 'False'
-[0.255s] colcon.colcon_core.verb DEBUG Building package 'camera_module' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/jake/ros2_ws/build/camera_module', '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/jake/ros2_ws/install/camera_module', 'merge_install': False, 'path': '/home/jake/ros2_ws/src/camera_module', 'symlink_install': False, 'test_result_base': None}
-[0.255s] colcon.colcon_core.executor INFO Executing jobs using 'parallel' executor
-[0.256s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete
-[0.257s] colcon.colcon_ros.task.ament_python.build INFO Building ROS package in '/home/jake/ros2_ws/src/camera_module' with build type 'ament_python'
-[0.257s] colcon.colcon_core.shell Level 1 create_environment_hook('camera_module', 'ament_prefix_path')
-[0.259s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
-[0.259s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/ament_prefix_path.ps1'
-[0.262s] colcon.colcon_core.shell INFO Creating environment descriptor '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/ament_prefix_path.dsv'
-[0.262s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/ament_prefix_path.sh'
-[0.263s] colcon.colcon_core.shell INFO Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
-[0.263s] colcon.colcon_core.shell DEBUG Skip shell extension 'dsv' for command environment
-[0.471s] colcon.colcon_core.task.python.build INFO Building Python package in '/home/jake/ros2_ws/src/camera_module'
-[0.471s] colcon.colcon_core.shell INFO Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
-[0.472s] colcon.colcon_core.shell DEBUG Skip shell extension 'dsv' for command environment
-[1.053s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/home/jake/ros2_ws/src/camera_module': PYTHONPATH=/home/jake/ros2_ws/build/camera_module/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/camera_module build --build-base /home/jake/ros2_ws/build/camera_module/build install --record /home/jake/ros2_ws/build/camera_module/install.log --single-version-externally-managed install_data
-[1.595s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/home/jake/ros2_ws/src/camera_module' returned '0': PYTHONPATH=/home/jake/ros2_ws/build/camera_module/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/camera_module build --build-base /home/jake/ros2_ws/build/camera_module/build install --record /home/jake/ros2_ws/build/camera_module/install.log --single-version-externally-managed install_data
-[1.597s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module' for CMake module files
-[1.597s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module' for CMake config files
-[1.598s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module/lib'
-[1.598s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module/bin'
-[1.598s] colcon.colcon_core.shell Level 1 create_environment_hook('camera_module', 'path')
-[1.598s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/path.ps1'
-[1.599s] colcon.colcon_core.shell INFO Creating environment descriptor '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/path.dsv'
-[1.599s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/path.sh'
-[1.600s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module/lib/pkgconfig/camera_module.pc'
-[1.600s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages'
-[1.600s] colcon.colcon_core.shell Level 1 create_environment_hook('camera_module', 'pythonpath')
-[1.600s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonpath.ps1'
-[1.601s] colcon.colcon_core.shell INFO Creating environment descriptor '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonpath.dsv'
-[1.601s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonpath.sh'
-[1.601s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module/bin'
-[1.602s] colcon.colcon_core.shell Level 1 create_environment_hook('camera_module', 'pythonscriptspath')
-[1.602s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonscriptspath.ps1'
-[1.602s] colcon.colcon_core.shell INFO Creating environment descriptor '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonscriptspath.dsv'
-[1.602s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonscriptspath.sh'
-[1.603s] colcon.colcon_core.environment Level 1 create_environment_scripts_only(camera_module)
-[1.603s] colcon.colcon_core.shell INFO Creating package script '/home/jake/ros2_ws/install/camera_module/share/camera_module/package.ps1'
-[1.604s] colcon.colcon_core.shell INFO Creating package descriptor '/home/jake/ros2_ws/install/camera_module/share/camera_module/package.dsv'
-[1.604s] colcon.colcon_core.shell INFO Creating package script '/home/jake/ros2_ws/install/camera_module/share/camera_module/package.sh'
-[1.607s] colcon.colcon_core.shell INFO Creating package script '/home/jake/ros2_ws/install/camera_module/share/camera_module/package.bash'
-[1.608s] colcon.colcon_core.shell INFO Creating package script '/home/jake/ros2_ws/install/camera_module/share/camera_module/package.zsh'
-[1.608s] colcon.colcon_core.environment Level 1 create_file_with_runtime_dependencies(/home/jake/ros2_ws/install/camera_module/share/colcon-core/packages/camera_module)
-[1.610s] colcon.colcon_parallel_executor.executor.parallel DEBUG closing loop
-[1.611s] colcon.colcon_parallel_executor.executor.parallel DEBUG loop closed
-[1.611s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete finished with '0'
-[1.612s] colcon.colcon_core.event_reactor DEBUG joining thread
-[1.633s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send'
-[1.634s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
-[1.634s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
-[1.634s] colcon.colcon_notification.desktop_notification INFO Sending desktop notification using 'notify2'
-[1.635s] colcon.colcon_notification.desktop_notification.notify2 DEBUG Failed to initialize notify2: org.freedesktop.DBus.Error.ServiceUnknown: The name org.freedesktop.Notifications was not provided by any .service files
-[1.635s] colcon.colcon_core.event_reactor DEBUG joined thread
-[1.636s] colcon.colcon_core.shell INFO Creating prefix script '/home/jake/ros2_ws/install/local_setup.ps1'
-[1.637s] colcon.colcon_core.shell INFO Creating prefix util module '/home/jake/ros2_ws/install/_local_setup_util_ps1.py'
-[1.638s] colcon.colcon_core.shell INFO Creating prefix chain script '/home/jake/ros2_ws/install/setup.ps1'
-[1.639s] colcon.colcon_core.shell INFO Creating prefix script '/home/jake/ros2_ws/install/local_setup.sh'
-[1.639s] colcon.colcon_core.shell INFO Creating prefix util module '/home/jake/ros2_ws/install/_local_setup_util_sh.py'
-[1.640s] colcon.colcon_core.shell INFO Creating prefix chain script '/home/jake/ros2_ws/install/setup.sh'
-[1.641s] colcon.colcon_core.shell INFO Creating prefix script '/home/jake/ros2_ws/install/local_setup.bash'
-[1.641s] colcon.colcon_core.shell INFO Creating prefix chain script '/home/jake/ros2_ws/install/setup.bash'
-[1.642s] colcon.colcon_core.shell INFO Creating prefix script '/home/jake/ros2_ws/install/local_setup.zsh'
-[1.643s] colcon.colcon_core.shell INFO Creating prefix chain script '/home/jake/ros2_ws/install/setup.zsh'
+[0.119s] colcon DEBUG Command line arguments: ['/usr/bin/colcon', 'build', '--packages-select', 'camera_module', '--event-handlers', 'console_direct+']
+[0.119s] colcon DEBUG Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=24, event_handlers=['console_direct+'], ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=['camera_module'], packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7ea789fff050>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7ea789fa6510>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7ea789fa6510>>)
+[0.158s] colcon.colcon_core.package_discovery Level 1 discover_packages(colcon_meta) check parameters
+[0.159s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) check parameters
+[0.159s] colcon.colcon_core.package_discovery Level 1 discover_packages(ignore) check parameters
+[0.159s] colcon.colcon_core.package_discovery Level 1 discover_packages(path) check parameters
+[0.159s] colcon.colcon_core.package_discovery Level 1 discover_packages(colcon_meta) discover
+[0.159s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) discover
+[0.159s] colcon.colcon_core.package_discovery INFO Crawling recursively for packages in '/home/jake/ros2_ws'
+[0.159s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.159s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'ignore'
+[0.159s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'ignore_ament_install'
+[0.159s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['colcon_pkg']
+[0.159s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'colcon_pkg'
+[0.159s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['colcon_meta']
+[0.159s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'colcon_meta'
+[0.159s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['ros']
+[0.159s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'ros'
+[0.181s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['cmake', 'python']
+[0.181s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'cmake'
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'python'
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(.) by extensions ['python_setup_py']
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(.) by extension 'python_setup_py'
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(build) by extension 'ignore'
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(build) ignored
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(install) by extension 'ignore'
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(install) ignored
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(log) by extension 'ignore'
+[0.182s] colcon.colcon_core.package_identification Level 1 _identify(log) ignored
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'ignore'
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'ignore_ament_install'
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['colcon_pkg']
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'colcon_pkg'
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['colcon_meta']
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'colcon_meta'
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['ros']
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'ros'
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['cmake', 'python']
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'cmake'
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'python'
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extensions ['python_setup_py']
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src) by extension 'python_setup_py'
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extensions ['ignore', 'ignore_ament_install']
+[0.183s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extension 'ignore'
+[0.184s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extension 'ignore_ament_install'
+[0.184s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extensions ['colcon_pkg']
+[0.184s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extension 'colcon_pkg'
+[0.184s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extensions ['colcon_meta']
+[0.184s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extension 'colcon_meta'
+[0.184s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extensions ['ros']
+[0.184s] colcon.colcon_core.package_identification Level 1 _identify(src/cam_test) by extension 'ros'
+[0.186s] colcon.colcon_core.package_identification DEBUG Package 'src/cam_test' with type 'ros.ament_python' and name 'cam_test'
+[0.186s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extensions ['ignore', 'ignore_ament_install']
+[0.186s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extension 'ignore'
+[0.186s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extension 'ignore_ament_install'
+[0.186s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extensions ['colcon_pkg']
+[0.186s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extension 'colcon_pkg'
+[0.186s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extensions ['colcon_meta']
+[0.186s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extension 'colcon_meta'
+[0.186s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extensions ['ros']
+[0.186s] colcon.colcon_core.package_identification Level 1 _identify(src/camera_module) by extension 'ros'
+[0.187s] colcon.colcon_core.package_identification DEBUG Package 'src/camera_module' with type 'ros.ament_python' and name 'camera_module'
+[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extensions ['ignore', 'ignore_ament_install']
+[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extension 'ignore'
+[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extension 'ignore_ament_install'
+[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extensions ['colcon_pkg']
+[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extension 'colcon_pkg'
+[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extensions ['colcon_meta']
+[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extension 'colcon_meta'
+[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extensions ['ros']
+[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src/hello_pub) by extension 'ros'
+[0.187s] colcon.colcon_core.package_identification DEBUG Package 'src/hello_pub' with type 'ros.ament_python' and name 'hello_pub'
+[0.187s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['ignore', 'ignore_ament_install']
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'ignore'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'ignore_ament_install'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['colcon_pkg']
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'colcon_pkg'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['colcon_meta']
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'colcon_meta'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['ros']
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'ros'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['cmake', 'python']
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'cmake'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'python'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extensions ['python_setup_py']
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv) by extension 'python_setup_py'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extensions ['ignore', 'ignore_ament_install']
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extension 'ignore'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extension 'ignore_ament_install'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extensions ['colcon_pkg']
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extension 'colcon_pkg'
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extensions ['colcon_meta']
+[0.188s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extension 'colcon_meta'
+[0.189s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extensions ['ros']
+[0.189s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/cv_bridge) by extension 'ros'
+[0.189s] colcon.colcon_core.package_identification DEBUG Package 'src/vision_opencv/cv_bridge' with type 'ros.ament_cmake' and name 'cv_bridge'
+[0.189s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extensions ['ignore', 'ignore_ament_install']
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extension 'ignore'
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extension 'ignore_ament_install'
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extensions ['colcon_pkg']
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extension 'colcon_pkg'
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extensions ['colcon_meta']
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extension 'colcon_meta'
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extensions ['ros']
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/image_geometry) by extension 'ros'
+[0.190s] colcon.colcon_core.package_identification DEBUG Package 'src/vision_opencv/image_geometry' with type 'ros.ament_cmake' and name 'image_geometry'
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extensions ['ignore', 'ignore_ament_install']
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extension 'ignore'
+[0.190s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extension 'ignore_ament_install'
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extensions ['colcon_pkg']
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extension 'colcon_pkg'
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extensions ['colcon_meta']
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extension 'colcon_meta'
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extensions ['ros']
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/opencv_tests) by extension 'ros'
+[0.191s] colcon.colcon_core.package_identification DEBUG Package 'src/vision_opencv/opencv_tests' with type 'ros.ament_python' and name 'opencv_tests'
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extensions ['ignore', 'ignore_ament_install']
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extension 'ignore'
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extension 'ignore_ament_install'
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extensions ['colcon_pkg']
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extension 'colcon_pkg'
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extensions ['colcon_meta']
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extension 'colcon_meta'
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extensions ['ros']
+[0.191s] colcon.colcon_core.package_identification Level 1 _identify(src/vision_opencv/vision_opencv) by extension 'ros'
+[0.192s] colcon.colcon_core.package_identification DEBUG Package 'src/vision_opencv/vision_opencv' with type 'ros.ament_cmake' and name 'vision_opencv'
+[0.192s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) using defaults
+[0.192s] colcon.colcon_core.package_discovery Level 1 discover_packages(ignore) discover
+[0.192s] colcon.colcon_core.package_discovery Level 1 discover_packages(ignore) using defaults
+[0.192s] colcon.colcon_core.package_discovery Level 1 discover_packages(path) discover
+[0.192s] colcon.colcon_core.package_discovery Level 1 discover_packages(path) using defaults
+[0.206s] colcon.colcon_core.package_selection INFO Skipping not selected package 'cam_test' in 'src/cam_test'
+[0.206s] colcon.colcon_core.package_selection INFO Skipping not selected package 'cv_bridge' in 'src/vision_opencv/cv_bridge'
+[0.206s] colcon.colcon_core.package_selection INFO Skipping not selected package 'hello_pub' in 'src/hello_pub'
+[0.206s] colcon.colcon_core.package_selection INFO Skipping not selected package 'image_geometry' in 'src/vision_opencv/image_geometry'
+[0.206s] colcon.colcon_core.package_selection INFO Skipping not selected package 'opencv_tests' in 'src/vision_opencv/opencv_tests'
+[0.206s] colcon.colcon_core.package_selection INFO Skipping not selected package 'vision_opencv' in 'src/vision_opencv/vision_opencv'
+[0.206s] colcon.colcon_core.package_discovery Level 1 discover_packages(prefix_path) check parameters
+[0.206s] colcon.colcon_core.package_discovery Level 1 discover_packages(prefix_path) discover
+[0.209s] colcon.colcon_installed_package_information.package_discovery DEBUG Found 295 installed packages in /opt/ros/kilted
+[0.210s] colcon.colcon_core.package_discovery Level 1 discover_packages(prefix_path) using defaults
+[0.248s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_args' from command line to 'None'
+[0.248s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_target' from command line to 'None'
+[0.248s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.248s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_clean_cache' from command line to 'False'
+[0.248s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_clean_first' from command line to 'False'
+[0.248s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'cmake_force_configure' from command line to 'False'
+[0.248s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'ament_cmake_args' from command line to 'None'
+[0.248s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'catkin_cmake_args' from command line to 'None'
+[0.248s] colcon.colcon_core.verb Level 5 set package 'camera_module' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.248s] colcon.colcon_core.verb DEBUG Building package 'camera_module' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/jake/ros2_ws/build/camera_module', '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/jake/ros2_ws/install/camera_module', 'merge_install': False, 'path': '/home/jake/ros2_ws/src/camera_module', 'symlink_install': False, 'test_result_base': None}
+[0.248s] colcon.colcon_core.executor INFO Executing jobs using 'parallel' executor
+[0.250s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete
+[0.250s] colcon.colcon_ros.task.ament_python.build INFO Building ROS package in '/home/jake/ros2_ws/src/camera_module' with build type 'ament_python'
+[0.251s] colcon.colcon_core.shell Level 1 create_environment_hook('camera_module', 'ament_prefix_path')
+[0.253s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.253s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/ament_prefix_path.ps1'
+[0.256s] colcon.colcon_core.shell INFO Creating environment descriptor '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/ament_prefix_path.dsv'
+[0.256s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/ament_prefix_path.sh'
+[0.257s] colcon.colcon_core.shell INFO Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.257s] colcon.colcon_core.shell DEBUG Skip shell extension 'dsv' for command environment
+[0.454s] colcon.colcon_core.task.python.build INFO Building Python package in '/home/jake/ros2_ws/src/camera_module'
+[0.454s] colcon.colcon_core.shell INFO Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.454s] colcon.colcon_core.shell DEBUG Skip shell extension 'dsv' for command environment
+[1.025s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/home/jake/ros2_ws/src/camera_module': PYTHONPATH=/home/jake/ros2_ws/build/camera_module/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/camera_module build --build-base /home/jake/ros2_ws/build/camera_module/build install --record /home/jake/ros2_ws/build/camera_module/install.log --single-version-externally-managed install_data
+[1.537s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/home/jake/ros2_ws/src/camera_module' returned '0': PYTHONPATH=/home/jake/ros2_ws/build/camera_module/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py egg_info --egg-base ../../build/camera_module build --build-base /home/jake/ros2_ws/build/camera_module/build install --record /home/jake/ros2_ws/build/camera_module/install.log --single-version-externally-managed install_data
+[1.539s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module' for CMake module files
+[1.539s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module' for CMake config files
+[1.540s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module/lib'
+[1.540s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module/bin'
+[1.540s] colcon.colcon_core.shell Level 1 create_environment_hook('camera_module', 'path')
+[1.540s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/path.ps1'
+[1.541s] colcon.colcon_core.shell INFO Creating environment descriptor '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/path.dsv'
+[1.541s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/path.sh'
+[1.541s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module/lib/pkgconfig/camera_module.pc'
+[1.542s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module/lib/python3.12/site-packages'
+[1.542s] colcon.colcon_core.shell Level 1 create_environment_hook('camera_module', 'pythonpath')
+[1.542s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonpath.ps1'
+[1.542s] colcon.colcon_core.shell INFO Creating environment descriptor '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonpath.dsv'
+[1.543s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonpath.sh'
+[1.543s] colcon.colcon_core.environment Level 1 checking '/home/jake/ros2_ws/install/camera_module/bin'
+[1.544s] colcon.colcon_core.shell Level 1 create_environment_hook('camera_module', 'pythonscriptspath')
+[1.544s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonscriptspath.ps1'
+[1.544s] colcon.colcon_core.shell INFO Creating environment descriptor '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonscriptspath.dsv'
+[1.544s] colcon.colcon_core.shell INFO Creating environment hook '/home/jake/ros2_ws/install/camera_module/share/camera_module/hook/pythonscriptspath.sh'
+[1.545s] colcon.colcon_core.environment Level 1 create_environment_scripts_only(camera_module)
+[1.545s] colcon.colcon_core.shell INFO Creating package script '/home/jake/ros2_ws/install/camera_module/share/camera_module/package.ps1'
+[1.546s] colcon.colcon_core.shell INFO Creating package descriptor '/home/jake/ros2_ws/install/camera_module/share/camera_module/package.dsv'
+[1.546s] colcon.colcon_core.shell INFO Creating package script '/home/jake/ros2_ws/install/camera_module/share/camera_module/package.sh'
+[1.547s] colcon.colcon_core.shell INFO Creating package script '/home/jake/ros2_ws/install/camera_module/share/camera_module/package.bash'
+[1.547s] colcon.colcon_core.shell INFO Creating package script '/home/jake/ros2_ws/install/camera_module/share/camera_module/package.zsh'
+[1.548s] colcon.colcon_core.environment Level 1 create_file_with_runtime_dependencies(/home/jake/ros2_ws/install/camera_module/share/colcon-core/packages/camera_module)
+[1.549s] colcon.colcon_parallel_executor.executor.parallel DEBUG closing loop
+[1.550s] colcon.colcon_parallel_executor.executor.parallel DEBUG loop closed
+[1.551s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete finished with '0'
+[1.551s] colcon.colcon_core.event_reactor DEBUG joining thread
+[1.569s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_notification.desktop_notification.notify_send': Could not find 'notify-send'
+[1.569s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[1.570s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[1.570s] colcon.colcon_notification.desktop_notification INFO Sending desktop notification using 'notify2'
+[1.571s] colcon.colcon_notification.desktop_notification.notify2 DEBUG Failed to initialize notify2: org.freedesktop.DBus.Error.ServiceUnknown: The name org.freedesktop.Notifications was not provided by any .service files
+[1.571s] colcon.colcon_core.event_reactor DEBUG joined thread
+[1.572s] colcon.colcon_core.shell INFO Creating prefix script '/home/jake/ros2_ws/install/local_setup.ps1'
+[1.573s] colcon.colcon_core.shell INFO Creating prefix util module '/home/jake/ros2_ws/install/_local_setup_util_ps1.py'
+[1.574s] colcon.colcon_core.shell INFO Creating prefix chain script '/home/jake/ros2_ws/install/setup.ps1'
+[1.575s] colcon.colcon_core.shell INFO Creating prefix script '/home/jake/ros2_ws/install/local_setup.sh'
+[1.575s] colcon.colcon_core.shell INFO Creating prefix util module '/home/jake/ros2_ws/install/_local_setup_util_sh.py'
+[1.576s] colcon.colcon_core.shell INFO Creating prefix chain script '/home/jake/ros2_ws/install/setup.sh'
+[1.576s] colcon.colcon_core.shell INFO Creating prefix script '/home/jake/ros2_ws/install/local_setup.bash'
+[1.577s] colcon.colcon_core.shell INFO Creating prefix chain script '/home/jake/ros2_ws/install/setup.bash'
+[1.578s] colcon.colcon_core.shell INFO Creating prefix script '/home/jake/ros2_ws/install/local_setup.zsh'
+[1.578s] colcon.colcon_core.shell INFO Creating prefix chain script '/home/jake/ros2_ws/install/setup.zsh'
diff --git a/log/latest_build b/log/latest_build
index 1a8496e..060f86d 120000
--- a/log/latest_build
+++ b/log/latest_build
@@ -1 +1 @@
-build_2025-11-09_16-50-27
\ No newline at end of file
+build_2025-11-09_19-38-47
\ No newline at end of file
diff --git a/src/camera_module/camera_module/camera_module.py b/src/camera_module/camera_module/camera_module.py
index d7a9f19..4b27a44 100755
--- a/src/camera_module/camera_module/camera_module.py
+++ b/src/camera_module/camera_module/camera_module.py
@@ -2,36 +2,46 @@ from ament_index_python.packages import get_package_share_directory
 import os
 
 import cv2
+import numpy as np
+from math import ceil
+from itertools import product
+from rknnlite.api import RKNNLite
 from sensor_msgs.msg import CompressedImage
 from cv_bridge import CvBridge
-
+import time
 from camera_module.threaded_node import ThreadedNode
 
 from std_msgs.msg import String
 import rclpy
 
+from ament_index_python.packages import get_package_share_directory
+import os
+
+package_name = 'camera_module' 
+model_path = os.path.join(get_package_share_directory(package_name), 'resource', 'model', 'RetinaFace.rknn')
+
+
 
 class CamPublisher(ThreadedNode):
-    def __init__(self):
+    def __init__(self, rknn, cap):
         super().__init__('camera_module', default_rate=5.0)
         self.string_pub = self.create_publisher(String, 'camera_module/cam_topic', 10)
         self.image_pub = self.create_publisher(CompressedImage, 'camera_module/compressed', 10)
-
-        # Try multiple device indices
-        self.cap = None
-        for i in range(5):
-            cap = cv2.VideoCapture(i)
-            if cap.isOpened():
-                self.cap = cap
-                self.get_logger().info(f'Opened webcam at index {i}')
-                break
-
+        self.face_detect_pub = self.create_publisher(String, 'camera_module/face_data', 10)
+        self.rknn = rknn
+        self.cap = cap
+        self.latest_frame = None
+        self.latest_faces = []
+        self.model_size = (320, 320)
+        self.priors = PriorBox(self.model_size)
+        self.prev_time = time.time()
+        
         if self.cap is None:
             self.get_logger().error('Failed to open any webcam')
 
         # Lower resolution
-        self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 320)
-        self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 240)
+        #self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 320)
+        #self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 240)
 
         # Faster JPEG encoding
         
@@ -40,40 +50,172 @@ class CamPublisher(ThreadedNode):
 
     def on_tick(self):
         # Publish string message
-        msg = String()
-        msg.data = 'Cam from ROS 2!'
-        self.string_pub.publish(msg)
-        self.get_logger().info(f'Published: {msg.data}')
+        # msg = String()
+        # msg.data = 'Cam from ROS 2!'
+        # self.string_pub.publish(msg)
+        # self.get_logger().info(f'Published: {msg.data}')
 
         # Capture and publish image
         if self.cap is None:
             self.get_logger().error('No webcam available')
             return
 
-        ret, frame = self.cap.read()
-        if not ret or frame is None:
-            self.get_logger().error('Camera read failed')
+        ret, frame = cap.read()
+        if not ret:
+            return
+        img_height, img_width, _ = frame.shape
+        letterbox_img, aspect_ratio, offset_x, offset_y = letterbox_resize(frame, self.model_size, 114)
+        infer_img = np.expand_dims(letterbox_img.astype(np.uint8), axis=0)
+
+        outputs = rknn.inference(inputs=[infer_img])
+        if outputs is None:
             return
 
-        try:
-            msg = CompressedImage()
-            msg.header.stamp = self.get_clock().now().to_msg()
-            msg.format = 'jpeg'
-            msg.data = cv2.imencode('.jpg', frame, [int(cv2.IMWRITE_JPEG_QUALITY), 50])[1].tobytes()
-            #msg.data = cv2.imencode('.jpg', frame)[1].tobytes()
-            self.image_pub.publish(msg)
-            self.get_logger().info('Published webcam frame')
-        except Exception as e:
-            self.get_logger().error(f'Failed to convert/publish image: {e}')
+        loc, conf, landms = outputs
+        boxes = box_decode(loc.squeeze(0), self.priors)
+        boxes *= np.array([self.model_size[1], self.model_size[0], self.model_size[1], self.model_size[0]])
+        boxes[:, 0::2] = np.clip((boxes[:, 0::2] - offset_x) / aspect_ratio, 0, img_width)
+        boxes[:, 1::2] = np.clip((boxes[:, 1::2] - offset_y) / aspect_ratio, 0, img_height)
+
+        scores = conf.squeeze(0)[:, 1]
+        landms = decode_landm(landms.squeeze(0), self.priors)
+        landms *= np.tile(np.array([self.model_size[1], self.model_size[0]]), 5)
+        landms[:, 0::2] = np.clip((landms[:, 0::2] - offset_x) / aspect_ratio, 0, img_width)
+        landms[:, 1::2] = np.clip((landms[:, 1::2] - offset_y) / aspect_ratio, 0, img_height)
+
+        inds = np.where(scores > 0.2)[0]
+        boxes, landms, scores = boxes[inds], landms[inds], scores[inds]
+        order = scores.argsort()[::-1]
+        boxes, landms, scores = boxes[order], landms[order], scores[order]
+
+        dets = np.hstack((boxes, scores[:, np.newaxis])).astype(np.float32)
+        keep = nms(dets, 0.5)
+        dets, landms = dets[keep], landms[keep]
+
+        face_data = []
+        frame_center = np.array([img_width / 2, img_height / 2])
+
+        for data, landmark in zip(dets, landms):
+            if data[4] < 0.6:
+                continue
+            x1, y1, x2, y2 = map(int, data[:4])
+            conf = data[4]
+            box_center = np.array([(x1 + x2) / 2, (y1 + y2) / 2])
+            offset = box_center - frame_center
+            face_data.append({
+                "box": [x1, y1, x2, y2],
+                "confidence": float(conf),
+                "offset_from_center": {
+                    "x": float(offset[0]),
+                    "y": float(offset[1])
+                }
+            })
+            cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 0, 255), 2)
+            cv2.putText(frame, f'{conf:.4f}', (x1, y1 + 12), cv2.FONT_HERSHEY_DUPLEX, 0.5, (255, 255, 255))
+            for j in range(5):
+                lx, ly = map(int, landmark[j*2:j*2+2])
+                cv2.circle(frame, (lx, ly), 1, (0, 255, 255), 2)
+
+                # cv2.putText(frame, f'FPS: {fps:.2f}', (10, 30),
+                #     cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
+        if len(face_data) > 0:
+            print(face_data)
+            self.face_detect_pub.publish(String(data=str(face_data)))
+        ret, buffer = cv2.imencode('.jpg', frame)
+        if ret:
+            latest_frame = buffer.tobytes()
+            latest_faces = face_data
 
     def destroy_node(self):
         if self.cap:
             self.cap.release()
         super().destroy_node()
 
+
+# --- RetinaFace Utilities ---
+def letterbox_resize(image, size, bg_color):
+    target_width, target_height = size
+    image_height, image_width, _ = image.shape
+    aspect_ratio = min(target_width / image_width, target_height / image_height)
+    new_width = int(image_width * aspect_ratio)
+    new_height = int(image_height * aspect_ratio)
+    image = cv2.resize(image, (new_width, new_height), interpolation=cv2.INTER_AREA)
+    result_image = np.ones((target_height, target_width, 3), dtype=np.uint8) * bg_color
+    offset_x = (target_width - new_width) // 2
+    offset_y = (target_height - new_height) // 2
+    result_image[offset_y:offset_y + new_height, offset_x:offset_x + new_width] = image
+    return result_image, aspect_ratio, offset_x, offset_y
+
+def PriorBox(image_size):
+    anchors = []
+    min_sizes = [[16, 32], [64, 128], [256, 512]]
+    steps = [8, 16, 32]
+    feature_maps = [[ceil(image_size[0] / step), ceil(image_size[1] / step)] for step in steps]
+    for k, f in enumerate(feature_maps):
+        min_sizes_ = min_sizes[k]
+        for i, j in product(range(f[0]), range(f[1])):
+            for min_size in min_sizes_:
+                s_kx = min_size / image_size[1]
+                s_ky = min_size / image_size[0]
+                dense_cx = [x * steps[k] / image_size[1] for x in [j + 0.5]]
+                dense_cy = [y * steps[k] / image_size[0] for y in [i + 0.5]]
+                for cy, cx in product(dense_cy, dense_cx):
+                    anchors += [cx, cy, s_kx, s_ky]
+    return np.array(anchors).reshape(-1, 4)
+
+def box_decode(loc, priors):
+    variances = [0.1, 0.2]
+    boxes = np.concatenate((
+        priors[:, :2] + loc[:, :2] * variances[0] * priors[:, 2:],
+        priors[:, 2:] * np.exp(loc[:, 2:] * variances[1])), axis=1)
+    boxes[:, :2] -= boxes[:, 2:] / 2
+    boxes[:, 2:] += boxes[:, :2]
+    return boxes
+
+def decode_landm(pre, priors):
+    variances = [0.1, 0.2]
+    landmarks = np.concatenate((
+        priors[:, :2] + pre[:, 0:2] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 2:4] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 4:6] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 6:8] * variances[0] * priors[:, 2:],
+        priors[:, :2] + pre[:, 8:10] * variances[0] * priors[:, 2:]
+    ), axis=1)
+    return landmarks
+
+def nms(dets, thresh):
+    x1, y1, x2, y2, scores = dets[:, 0], dets[:, 1], dets[:, 2], dets[:, 3], dets[:, 4]
+    areas = (x2 - x1 + 1) * (y2 - y1 + 1)
+    order = scores.argsort()[::-1]
+    keep = []
+    while order.size > 0:
+        i = order[0]
+        keep.append(i)
+        xx1 = np.maximum(x1[i], x1[order[1:]])
+        yy1 = np.maximum(y1[i], y1[order[1:]])
+        xx2 = np.minimum(x2[i], x2[order[1:]])
+        yy2 = np.minimum(y2[i], y2[order[1:]])
+        w = np.maximum(0.0, xx2 - xx1 + 1)
+        h = np.maximum(0.0, yy2 - yy1 + 1)
+        inter = w * h
+        ovr = inter / (areas[i] + areas[order[1:]] - inter)
+        inds = np.where(ovr <= thresh)[0]
+        order = order[inds + 1]
+    return keep
+
+# --- RKNN Initialization ---
+rknn = RKNNLite()
+rknn.load_rknn(model_path)
+rknn.init_runtime()
+
+# --- Shared State ---
+latest_frame = None
+latest_faces = []
+cap = cv2.VideoCapture(0)
+
 def main():
     rclpy.init()
-    node = CamPublisher()
+    node = CamPublisher(rknn, cap)
     rclpy.spin(node)
     node.destroy_node()
     rclpy.shutdown()